Millimeter wave beam training and environment perception integrated system and method

Abstract

The application discloses a kind of millimeter wave beam training and environment perception integration system and method, belong to wireless communication field, wherein, system includes high-precision clock source clock reference signal is synchronized to each clock node, clock node provides reference clock signal for base station and user;Software-defined radio module of base station side generates baseband signal and up-converts, millimeter wave phased array is converted again and carries out beam forming, user side carries out down-conversion symmetrically;Software-defined radio module of user side realizes beam scanning and beam measurement, records reference signal received power;Inertial measurement unit synchronously measures and records the motion state of user;Processing module receives millimeter wave communication system measurement data and inertial measurement unit measurement data, utilizes confidence propagation real-time positioning and map construction algorithm real-time processing data estimates user and virtual anchor position.It is thus, using beam spatial channel information and the auxiliary information of user position, improve user positioning accuracy and environmental perception ability.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and in particular to an integrated system and method for millimeter-wave beam training and environmental perception. Background Technology

[0002] Millimeter-wave bands cover a frequency range from 30 GHz to 300 GHz, offering a large available bandwidth and spectrum channels. This means communication systems can achieve high data transmission rates and time resolution. The narrow beamwidth and high resolution of millimeter waves ensure their ability to perform sensing functions. However, compared to other frequency bands, millimeter-wave bands experience very high path loss. To overcome this high path loss, millimeter-wave communication systems require frequent beam training to maintain the communication link. Traditional beam training only extracts the optimal beam pair to establish the communication link, resulting in some resource waste.

[0003] Communication-sensing integration technology is one of the research hotspots in sixth-generation mobile communication systems. Common communication and sensing integration only achieves a shallow level of integration through service coexistence, while communication-sensing integration technology aims to enhance communication and sensing through sharing the same hardware architecture. This can be applied to intelligent scenarios such as autonomous driving, drone monitoring, and robot interaction. Millimeter-wave sensing capabilities offer the possibility of achieving communication-sensing integration on the same hardware architecture. However, current research on communication-sensing integration lacks a millimeter-wave prototype verification platform, and existing prototype platforms do not focus on user localization and environmental feature tracking. Summary of the Invention

[0004] This invention provides an integrated system and method for millimeter-wave beam training and environmental perception to address the problems that existing prototype verification platforms for integrated communication and perception research are not implemented in the millimeter-wave band, do not focus on user positioning and environmental feature tracking, and suffer from the large resource overhead of traditional beam training processes.

[0005] A first aspect of the present invention provides an integrated millimeter-wave beam training and environmental perception system, comprising a base station side and a user side, wherein the integrated millimeter-wave beam training and environmental perception system includes:

[0006] A millimeter-wave communication system consisting of a high-precision clock source, a base station-side clock node module, a base station-side software-defined radio module, a base station-side millimeter-wave phased array module, a user-side clock node module, a user-side software-defined radio module, and a user-side millimeter-wave phased array module; an inertial measurement unit and a processing module located on the user side;

[0007] The output of the high-precision clock source is connected to the input of the base station-side clock node module and the user-side clock node module, respectively, and is used to generate a clock reference signal of a preset clock frequency.

[0008] The output terminal of the base station-side clock node module is connected to the clock input terminal of the base station-side software-defined radio module, and the output terminal of the user-side clock node module is connected to the clock input terminal of the user-side software-defined radio module. Both are used to send the clock reference signal of the preset frequency to the corresponding software-defined radio module to achieve clock frequency synchronization of the software-defined radio module.

[0009] The output of the software-defined radio module on the base station side is connected to the input of the millimeter-wave phased array module on the base station side, and is used to generate a baseband signal of a first preset frequency and upconvert the baseband signal to a second preset frequency.

[0010] The output terminal of the base station-side millimeter-wave phased array module is connected to the input terminal of the user-side millimeter-wave phased array module, and is used to upconvert the up-converted baseband signal to a third preset frequency and perform beamforming.

[0011] The output terminal of the user-side millimeter-wave phased array module is connected to the input terminal of the user-side software-defined radio module, and is used to receive the beam sent by the base station-side millimeter-wave phased array module, and downconvert the received signal of the third preset frequency to the second preset frequency.

