Method, apparatus, and medium for terahertz sensing cooperative communication

Abstract

The application discloses a method and device for terahertz sensing cooperative communication, electronic equipment and medium. Through the application of the technical solution, the distance, azimuth angle, radial velocity and tangential angular velocity of the high-mobility target device can be estimated through the sensing function of the T-I SAC system, and the communication mode matched with the device is selected according to different scene parameters, so that the azimuth angle and tangential angular velocity information can be used for correcting the beam direction in real time based on the communication model, thereby improving the communication performance of the T-I SAC system and realizing terahertz sensing cooperative communication in a high-mobility scene.

Description

Technical Field

[0001] This application relates to terahertz data processing technology, and in particular to a method, apparatus, electronic device and medium for terahertz sensing collaborative communication. Background Technology

[0002] Among related technologies, THz spectrum resources are abundant, and its ultra-large bandwidth supports ultra-high speed while also achieving smaller distance resolution. Higher frequencies can also improve speed resolution, making it one of the key technologies for integrated sensing in 6G communication.

[0003] In related technologies, terahertz communication requires the use of high-gain narrow-beam antennas to communicate with target devices in order to compensate for severe path loss. However, in scenarios where devices are highly mobile, the excessively high tangential speed of the devices makes it difficult for existing solutions to support real-time precise alignment of narrow beams.

[0004] Therefore, achieving high-precision beam alignment for the Terahertz Communication-Sensing Integration (T-ISAC) system is key to realizing collaborative sensing communication in the T-ISAC system. Summary of the Invention

[0005] This application provides a method, apparatus, electronic device, and medium for terahertz sensing cooperative communication. This application aims to solve the problem in the related art that the T-ISAC system cannot perform real-time precise alignment of highly mobile equipment.

[0006] According to one aspect of the embodiments of this application, a method for terahertz sensing cooperative communication is provided, applied to a terahertz communication-sensing integrated T-ISAC system, the method comprising:

[0007] After sending an integrated signal to a user device whose mobility exceeds a preset threshold, the system receives the integrated signal echo reflected by the user device.

[0008] Based on the integrated signal echo, the state of the user equipment is estimated to obtain estimated state information;

[0009] Based on the estimated state information, a target cooperative communication mode matching the user equipment is selected;

[0010] Based on the target cooperative communication mode, the pointing direction of the antenna beam of the T-ISAC system is determined, and based on the pointing direction, cooperative communication with the user equipment is completed.

[0011] Optionally, in another embodiment based on the method described above in this application, sending an integrated signal to a user device whose mobility exceeds a preset threshold includes:

[0012] Obtain the initialization status information of the user equipment;

[0013] Based on the initialization state information of the user equipment, the initial azimuth information of the user equipment is generated;

[0014] The antenna of the T-ISAC system is controlled to rotate mechanically to point in the direction of the initial azimuth information; or, the antenna is made to point in the direction of the initial azimuth information by controlling the precoding matrix of beamforming in the T-ISAC system.

[0015] Optionally, in another embodiment based on the method described above in this application, estimating the state of the user equipment based on the integrated signal echo to obtain estimated state information includes:

[0016] The integrated signal echo, obtained by superimposing the sensing echo signal and the communication echo signal, is acquired, and the sensing echo signal is extracted using a filtering method.

[0017] The state of the user equipment is estimated based on the sensed echo signal to obtain the estimated state information.

[0018] Optionally, in another embodiment based on the method described above in this application, estimating the state of the user equipment based on the sensed echo signal to obtain the estimated state information includes:

[0019] Obtain the initialization parameters of the T-ISAC system and the user equipment;

[0020] Based on the phase difference information in the sensed echo signal, azimuth angle estimation information is generated, and azimuth angle estimation variance information is obtained according to the azimuth angle estimation information and the initialization parameters.

[0021] Based on the amplitude information in the sensed echo signal, tangential angular velocity estimation information is generated, and tangential angular velocity estimation variance information is obtained according to the tangential angular velocity estimation information and the initialization parameters.

[0022] Optionally, in another embodiment based on the method described above in this application, the method further includes:

[0023] Based on the initialization state information of the user equipment, the initial azimuth information of the user equipment is generated;

[0024] Based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information, a target cooperative communication mode matching the user equipment is selected.

[0025] Optionally, in another embodiment based on the method described above in this application, selecting a target cooperative communication mode that matches the user equipment includes:

[0026] Based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information, multiple cooperative communication information corresponding to the user equipment is generated.

[0027] Based on the size relationship between the various cooperative communication information, the target cooperative communication mode that matches the user equipment is selected;

[0028] The collaborative communication information includes initial azimuth information and initial azimuth variance information, azimuth estimation information and azimuth estimation variance information, and azimuth sensing information and azimuth sensing variance information.

[0029] Optionally, in another embodiment based on the method described above in this application, selecting the target cooperative communication mode that matches the user equipment based on the size relationship between the various cooperative communication information includes:

[0030] If it is determined that the initial azimuth variance information is less than or equal to the estimated azimuth variance information, and the initial azimuth variance information is less than or equal to the perceived azimuth variance information, then the non-perceptual cooperative mode is adopted as the target cooperative communication mode matching the user equipment; or,

[0031] If it is determined that the estimated azimuth variance is less than the initial azimuth variance, and the estimated azimuth variance is less than or equal to the perceived azimuth variance, then the one-dimensional sensing cooperative mode is adopted as the target cooperative communication mode matching the user equipment; or,

[0032] If it is determined that the azimuth angle perception variance information is less than the initial azimuth angle variance information, and the azimuth angle perception variance information is less than the azimuth angle estimation variance information, then the two-dimensional perception cooperative mode is used as the target cooperative communication mode that matches the user equipment.

[0033] Optionally, in another embodiment based on the method described above in this application, the method further includes:

[0034] If the target cooperative communication mode is the non-perceptive cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the initial azimuth information;

[0035] If the target cooperative communication mode is the one-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the azimuth estimation information;

[0036] If the target cooperative communication mode is the two-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the azimuth sensing information.

[0037] According to another aspect of the embodiments of this application, a terahertz sensing cooperative communication device is provided, applied to a terahertz communication sensing integrated T-ISAC system, comprising:

[0038] The transmitting module is configured to send an integrated signal to a user device whose mobility exceeds a preset threshold, and then receive the integrated signal echo reflected by the user device.

[0039] The estimation module is configured to estimate the state of the user equipment based on the integrated signal echo to obtain estimated state information;

[0040] The selection module is configured to select a target cooperative communication mode that matches the user equipment based on the estimated state information.

[0041] A communication module is configured to determine the pointing direction of the antenna beam of the T-ISAC system based on the target cooperative communication mode, and to complete cooperative communication with the user equipment based on the pointing direction. According to another aspect of this application, an electronic device is provided, comprising:

[0042] Memory, used to store executable instructions; and

[0043] A display for executing the executable instructions with the memory to perform any of the aforementioned terahertz sensing cooperative communication methods.

[0044] According to another aspect of the embodiments of this application, a computing device readable storage medium is provided for storing computing device readable instructions, which, when executed, perform the operation of any of the terahertz sensing cooperative communication methods described above.

[0045] In this application, an integrated signal can be sent to a user equipment whose mobility rate exceeds a preset threshold, and then the integrated signal echo reflected by the user equipment can be received. Based on the integrated signal echo, the state of the user equipment can be estimated to obtain estimated state information. Based on the estimated state information, a target cooperative communication mode matching the user equipment can be selected. Based on the target cooperative communication mode, the pointing direction of the antenna beam of the T-ISAC system can be determined, and based on the pointing direction, cooperative communication with the user equipment can be completed.

[0046] By applying the technical solution of this application, the four state parameters of highly maneuverable equipment—distance, azimuth, radial velocity, and tangential angular velocity—can be estimated through the sensing function of the T-ISAC system. A communication mode matching the equipment can be selected for different scenario parameters, so that the azimuth and tangential angular velocity information can be used in real time to correct the beam direction based on the communication model, thereby improving the communication performance of the T-ISAC system and realizing terahertz sensing collaborative communication in highly maneuverable scenarios.

[0047] The technical solutions of this application will be further described in detail below using several embodiments. Attached Figure Description

[0048] The accompanying drawings, which form part of this specification, illustrate embodiments of this application and, together with the description, serve to explain the principles of this application.

[0049] This application can be more clearly understood with reference to the accompanying drawings and the following detailed description, wherein:

[0050] Figure 1 A schematic diagram of a terahertz sensing cooperative communication method provided in an embodiment of this application is shown;

[0051] Figure 2 A schematic diagram of a terahertz sensing cooperative communication model provided in an embodiment of this application is shown;

[0052] Figure 3 This illustration shows a flowchart of a process for selecting a target for collaborative communication that matches a user equipment, according to an embodiment of this application.

[0053] Figure 4 This illustration shows a schematic diagram of the pointing direction deviation of an antenna beam in a T-ISAC system according to an embodiment of this application;

[0054] Figure 5 This invention provides a schematic diagram of the structure of an electronic device according to an embodiment of the present application.

[0055] Figure 6 This illustration shows a schematic diagram of the structure of an electronic device according to an embodiment of this application;

[0056] Figure 7 A schematic diagram of the structure of a storage medium provided in an embodiment of this application is shown. Detailed Implementation

[0057] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that, unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the present application.

[0058] At the same time, it should be understood that, for ease of description, the dimensions of the various parts shown in the accompanying drawings are not drawn according to actual scale.

[0059] The following description of at least one exemplary embodiment is merely illustrative and is not intended to limit the scope of this application or its application or use.

[0060] Techniques, methods, and equipment known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and equipment should be considered part of the specification.

[0061] It should be noted that similar labels and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be discussed further in subsequent figures.

[0062] Furthermore, the technical solutions of the various embodiments of this application can be combined with each other, but only if they are based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by this application.

[0063] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicator will also change accordingly.

[0064] The following is combined with Figures 1-4 This application describes a method for terahertz sensing cooperative communication according to exemplary embodiments thereof. It should be noted that the following application scenarios are shown only to facilitate understanding of the spirit and principles of this application, and the embodiments of this application are not limited in any way. Rather, the embodiments of this application can be applied to any applicable scenario.