[0012] The output of the user-side software-defined radio module is connected to the processing module, and is used to downconvert the received signal of the second preset frequency to the first preset frequency, and perform beam scanning and beam measurement on the received signal of the first preset frequency to obtain the reference signal receiving power (RSRP).

[0013] The inertial measurement unit is connected to the processing module and is used to acquire the user's motion state information;

[0014] The processing module includes a Belief Propagation Simultaneous Localization and Mapping algorithm, which is used to estimate the user trajectory and virtual anchor position based on the received power of the reference signal and the motion state information.

[0015] Optionally, in one embodiment of the present invention, the clock node modules on the base station side and the user side are configured in a one-to-one correspondence with the software-defined radio modules.

[0016] Optionally, in one embodiment of the present invention, the inertial measurement unit includes:

[0017] Accelerometer;

[0018] Gyroscope;

[0019] Magnetometer.

[0020] Optionally, in one embodiment of the present invention, the motion state information acquired by the inertial measurement unit includes acceleration value, real-time velocity value, position value, and quaternion for determining attitude.

[0021] Optionally, in one embodiment of the present invention, the processing module is further configured to extract the index of the strongest beam pair based on the heat map of the received power of the reference signal, and determine the angle information corresponding to the index based on the millimeter-wave phased array beam pattern.

[0022] Optionally, in one embodiment of the present invention, the angle information corresponding to the index includes: the angle of arrival of the receiving beam at the receiving end and the departure angle of the transmitting beam at the transmitting end.

[0023] Optionally, in one embodiment of the present invention, the processing module is further configured to,

[0024] After the belief propagation real-time localization and mapping algorithm is initialized, the user's location information is estimated based on the user's current state information and used as the predicted value of the user's current location. The angle information corresponding to the index is used as the observed value.

[0025] The angle of arrival (AoAs) of the receiver beam and the angle of departure (AoDs) of the transmitter beam are calculated using the virtual anchor position estimated at the previous moment and the user position prediction value at the current moment. The angle of arrival (AoAs) of the receiver beam and the angle of departure (AoDs) of the transmitter beam are compared with the observed values ​​at the current moment, and the observed values ​​that are closest to the angle of arrival (AoAs) of the receiver beam and the angle of departure (AoDs) of the transmitter beam are selected for association.

[0026] By changing the user's position, the calculated angle of arrival of the receiver's beam and the angle of departure of the transmitter's beam are brought closer to the associated observations. This corrects the user's position while generating a corresponding virtual anchor for the current moment using all unassociated observations.

[0027] A second aspect of the present invention provides an integrated method for millimeter-wave beam training and environmental perception, used in the integrated millimeter-wave beam training and environmental perception system described in the above embodiments. The method includes: synchronizing the clock frequencies of the base station side and the user side using a clock reference signal with a preset clock frequency; up-converting the baseband signal generated by the base station side, performing beamforming, and transmitting the beam to the user side; receiving the signal transmitted by the base station side at the user side, down-converting the received signal, and performing beam scanning and beam measurement to obtain the reference signal received power; and estimating the user trajectory and virtual anchor position based on the reference signal received power and the user's motion state information using a belief propagation real-time positioning and mapping algorithm.

[0028] Optionally, in one embodiment of the present invention, based on the belief propagation real-time localization and mapping algorithm, user trajectory and virtual anchor position estimation are performed according to the reference signal received power and user motion state information, including: extracting the index of the strongest beam pair based on the heatmap of the reference signal received power, and determining the angle information corresponding to the index based on the millimeter-wave phased array beam pattern; wherein, the angle information corresponding to the index includes: the angle of arrival of the received beam at the receiving end and the departure angle of the transmitted beam at the transmitting end; after the belief propagation real-time localization and mapping algorithm is initialized, user position information is estimated based on the user state information at the current moment, and used as the predicted value of the user position at the current moment. The angle information corresponding to the index is used as the observation value; the angle of arrival of the receiving beam and the angle of departure of the transmitting beam are calculated using the virtual anchor position estimated at the previous moment and the predicted user position at the current moment. The angle of arrival of the receiving beam and the angle of departure of the transmitting beam are compared with the observation value at the current moment, and the observation value closest to the angle of arrival of the receiving beam and the angle of departure of the transmitting beam are selected for association; by changing the user position, the calculated angle of arrival of the receiving beam and the angle of departure of the transmitting beam are made closer to the associated observation value, so as to correct the user position. At the same time, the corresponding virtual anchor at the current moment is generated using all the unassociated observation values.