[0065] Furthermore, this application also proposes a method, apparatus, vehicle, and medium for terahertz sensing cooperative communication.

[0066] Figure 1 A schematic flowchart illustrating a terahertz sensing cooperative communication method according to an embodiment of this application is shown. Figure 1 As shown, this method is applied to the T-ISAC system, which integrates terahertz communication and sensing, and includes:

[0067] S101, after sending an integrated signal to a user equipment whose mobility rate exceeds a preset threshold, receives the integrated signal echo reflected by the user equipment.

[0068] In one embodiment, before sending the integrated signal to the user equipment, the T-ISAC system of this application may first perform a step of initializing the T-ISAC system, including:

[0069] Obtain the initialization parameters for the user equipment and the T-ISAC system.

[0070] Among them, the initialization parameters of the user equipment include the equivalent receiving area S of the user equipment. a Number of receiving antennas N for user equipment tar Signal-to-noise ratio η;

[0071] The initialization parameters of the T-ISAC system include the total system bandwidth B, total system power P, total number of system frames M, total number of system antennas N, sensing interval T, and beamwidth w. d .

[0072] In another approach, embodiments of this application can also obtain the initialization status information of the user equipment, and based on this initialization status information, control the terahertz antenna of the T-ISAC system to initially align with the user equipment, including two cases:

[0073] First scenario:

[0074] First, acquire GPS global signals generated from other locations, including the location information of the user equipment. Then, using the relative coordinates from the location information, generate initial azimuth information for highly mobile user equipment (i.e., user equipment with a movement speed exceeding a preset threshold), and directly obtain the initial angle variance information from the variance of the user equipment's angle information.

[0075] Specifically, it can acquire global signals, including but not limited to GPS signals, generated from other locations, including user equipment location information, and generate initial azimuth information for highly mobile user equipment using relative coordinates.

[0076] The second scenario:

[0077] The system acquires local signals generated by sensing non-co-frequency signals at the same location, such as Sub-6GHz band signals or optical signals, including user equipment angle information, thereby directly obtaining the initial azimuth information of highly mobile user equipment, and directly obtaining the initial angle variance information from the variance of user equipment angle information.

[0078] Specifically, it can acquire local signals, including but not limited to, non-co-frequency sensing of Sub-6GHz band signals or optical signals, which include user equipment angle information, to directly obtain the initial azimuth information of highly mobile user equipment.

[0079] Furthermore, the initial angle variance information can be obtained through the following steps:

[0080] Based on the variance of user equipment location information The initial angle variance information is calculated as follows:

[0081]

[0082] Furthermore, after obtaining the initial azimuth information of the user equipment, the antenna of the T-ISAC system can be mechanically rotated to point in the direction of the initial azimuth information; or,

[0083] By controlling the precoding matrix of beamforming in the T-ISAC system, the antenna is made to point in the direction of the initial azimuth information.

[0084] Specifically, the mechanical rotation of the terahertz multi-antenna can be controlled to make the antenna normal point as follows:

[0085]

[0086] In one embodiment of this application, the following steps may be implemented during the process of sending an integrated signal to a user equipment:

[0087] The T-ISAC system generates bandwidth allocation coefficients under the frequency division multiplexing (FDM) scheme, which in turn generate communication and sensing signals. These two signals are then superimposed to obtain an integrated signal. It should be noted that the communication and sensing signals can occupy two orthogonal bandwidth segments within the same frequency band, and can occupy the same resources in both the time and spatial domains.

[0088] Specifically, a bandwidth allocation coefficient β (0 ≤ β ≤ 1) can be generated first. The communication transmission signal and the sensing transmission signal occupy two orthogonal bandwidth resources in the same frequency band, and occupy the same resources in the time domain and spatial domain, that is...

[0089]

[0090] This generates a communication signal s at time t. com (t;B com ) and sensing transmitted signal s sen (t;B sen ).

[0091] Furthermore, the process of superimposing signals can include:

[0092] The communication signal and the sensing signal are added together by an adder to generate an integrated transmission signal, i.e.

[0093] s int (t;β)=s com (t;Bcom )+s sen (t;B sen ).

[0094] In one embodiment of this application, the following steps may be implemented during the process of receiving the integrated signal echo reflected by the user equipment:

[0095] The integrated signal echo obtained by superimposing the sensing echo signal and the communication echo signal is obtained, and the sensing echo signal in the integrated signal echo is extracted using methods such as filtering.

[0096] Specifically, the integrated signal echo can be received first as follows:

[0097]

[0098] The amplitude h(t; ω) is determined by the tangential angular velocity ω of the user equipment, and the signal s is transmitted with a delay. int (t-τ) is determined by the propagation delay τ, and the antenna turning vector. From the azimuth angle of the user equipment Determine, phase shift It is determined by the Doppler frequency offset f.

[0099] Optionally, the specific expression for the amplitude h(t; ω) is determined by the beam model;

[0100] Optionally, the signal s is sent with a delay. int The specific expression for (t-τ) is given by the communication signal s. com (t;B com ) and sensing transmitted signal s sen (t;B sen The waveform of ) is determined, where the time delay d is the distance, and c is the speed of light;

[0101] Optionally, the antenna steering vector The specific expression is determined by the antenna model. For a linear array that satisfies the half-wavelength antenna spacing, the expression is:

[0102] Optionally, phase shift The specific expression is determined by the receiver's function. For a general receiver, the expression is: Doppler frequency deviation Let v be the radial velocity, and f be the radial velocity. c The center frequency.

[0103] Furthermore, the separation of the integrated echo into sensing echo and communication echo described in sub-step S1032 includes, but is not limited to:

[0104] By separating the sensing echo and communication echo allocated with different bandwidths using matched filtering, the resulting sensing echo is:

[0105]

[0106] S102, the state of the user equipment is estimated based on the integrated signal echo to obtain estimated state information.

[0107] The estimated state information may include distance, azimuth, radial velocity and tangential angular velocity information, and their respective variance information.

[0108] It should be noted that the embodiments of this application can utilize the azimuth estimation information and the corresponding variance information in the estimated state information, as well as the tangential angular velocity estimation information and the corresponding variance information, to match the target cooperative communication mode for the user equipment.

[0109] In one embodiment of this application, the following steps may be implemented during the process of obtaining the estimated state information:

[0110] Based on the time delay information in the sensed echo signal, distance estimation information is generated, and distance estimation variance information is obtained based on the distance estimation information and the initialization parameters.

[0111] Based on the phase difference information in the sensed echo signal, azimuth angle estimation information is generated, and based on the azimuth angle estimation information and the initialization parameters, azimuth angle estimation variance information is obtained.

[0112] Based on the Doppler frequency shift information in the sensed echo signal, radial velocity estimation information is generated, and the radial velocity estimation variance information is obtained based on the radial velocity estimation information and the initialization parameters.

[0113] Based on the amplitude information in the sensed echo signal, tangential angular velocity estimation information is generated, and based on the tangential angular velocity estimation information and the initialization parameters, the tangential angular velocity estimation variance information is obtained.

[0114] Specifically, the estimated signal parameters contained in the sensed echo can include the following parameters:

[0115] Estimating signal parameters in To estimate angular velocity, To estimate latency, To estimate azimuth, To estimate the Doppler frequency shift.

[0116] Furthermore, the variance of the parameter estimate can be calculated as follows:

[0117] Calculate the Fisher information matrix for signal parameter estimation

[0118]

[0119] in, Let V be the variance of the Gaussian white noise;

[0120] Cramer-Rao bound for calculating signal parameter estimation

[0121]

[0122] Furthermore, estimating user equipment status information can be done as follows:

[0123] Estimate user equipment status

[0124]

[0125] in, To estimate distance, To estimate the radial velocity.

[0126] Furthermore, calculating the estimated state variance information can be done as follows:

[0127] Calculate the user equipment state variance matrix

[0128]

[0129] S103, based on the estimated state information, select the target cooperative communication mode that matches the user equipment.

[0130] In one embodiment, the present application can select a target cooperative communication mode that matches the user equipment based on initial azimuth information, azimuth estimation variance information, and tangential angular velocity estimation variance information.

[0131] In another approach, multiple cooperative communication information corresponding to the user equipment can be generated based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information (i.e., initial azimuth information and initial azimuth variance information, azimuth estimation information and azimuth estimation variance information, azimuth sensing information and azimuth sensing variance information). Subsequently, based on the magnitude relationship between the various cooperative communication information, a target cooperative communication mode matching the user equipment can be selected.

[0132] Specifically, the cooperative communication information can be obtained through the following steps:

[0133] The azimuth sensing information is calculated as follows:

[0134]

[0135] Where Δ is the sampling frequency, when the Nyquist sampling criterion is satisfied.

[0136] Furthermore, embodiments of this application can calculate the initial azimuth variance based on the beam distribution model. Azimuth estimation variance Azimuth perceived variance

[0137] S104, based on the target cooperative communication mode, determines the pointing direction of the antenna beam of the T-ISAC system, and completes cooperative communication with the user equipment based on the pointing direction.

[0138] In one approach, the target cooperative communication mode is one of three: a non-perceptive cooperative mode, a one-dimensional perceptive cooperative mode, or a two-dimensional perceptive cooperative mode. The selection of the target cooperative communication mode can be achieved through the following steps:

[0139] If the initial azimuth variance is determined to be less than or equal to the estimated azimuth variance, and the initial azimuth variance is less than or equal to the perceived azimuth variance, then the non-perceptual cooperative mode will be used as the target cooperative communication mode matched with the user equipment; or,

[0140] If the estimated azimuth variance is determined to be less than the initial azimuth variance, and the estimated azimuth variance is less than or equal to the perceived azimuth variance, then the one-dimensional sensing cooperative mode will be used as the target cooperative communication mode matched with the user equipment; or,

[0141] If the azimuth perception variance information is determined to be less than the initial azimuth variance information, and the azimuth perception variance information is less than the estimated azimuth variance information, then the two-dimensional sensing cooperative mode will be used as the target cooperative communication mode that matches the user equipment.