[0029] The integrated millimeter-wave beam training and environmental perception system and method of this invention have the following beneficial effects:

[0030] 1) High real-time performance and fast data processing speed. The millimeter-wave beam training and environmental perception integrated system of the present invention is divided into two main parts: a millimeter-wave communication system and an inertial measurement unit. The synchronous measurement of beam scanning and motion state is realized through FPGA, and the computer uses the BP SLAM algorithm to process the data, realizing fast real-time data processing.

[0031] 2) High positioning accuracy and good environmental perception. This invention acquires a large amount of beam space channel information based on a millimeter-wave communication system, uses an inertial measurement unit to collect user motion state information as auxiliary positioning information, and integrates the BP SLAM algorithm to estimate the user's position relative to the environmental parameter VA with high accuracy, thereby improving the communication environment perception capability.

[0032] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0033] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments taken in conjunction with the accompanying drawings, wherein:

[0034] Figure 1 This is a schematic diagram of an integrated millimeter-wave beam training and environmental perception system according to an embodiment of the present invention;

[0035] Figure 2 This is a flowchart of a confidence propagation instant localization and map building algorithm provided according to an embodiment of the present invention;

[0036] Figure 3 This is a flowchart of an integrated millimeter-wave beam training and environmental perception method provided according to an embodiment of the present invention. Detailed Implementation

[0037] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0038] The following description, with reference to the accompanying drawings, describes an integrated millimeter-wave beam training and environmental perception system and method according to embodiments of the present invention. Addressing the issues mentioned in the background section regarding existing integrated communication and sensing research prototype verification platforms not implemented in the millimeter-wave band, not focusing on user positioning and environmental feature tracking, and the significant resource overhead of traditional beam training processes, the present invention provides an integrated millimeter-wave beam training and environmental perception system. In this system, redundant data from beam training is fully utilized, and auxiliary information on the user's position is obtained using an inertial measurement unit, thereby improving user positioning accuracy and environmental perception capabilities.

[0039] Figure 1 This is a schematic diagram of an integrated millimeter-wave beam training and environmental perception system according to an embodiment of the present invention.

[0040] like Figure 1 As shown, the integrated millimeter-wave beam training and environmental perception system includes a millimeter-wave communication system, an inertial measurement unit, and a processing module. In an embodiment of the present invention, the processing module can be a computer, and the corresponding functions of the processing module are integrated in the computer.

[0041] It is understood that the integrated millimeter-wave beam training and environmental perception system is divided into a base station side and a user side. In the millimeter-wave communication system, a base station-side clock node module, a base station-side software-defined radio module, and a base station-side millimeter-wave phased array module are respectively set on the base station side, and a user-side clock node module, a user-side software-defined radio module, and a user-side millimeter-wave phased array module are respectively set on the user side. The above modules, together with a high-precision clock source, constitute the millimeter-wave communication system of this embodiment of the invention.

[0042] In embodiments of the present invention, an inertial measurement unit is also provided on the user side to obtain auxiliary information on the user's position, thereby improving the user's positioning accuracy and environmental awareness.

[0043] In an embodiment of the present invention, the output of the high-precision clock source is connected to the input of the base station-side clock node module and the user-side clock node module, respectively, to generate a clock reference signal of a preset clock frequency.

[0044] Specifically, the high-precision clock source module uses a Sync Polar network timing and synchronization switch to synchronize a 10MHz reference signal to a clock node (Sync Node) via optical fiber. Each clock node is fixed on the base station side or the user side to provide a reference clock signal for the base station and the user.

[0045] The output of the base station-side clock node module is connected to the clock input of the base station-side software-defined radio module, and the output of the user-side clock node module is connected to the clock input of the user-side software-defined radio module. Both are used to send a clock reference signal of a preset frequency to the corresponding software-defined radio module to achieve clock frequency synchronization of the software-defined radio module.

[0046] The output of the base station-side software-defined radio module is connected to the input of the base station-side millimeter-wave phased array module to generate a baseband signal at a first preset frequency and upconvert the baseband signal to a second preset frequency.