[0142] Specifically, it can be done through comparison and The magnitude of the value determines the target cooperative communication mode. Specifically:

[0143] like and Then select the seamless collaborative mode; or,

[0144] like and Then select the one-dimensional perception collaboration mode; or,

[0145] like and Then select the two-dimensional perception collaborative mode.

[0146] Furthermore, in this embodiment, the pointing angle of the T-ISAC system antenna needs to be determined according to the target cooperative communication mode, so as to control the precoding matrix to make the terahertz multi-antenna beam direction be at that pointing angle, i.e.:

[0147] If the target cooperative communication mode is the non-perceptive cooperative mode, the antenna beam of the T-ISAC system should be pointed in the direction of the initial azimuth information;

[0148] If the target cooperative communication mode is a one-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system should be pointed in the direction of the azimuth estimation information;

[0149] If the target cooperative communication mode is a two-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system should be pointed in the direction of the azimuth sensing information.

[0150] Specifically, if the sensing and coordination mode is a non-sensing mode, then the azimuth angle... or,

[0151] If the sensing collaboration mode is a one-dimensional sensing mode, then the azimuth angle or,

[0152] If the sensing collaboration mode is a two-dimensional sensing mode, then the azimuth angle

[0153] By applying the technical solution of this application, the four state parameters of highly maneuverable target equipment—distance, azimuth, radial velocity, and tangential angular velocity—can be estimated through the sensing function of the T-ISAC system. A communication mode matching the equipment can be selected for different scenario parameters, so that the azimuth and tangential angular velocity information can be used in real time to correct the beam direction based on this communication model, thereby improving the communication performance of the T-ISAC system and realizing terahertz sensing collaborative communication in highly maneuverable scenarios.

[0154] Optionally, in another embodiment based on the method described above in this application, sending an integrated signal to a user device whose mobility exceeds a preset threshold includes:

[0155] Obtain the initialization status information of the user equipment;

[0156] Based on the initialization state information of the user equipment, the initial azimuth information of the user equipment is generated;

[0157] The antenna of the T-ISAC system is controlled to rotate mechanically to point in the direction of the initial azimuth information; or, the antenna is made to point in the direction of the initial azimuth information by controlling the precoding matrix of beamforming in the T-ISAC system.

[0158] Optionally, in another embodiment based on the method described above in this application, estimating the state of the user equipment based on the integrated signal echo to obtain estimated state information includes:

[0159] The integrated signal echo, obtained by superimposing the sensing echo signal and the communication echo signal, is acquired, and the sensing echo signal is extracted using a filtering method.

[0160] The state of the user equipment is estimated based on the sensed echo signal to obtain the estimated state information.

[0161] Optionally, in another embodiment based on the method described above in this application, estimating the state of the user equipment based on the sensed echo signal to obtain the estimated state information includes:

[0162] Obtain the initialization parameters of the T-ISAC system and the user equipment;

[0163] Based on the phase difference information in the sensed echo signal, azimuth angle estimation information is generated, and azimuth angle estimation variance information is obtained according to the azimuth angle estimation information and the initialization parameters.

[0164] Based on the amplitude information in the sensed echo signal, tangential angular velocity estimation information is generated, and tangential angular velocity estimation variance information is obtained according to the tangential angular velocity estimation information and the initialization parameters.

[0165] Optionally, in another embodiment based on the method described above in this application, the method further includes:

[0166] Based on the initialization state information of the user equipment, the initial azimuth information of the user equipment is generated;

[0167] Based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information, a target cooperative communication mode matching the user equipment is selected.

[0168] Optionally, in another embodiment based on the method described above in this application, selecting a target cooperative communication mode that matches the user equipment includes:

[0169] Based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information, multiple cooperative communication information corresponding to the user equipment is generated.

[0170] Based on the size relationship between the various cooperative communication information, the target cooperative communication mode that matches the user equipment is selected;

[0171] The collaborative communication information includes initial azimuth information and initial azimuth variance information, azimuth estimation information and azimuth estimation variance information, and azimuth sensing information and azimuth sensing variance information.

[0172] Optionally, in another embodiment based on the method described above in this application, selecting the target cooperative communication mode that matches the user equipment based on the size relationship between the various cooperative communication information includes:

[0173] If it is determined that the initial azimuth variance information is less than or equal to the estimated azimuth variance information, and the initial azimuth variance information is less than or equal to the perceived azimuth variance information, then the non-perceptual cooperative mode is adopted as the target cooperative communication mode matching the user equipment; or,

[0174] If it is determined that the estimated azimuth variance is less than the initial azimuth variance, and the estimated azimuth variance is less than or equal to the perceived azimuth variance, then the one-dimensional sensing cooperative mode is adopted as the target cooperative communication mode matching the user equipment; or,

[0175] If it is determined that the azimuth angle perception variance information is less than the initial azimuth angle variance information, and the azimuth angle perception variance information is less than the azimuth angle estimation variance information, then the two-dimensional perception cooperative mode is used as the target cooperative communication mode that matches the user equipment.