[0047] The output of the base station-side millimeter-wave phased array module is connected to the input of the user-side millimeter-wave phased array module. This is used to upconvert the up-converted baseband signal to a third preset frequency and perform beamforming.

[0048] The output of the user-side millimeter-wave phased array module is connected to the input of the user-side software-defined radio module. It is used to receive the beam sent by the base station-side millimeter-wave phased array module and downconvert the received signal of the third preset frequency to the second preset frequency.

[0049] The output of the user-side software-defined radio module is connected to the processing module to downconvert the received signal at the second preset frequency to the first preset frequency, and to perform beam scanning and beam measurement on the received signal at the first preset frequency to obtain the reference signal received power.

[0050] The inertial measurement unit is connected to the processing module and is used to acquire the user's motion state information.

[0051] The processing module is equipped with a confidence propagation real-time localization and map building algorithm, which is used to estimate the user trajectory and virtual anchor position based on the reference signal received power and motion state information.

[0052] Software-defined radio modules and inertial measurement units on the base station and user sides can be implemented based on FPGA chips.

[0053] In one specific embodiment of the present invention, the output of the high-precision clock source is connected to each clock node via optical fiber. The high-precision clock source module generates a 10MHz clock source signal and synchronizes it to each clock node, which provides a reference clock signal for the base station and the user. The clock node module transmits the received 10MHz clock source signal to the corresponding software-defined radio module, providing frequency synchronization for each software-defined radio module. The software-defined radio module on the base station side generates a baseband signal and up-converts it to an intermediate frequency of 2.5GHz. The millimeter-wave phased array module on the base station side up-converts the 2.5GHz intermediate frequency signal to 28GHz and performs beamforming. The millimeter-wave phased array module on the user side receives the 28GHz millimeter-wave signal and down-converts it to an intermediate frequency of 2.5GHz. The software-defined radio module on the user side receives the 2.5GHz intermediate frequency signal and performs beam scanning and beam measurement to obtain the reference signal received power, which is then sent to the computer. The inertial measurement unit on the user side acquires the user's motion state information and sends it to the computer. The computer uses a belief propagation instantaneous positioning and mapping algorithm to estimate the user's position based on the received information.

[0054] In this embodiment of the invention, the software-defined radio module uses the USRP-2974, and the millimeter-wave phased array module uses the mmPSA-TR64MX millimeter-wave phased array. The center frequency of the millimeter-wave phased array module is 28 GHz, its operating frequency range is 27 GHz to 29 GHz, the subcarrier spacing is 120 kHz, and it uses 64 antenna elements for radio frequency transmission and reception. Each antenna is connected to an 8-bit precision radio frequency phase shifter, which can achieve beamforming in up to 4096 directions. This invention actually sets the number of beam directions to 64, realizing a 64-beam millimeter-wave communication system. The software-defined radio module and the millimeter-wave phased array module on the base station side complete beamforming and transmit the beam, while the user side receives the beam.

[0055] The FPGA controls the software-defined radio module on the base station side to implement beam scanning and beam measurement, record the reference signal received power, and transmit the measurement results back to the computer after each round of beam scanning.

[0056] The beam scanning process of this invention first fixes the user-side beam, polls the 64 beam directions of the base station and completes beam measurement. After polling is completed, the next user-side beam is fixed, and the base station beam direction is polled again, and so on. One beam scan requires 64×64 measurements of the reference signal received power.

[0057] Each radio frame in the millimeter-wave signal transmission process is 20ms long, each radio frame contains 20 subframes, each subframe contains 8 time slots, and each time slot contains 14 orthogonal frequency division multiplexing (OFDM) symbols. Each synchronization signal block (SSB) consists of four OFDM symbols.

[0058] In one embodiment of the present invention, the inertial measurement unit includes: an accelerometer; a gyroscope; and a magnetometer. The motion state information in this embodiment includes acceleration values, real-time velocity values, position values, and quaternions for determining attitude. The computer obtains the user's position changes in real time through velocity integration, and completes the estimation of the carrier's position and attitude.

[0059] The measurements taken by the inertial measurement unit can be completed synchronously with the beam scanning process of the millimeter-wave communication system.

[0060] Optionally, in an embodiment of the present invention, the processing module is further configured to extract the index of the strongest beam pair based on the heat map of the received power of the reference signal, and determine the angle information corresponding to the index based on the millimeter-wave phased array beam pattern. The angle information corresponding to the index includes: the angle of arrival of the received beam at the receiving end and the angle of departure of the transmitted beam at the transmitting end.

[0061] The confidence propagation real-time positioning and mapping algorithm takes the beam angle of arrival and departure angle and the position information updated by the inertial measurement unit as inputs, and outputs the corrected high-precision user position and virtual anchor (VA) position.

[0062] The computer receives measurement data from the millimeter-wave communication system and the inertial measurement unit (IMU), processes the data in real time using the BPSLAM algorithm, and estimates the user trajectory and virtual anchor (VA) position. The BPSLAM algorithm replaces the algorithm that uses environmental geometry to estimate the position of the scatterer and virtual anchor (VA), and can combine auxiliary information from the IMU to estimate the user position and the virtual anchor (VA) position.

[0063] Optionally, in an embodiment of the present invention, the processing module is further configured to: after the confidence propagation instantaneous localization and map building algorithm is initialized, estimate the user's location information based on the user's current state information as the predicted value of the user's current location, and use the angle information corresponding to the index as the observed value; calculate the angle of arrival of the receiving beam and the angle of departure of the transmitting beam using the virtual anchor position estimated at the previous moment and the predicted value of the user's current location; compare the angle of arrival of the receiving beam and the angle of departure of the transmitting beam with the observed value at the current moment, and select the observed value closest to the angle of arrival of the receiving beam and the angle of departure of the transmitting beam for association; by changing the user's position, make the calculated angle of arrival of the receiving beam and the angle of departure of the transmitting beam move closer to the associated observed value, so as to correct the user's position, and generate the corresponding virtual anchor at the current moment using all unassociated observed values.

[0064] Combination Figure 2 As shown, in the BP SLAM algorithm of this embodiment of the invention, after the algorithm initialization is completed, the user position information estimated by the inertial measurement unit after velocity integration at the current time is input as the predicted value of the user position; the beam measurement data of the millimeter wave communication system, that is, the processed beam arrival angle and departure angle, are input as a set of observation data for this beam scan.

[0065] During the data association process, the estimated VA position from the previous moment and the predicted user position at the current moment are used to calculate AoA and AoD based on geometric relationships. These are then compared with a set of observations at the current moment, and the observation closest to it is selected for association.

[0066] User location correction adjusts the calculated AoA and AoD by changing the user's location, bringing them closer to associated observations. VA location correction occurs simultaneously with user location correction. At the start of this process, corresponding VAs are generated using all unassociated observations. During each virtual anchor VA correction, if the corresponding VA is not associated, its weight is decreased; if it is associated, its weight is increased. Higher weights tend to retain the VA, while lower weights tend to delete it.

[0067] The corrected user position and VA position at the current moment will be used as known conditions for the next moment. The corrected user position information will be used to predict the position at the next moment after combining with the motion state information output by the inertial measurement unit module. The VA position information will be used to calculate AoA and AoD during the data association process.

[0068] In summary, the BP SLAM algorithm integrates RSRP measurement results with motion state information output by the IMU to estimate the positions of the user and VA with high accuracy.

[0069] The millimeter-wave beam training and environmental perception integrated system according to embodiments of the present invention acquires a large amount of beam spatial channel information through a millimeter-wave communication system, uses an inertial measurement unit to collect user motion state information as auxiliary positioning information, and integrates the BP SLAM algorithm to estimate the position of the user and the environmental parameter VA with high accuracy, thereby improving the communication environment perception capability. At the same time, it utilizes FPGA beam scanning and synchronous measurement of motion state to achieve rapid processing of real-time data.

[0070] Next, with reference to the accompanying drawings, the integrated method for millimeter-wave beam training and environmental perception proposed according to an embodiment of the present invention is described.

[0071] Figure 3 This is a flowchart of an integrated millimeter-wave beam training and environmental perception method provided according to an embodiment of the present invention.