[0176] Optionally, in another embodiment based on the method described above in this application, the method further includes:

[0177] If the target cooperative communication mode is the non-perceptive cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the initial azimuth information;

[0178] If the target cooperative communication mode is the one-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the azimuth estimation information;

[0179] If the target cooperative communication mode is the two-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the azimuth sensing information.

[0180] In one approach, such as Figure 2 The diagram shown is a schematic representation of the terahertz sensing cooperative communication model proposed in this application, which includes:

[0181] Each antenna element emits a Gaussian beam, thus satisfying the following amplitude:

[0182]

[0183] The variance of the perceived performance can then be calculated:

[0184]

[0185] in, Beamwidth w d =w d (d, v) is determined by the distance estimation information d and the radial velocity estimation information v.

[0186] In one approach, such as Figure 3 The diagram shown illustrates the process for selecting a target for cooperative communication that matches the user equipment, as proposed in this application. The process includes:

[0187] S201, Generate initial azimuth variance Generate azimuth estimation variance Azimuth perceived variance

[0188] S202, judgment Is this condition met? If yes, proceed to S403. If no, proceed to S404.

[0189] S203, judgment Is this condition met? If yes, proceed to S405. If no, proceed to S406.

[0190] S205 adopts a non-cooperative sensing mode;

[0191] S206 adopts a two-dimensional collaborative sensing mode.

[0192] S204, judgment Is this condition met? If yes, proceed to S407. If no, proceed to S406.

[0193] S207 adopts a one-dimensional collaborative sensing mode.

[0194] In one approach, such as Figure 4 The diagram shown illustrates the pointing direction deviation of the antenna beam in the T-ISAC system proposed in this application, including:

[0195] The beam alignment deviation l under different sensing cooperative communication modes is characterized, specifically including:

[0196] In the zero-perception cooperative mode, beam alignment assumes the azimuth angle is estimated as follows: The estimated tangential angular velocity is ω beam =0, then the alignment deviation l is determined by the initial azimuth angle and the tangential angular velocity of the user equipment, and its variance satisfies:

[0197]

[0198] In the one-dimensional sensing collaborative mode, beam alignment assumes the azimuth angle is estimated as follows: The estimated tangential angular velocity is ω beam =0, then the alignment deviation l is determined by the azimuth angle estimate and the tangential angular velocity of the user equipment, and its variance satisfies:

[0199]

[0200] In the two-dimensional sensing collaborative mode, the beam alignment assumes the azimuth angle is estimated as follows: The estimated tangential angular velocity is The alignment deviation l is determined by the azimuth angle estimate and the tangential angular velocity estimate, and its variance satisfies:

[0201]

[0202] In another embodiment of this application, such as Figure 5 As shown, this application also provides a terahertz sensing cooperative communication device. Applied to the T-ISAC system integrating terahertz communication and sensing, it includes:

[0203] The transmitting module 301 is configured to send an integrated signal to a user equipment whose mobility rate exceeds a preset threshold, and then receive the integrated signal echo reflected by the user equipment.

[0204] The estimation module 302 is configured to estimate the state of the user equipment based on the integrated signal echo to obtain estimated state information;

[0205] The selection module 303 is configured to select a target cooperative communication mode that matches the user equipment based on the estimated state information.

[0206] The communication module 304 is configured to determine the pointing direction of the antenna beam of the T-ISAC system based on the target cooperative communication mode, and to complete cooperative communication with the user equipment based on the pointing direction.

[0207] By applying the technical solution of this application, the four state parameters of highly maneuverable target equipment—distance, azimuth, radial velocity, and tangential angular velocity—can be estimated through the sensing function of the T-ISAC system. A communication mode matching the equipment can be selected for different scenario parameters, so that the azimuth and tangential angular velocity information can be used in real time to correct the beam direction based on this communication model, thereby improving the communication performance of the T-ISAC system and realizing terahertz sensing collaborative communication in highly maneuverable scenarios.

[0208] In another embodiment of this application, the estimation module 302 is configured to:

[0209] Obtain the initialization status information of the user equipment;

[0210] Based on the initialization state information of the user equipment, the initial azimuth information of the user equipment is generated;

[0211] The antenna of the T-ISAC system is controlled to rotate mechanically to point in the direction of the initial azimuth information; or, the antenna is made to point in the direction of the initial azimuth information by controlling the precoding matrix of beamforming in the T-ISAC system.

[0212] In another embodiment of this application, the estimation module 302 is configured to:

[0213] The integrated signal echo obtained by superimposing the sensing echo signal and the communication echo signal is acquired, and the sensing echo signal is extracted using a filtering method.

[0214] The state of the user equipment is estimated based on the sensed echo signal to obtain the estimated state information.

[0215] In another embodiment of this application, the estimation module 302 is configured to:

[0216] Obtain the initialization parameters of the T-ISAC system and the user equipment;

[0217] Based on the phase difference information in the sensed echo signal, azimuth angle estimation information is generated, and azimuth angle estimation variance information is obtained according to the azimuth angle estimation information and the initialization parameters.

[0218] Based on the amplitude information in the sensed echo signal, tangential angular velocity estimation information is generated, and tangential angular velocity estimation variance information is obtained according to the tangential angular velocity estimation information and the initialization parameters.

[0219] In another embodiment of this application, the estimation module 302 is configured to:

[0220] Based on the initialization state information of the user equipment, the initial azimuth information of the user equipment is generated;

[0221] Based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information, a target cooperative communication mode matching the user equipment is selected.

[0222] In another embodiment of this application, the estimation module 302 is configured to:

[0223] Based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information, multiple cooperative communication information corresponding to the user equipment is generated.

[0224] Based on the size relationship between the various cooperative communication information, the target cooperative communication mode that matches the user equipment is selected;

[0225] The collaborative communication information includes initial azimuth information and initial azimuth variance information, azimuth estimation information and azimuth estimation variance information, and azimuth sensing information and azimuth sensing variance information.

[0226] In another embodiment of this application, the estimation module 302 is configured to:

[0227] If it is determined that the initial azimuth variance information is less than or equal to the estimated azimuth variance information, and the initial azimuth variance information is less than or equal to the perceived azimuth variance information, then the non-perceptual cooperative mode is adopted as the target cooperative communication mode matching the user equipment; or,

[0228] If it is determined that the estimated azimuth variance is less than the initial azimuth variance, and the estimated azimuth variance is less than or equal to the perceived azimuth variance, then the one-dimensional sensing cooperative mode is adopted as the target cooperative communication mode matching the user equipment; or,

[0229] If it is determined that the azimuth angle perception variance information is less than the initial azimuth angle variance information, and the azimuth angle perception variance information is less than the azimuth angle estimation variance information, then the two-dimensional perception cooperative mode is used as the target cooperative communication mode that matches the user equipment.

[0230] In another embodiment of this application, the estimation module 302 is configured to:

[0231] If the target cooperative communication mode is the non-perceptive cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the initial azimuth information;

[0232] If the target cooperative communication mode is the one-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the azimuth estimation information;

[0233] If the target cooperative communication mode is the two-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the azimuth sensing information.

[0234] This application also provides an electronic device for performing the above-described terahertz sensing cooperative communication method. Please refer to... Figure 6 This illustrates a schematic diagram of an electronic device provided by some embodiments of this application. For example... Figure 6As shown, the electronic device 4 includes: a processor 400, a memory 401, a bus 402, and a communication interface 403. The processor 400, the communication interface 403, and the memory 401 are connected via the bus 402. The memory 401 stores a computer program that can run on the processor 400. When the processor 400 runs the computer program, it executes the terahertz sensing cooperative communication method provided in any of the foregoing embodiments of this application.

[0235] The memory 401 may include high-speed random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Communication between this device network element and at least one other network element is achieved through at least one communication interface 403 (which can be wired or wireless), such as the Internet, wide area network, local area network, metropolitan area network, etc.

[0236] Bus 402 can be an ISA bus, PCI bus, or EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The memory 401 is used to store programs. After receiving an execution instruction, the processor 400 executes the program. The video transmission method disclosed in any of the foregoing embodiments of this application can be applied to the processor 400, or implemented by the processor 400.

[0237] The processor 400 may be an integrated circuit chip with signal processing capabilities. In implementation, each step of the above method can be completed by the integrated logic circuitry in the hardware of the processor 400 or by instructions in software form. The processor 400 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of this application can be directly embodied in the execution of a hardware decoding processor, or executed by a combination of hardware and software modules in the decoding processor. The software modules can be located in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. The storage medium is located in memory 401. The processor 400 reads the information in memory 401 and, in conjunction with its hardware, completes the steps of the above method.

[0238] The electronic device provided in this application embodiment and the terahertz sensing cooperative communication method provided in this application embodiment are based on the same inventive concept and have the same beneficial effects as the methods they adopt, operate or implement.

[0239] This application also provides a computer-readable storage medium corresponding to the terahertz sensing cooperative communication method provided in the foregoing embodiments. Please refer to... Figure 7 The computer-readable storage medium shown is an optical disc 50, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it executes the video transmission method provided in any of the foregoing embodiments.

[0240] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical and magnetic storage media, which will not be elaborated here.

[0241] The computer-readable storage medium provided in the above embodiments of this application and the video transmission method provided in the embodiments of this application are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the applications stored therein.

[0242] It should be noted that:

[0243] Numerous specific details are set forth in the specification provided herein. However, it will be understood that embodiments of this application may be practiced without these specific details. In some instances, well-known structures and techniques have not been shown in detail so as not to obscure the understanding of this specification.

[0244] Similarly, it should be understood that, for the sake of brevity and to aid in understanding one or more of the various inventive aspects, in the above description of exemplary embodiments of this application, various features of this application are sometimes grouped together in a single embodiment, figure, or description thereof. However, this disclosure should not be construed as reflecting a schematic diagram in which the claimed application requires more features than expressly recited in each claim. Rather, as reflected in the following claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of this application.