[0072] like Figure 3 As shown, this integrated millimeter-wave beam training and environmental perception method includes the following steps:

[0073] In step S101, the clock frequencies of the base station side and the user side are synchronized by a clock reference signal with a preset clock frequency.

[0074] In step S102, the baseband signal generated by the base station side is up-converted, beamformed, and then transmitted to the user side.

[0075] In step S103, the user side receives the signal transmitted by the base station side, and performs beam scanning and beam measurement on the received signal after downconversion to obtain the reference signal received power.

[0076] In step S104, based on the belief propagation instantaneous localization and mapping algorithm, the user trajectory and virtual anchor position are estimated according to the reference signal received power and the user's motion state information.

[0077] In an embodiment of the present invention, based on the belief propagation real-time localization and mapping algorithm, user trajectory and virtual anchor position estimation are performed according to the reference signal received power and user motion state information. This includes: extracting the strongest beam pair index based on the heatmap of the reference signal received power, and determining the angle information corresponding to the index based on the millimeter-wave phased array beam pattern; wherein the angle information corresponding to the index includes: the angle of arrival of the received beam at the receiver and the angle of departure of the transmitted beam at the transmitter; after initialization of the belief propagation real-time localization and mapping algorithm, user position information is estimated based on the current user state information, used as the predicted user position value at the current time, and the angle corresponding to the index is... The degree information is used as the observation value; the angle of arrival of the receiving beam and the angle of departure of the transmitting beam are calculated using the virtual anchor position estimated at the previous moment and the predicted user position at the current moment. The angle of arrival of the receiving beam and the angle of departure of the transmitting beam are compared with the observation value at the current moment, and the observation value closest to the angle of arrival of the receiving beam and the angle of departure of the transmitting beam are selected for association; by changing the user position, the calculated angle of arrival of the receiving beam and the angle of departure of the transmitting beam are made closer to the associated observation value, so as to correct the user position. At the same time, the corresponding virtual anchor at the current moment is generated using all the unassociated observation values.

[0078] It should be noted that the foregoing explanation of the embodiment of the integrated millimeter-wave beam training and environmental perception system also applies to the integrated millimeter-wave beam training and environmental perception method of this embodiment, and will not be repeated here.

[0079] The millimeter-wave beam training and environmental perception integrated method proposed in this embodiment of the invention acquires a large amount of beam spatial channel information through a millimeter-wave communication system, uses an inertial measurement unit to collect user motion state information as auxiliary positioning information, and integrates the BP SLAM algorithm to estimate the position of the user and the environmental parameter VA with high accuracy, thereby improving the communication environment perception capability. At the same time, it utilizes FPGA beam scanning and synchronous measurement of motion state to achieve rapid processing of real-time data.

[0080] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0081] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "N" means at least two, such as two, three, etc., unless otherwise explicitly specified.