[0245] Furthermore, those skilled in the art will understand that although some embodiments described herein include certain features but not others included in other embodiments, combinations of features from different embodiments are intended to be within the scope of this application and form different embodiments. For example, in the following claims, any of the claimed embodiments can be used in any combination.

[0246] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for terahertz sensing cooperative communication, characterized in that, The method, applied to the T-ISAC system integrating terahertz communication and sensing, includes: After sending an integrated signal to a user device whose mobility exceeds a preset threshold, the system receives the integrated signal echo reflected by the user device. Based on the integrated signal echo, the state of the user equipment is estimated to obtain estimated state information; Based on the estimated state information, a target cooperative communication mode matching the user equipment is selected; Based on the target cooperative communication mode, the pointing direction of the antenna beam of the T-ISAC system is determined, and based on the pointing direction, cooperative communication with the user equipment is completed.

2. The method as described in claim 1, characterized in that, Sending an integrated signal to user equipment whose mobility exceeds a preset threshold includes: Obtain the initialization status information of the user equipment; Based on the initialization state information of the user equipment, the initial azimuth information of the user equipment is generated; The antenna of the T-ISAC system is controlled to rotate mechanically to point in the direction of the initial azimuth information; or, the antenna is made to point in the direction of the initial azimuth information by controlling the precoding matrix of beamforming in the T-ISAC system.

3. The method as described in claim 1, characterized in that, The process of estimating the state of the user equipment based on the integrated signal echo to obtain estimated state information includes: The integrated signal echo obtained by superimposing the sensing echo signal and the communication echo signal is acquired, and the sensing echo signal is extracted using a filtering method. The user equipment is estimated to have a state based on the sensed echo signal, and the estimated state information is obtained.

4. The method as described in claim 3, characterized in that, The step of estimating the state of the user equipment based on the sensed echo signal to obtain the estimated state information includes: Obtain the initialization parameters of the T-ISAC system and the user equipment; Based on the phase difference information in the sensed echo signal, azimuth angle estimation information is generated, and azimuth angle estimation variance information is obtained according to the azimuth angle estimation information and the initialization parameters. Based on the amplitude information in the sensed echo signal, tangential angular velocity estimation information is generated, and tangential angular velocity estimation variance information is obtained according to the tangential angular velocity estimation information and the initialization parameters.

5. The method as described in claim 4, characterized in that, The method further includes: Based on the initialization state information of the user equipment, the initial azimuth information of the user equipment is generated; Based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information, a target cooperative communication mode matching the user equipment is selected.

6. The method as described in claim 5, characterized in that, The selection of a target cooperative communication mode that matches the user equipment includes: Based on the initial azimuth information, the azimuth estimation variance information, and the tangential angular velocity estimation variance information, multiple cooperative communication information corresponding to the user equipment is generated. Based on the size relationship between the various cooperative communication information, the target cooperative communication mode that matches the user equipment is selected; The collaborative communication information includes initial azimuth information and initial azimuth variance information, azimuth estimation information and azimuth estimation variance information, and azimuth sensing information and azimuth sensing variance information.

7. The method as described in claim 6, characterized in that, The step of selecting the target cooperative communication mode that matches the user equipment based on the size relationship between various cooperative communication information includes: If it is determined that the initial azimuth variance information is less than or equal to the estimated azimuth variance information, and the initial azimuth variance information is less than or equal to the perceived azimuth variance information, then the non-perceptual cooperative mode is adopted as the target cooperative communication mode matching the user equipment; or, If it is determined that the estimated azimuth variance is less than the initial azimuth variance, and the estimated azimuth variance is less than or equal to the perceived azimuth variance, then the one-dimensional sensing cooperative mode is adopted as the target cooperative communication mode matching the user equipment; or, If it is determined that the azimuth angle perception variance information is less than the initial azimuth angle variance information, and the azimuth angle perception variance information is less than the azimuth angle estimation variance information, then the two-dimensional perception cooperative mode is used as the target cooperative communication mode that matches the user equipment.

8. The method as described in claim 7, characterized in that, The method further includes: If the target cooperative communication mode is the non-perceptive cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the initial azimuth information; If the target cooperative communication mode is the one-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the azimuth estimation information; If the target cooperative communication mode is the two-dimensional sensing cooperative mode, the antenna beam of the T-ISAC system is pointed in the direction of the azimuth sensing information.

9. A terahertz sensing cooperative communication device, characterized in that, Applications include the T-ISAC system, which integrates terahertz communication and sensing, including: The transmitting module is configured to send an integrated signal to a user device whose mobility exceeds a preset threshold, and then receive the integrated signal echo reflected by the user device. The estimation module is configured to estimate the state of the user equipment based on the integrated signal echo to obtain estimated state information; The selection module is configured to select a target cooperative communication mode that matches the user equipment based on the estimated state information; The communication module is configured to determine the pointing direction of the antenna beam of the T-ISAC system based on the target cooperative communication mode, and to complete cooperative communication with the user equipment based on the pointing direction.

10. An electronic device, characterized in that, include: Memory, used to store executable instructions; as well as, A processor for executing the executable instructions with the memory to perform the operation of the terahertz sensing cooperative communication method according to any one of claims 1-8.

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