Claims

1. A millimeter-wave beam training and environmental perception integrated system, comprising a base station side and a user side, characterized in that, The integrated millimeter-wave beam training and environmental perception system includes: A millimeter-wave communication system consisting of a high-precision clock source, a base station-side clock node module, a base station-side software-defined radio module, a base station-side millimeter-wave phased array module, a user-side clock node module, a user-side software-defined radio module, and a user-side millimeter-wave phased array module; an inertial measurement unit and a processing module located on the user side; The output of the high-precision clock source is connected to the input of the base station-side clock node module and the user-side clock node module, respectively, and is used to generate a clock reference signal with a preset clock frequency. The output terminal of the base station-side clock node module is connected to the clock input terminal of the base station-side software-defined radio module, and the output terminal of the user-side clock node module is connected to the clock input terminal of the user-side software-defined radio module. Both are used to send the clock reference signal of the preset clock frequency to the corresponding software-defined radio module to achieve clock frequency synchronization of the software-defined radio module. The output of the software-defined radio module on the base station side is connected to the input of the millimeter-wave phased array module on the base station side, and is used to generate a baseband signal of a first preset frequency and upconvert the baseband signal to a second preset frequency. The output terminal of the base station-side millimeter-wave phased array module is connected to the input terminal of the user-side millimeter-wave phased array module, and is used to upconvert the up-converted baseband signal to a third preset frequency and perform beamforming. The output terminal of the user-side millimeter-wave phased array module is connected to the input terminal of the user-side software-defined radio module, and is used to receive the beam sent by the base station-side millimeter-wave phased array module, and downconvert the received signal of the third preset frequency to the second preset frequency. The output of the user-side software-defined radio module is connected to the processing module, and is used to downconvert the received signal of the second preset frequency to the first preset frequency, and perform beam scanning and beam measurement on the received signal of the first preset frequency to obtain the reference signal received power. The inertial measurement unit is connected to the processing module and is used to acquire the user's motion state information; The processing module is equipped with a belief propagation real-time localization and map building algorithm, which is used to estimate the user trajectory and virtual anchor position based on the reference signal received power and the motion state information. The processing module is further configured to extract the index of the strongest beam pair based on the heat map of the received power of the reference signal, and determine the angle information corresponding to the index based on the millimeter-wave phased array beam pattern. The angle information corresponding to the index includes the angle of arrival of the received beam at the receiving end and the departure angle of the transmitted beam at the transmitting end. The processing module is further used for, After the belief propagation real-time localization and mapping algorithm is initialized, the user's position information is estimated based on the user's motion state information at the current moment, which is used as the predicted value of the user's position at the current moment, and the angle information corresponding to the index is used as the observation value. The angle of arrival of the receiver beam and the angle of departure of the transmitter beam are calculated using the virtual anchor position estimated at the previous moment and the user position prediction value at the current moment. The angle of arrival of the receiver beam and the angle of departure of the transmitter beam are compared with the observed values ​​at the current moment, and the observed values ​​that are closest to the angle of arrival of the receiver beam and the angle of departure of the transmitter beam are selected for association. By changing the user's position, the calculated angle of arrival of the receiver's beam and the angle of departure of the transmitter's beam are brought closer to the associated observations. This corrects the user's position while generating a corresponding virtual anchor for the current moment using all unassociated observations.

2. The system according to claim 1, characterized in that, The clock node modules on the base station side and the user side are configured one-to-one with the software-defined radio modules.

3. The system according to claim 1, characterized in that, The inertial measurement unit includes: Accelerometer; Gyroscope; Magnetometer.

4. The system according to claim 3, characterized in that, The motion state information acquired by the inertial measurement unit includes acceleration values, real-time velocity values, position values, and quaternions used to determine attitude.

5. A method for integrating millimeter-wave beam training and environmental perception, used in the integrated millimeter-wave beam training and environmental perception system according to any one of claims 1-4, characterized in that, The clock frequencies of the base station and the user are synchronized by a clock reference signal with a preset clock frequency. After upconverting the baseband signal generated on the base station side, beamforming is performed, and the beam is sent to the user side. The user side receives the signal sent by the base station, and after down-converting the received signal, performs beam scanning and beam measurement to obtain the reference signal received power. Based on the belief propagation real-time localization and mapping algorithm, the user trajectory and virtual anchor position are estimated according to the received power of the reference signal and the user's motion state information.

6. The method according to claim 5, characterized in that, Based on the belief propagation real-time localization and mapping algorithm, the user trajectory and virtual anchor position are estimated according to the received power of the reference signal and the user's motion state information, including: Based on the heat map of the received power of the reference signal, the index of the strongest beam pair is extracted, and the angle information corresponding to the index is determined according to the millimeter-wave phased array beam pattern; wherein, the angle information corresponding to the index includes: the angle of arrival of the received beam at the receiving end and the departure angle of the transmitted beam at the transmitting end; After the belief propagation real-time localization and mapping algorithm is initialized, the user's location information is estimated based on the user's current state information and used as the predicted value of the user's current location. The angle information corresponding to the index is used as the observed value. The angle of arrival of the receiver beam and the angle of departure of the transmitter beam are calculated using the virtual anchor position estimated at the previous moment and the user position prediction value at the current moment. The angle of arrival of the receiver beam and the angle of departure of the transmitter beam are compared with the observed values ​​at the current moment, and the observed values ​​that are closest to the angle of arrival of the receiver beam and the angle of departure of the transmitter beam are selected for association. By changing the user's position, the calculated angle of arrival of the receiver's beam and the angle of departure of the transmitter's beam are brought closer to the associated observations. This corrects the user's position while generating a corresponding virtual anchor for the current moment using all unassociated observations.

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