Signal processing method and apparatus, device, and storage medium

Abstract

The application provides a signal processing method and device, equipment and storage medium, and relates to the technical field of communication. The method comprises the following steps: a sending end sends a frequency hopping sensing signal on N time units, the frequency hopping sensing signal comprises N sub-sequences belonging to a first sequence, and N is a positive integer; wherein, any two sub-sequences in the N sub-sequences occupy different time units, and any two sub-sequences in the N sub-sequences occupy different frequency domain ranges; and a receiving end receives the frequency hopping sensing signal on the N time units. The application provides a frequency hopping sensing signal, which can realize positioning, sensing and imaging of a detection target without the detection target having a communication function, thereby reducing the cost and capability requirement of the equipment. Moreover, the frequency hopping sensing signal adopts a segmented frequency hopping transmission mode, so that an equipment with limited working bandwidth and / or power can also provide high-precision positioning and sensing capability.

Description

Technical Field

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

[0002] 3GPP (3rd Generation Partnership Project) standardized positioning technology refers to the technology that achieves positioning based on the transmission of communication signals between network equipment and communication equipment.

[0003] In NR (New Radio) systems, to locate terminal devices, network devices need to send downlink Positioning Reference Signals (PRS) to the terminal devices. The terminal devices then perform delay and beamforming measurements based on the received PRS and send uplink Positioning Reference Signals (such as Sounding Reference Signals) to the network devices. The network devices then perform timing and azimuth angle measurements based on the received PRS. Several positioning techniques have been standardized in NR systems, including Downlink-Time Difference of Arrival (DL-TDOA) positioning, Uplink-Time Difference of Arrival (UL-TDOA) positioning, and Multi-Round Trip Time (Multi-RTT) positioning.

[0004] However, the above positioning technology relies on the transmission of communication signals and is only applicable to the positioning of terminal devices with communication capabilities. Summary of the Invention

[0005] This application provides a signal processing method, apparatus, device, and storage medium. The technical solution is as follows:

[0006] On one hand, embodiments of this application provide a signal processing method, the method comprising:

[0007] Frequency hopping sensing signals are transmitted over N time units, the frequency hopping sensing signals comprising N subsequences belonging to the first sequence, where N is a positive integer;

[0008] Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0009] On the other hand, embodiments of this application provide a signal processing method, the method comprising:

[0010] Frequency hopping sensing signals are received in N time units, the frequency hopping sensing signals comprising N subsequences belonging to a first sequence, where N is a positive integer;

[0011] Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0012] Furthermore, embodiments of this application provide a signal processing apparatus, the apparatus comprising:

[0013] A signal transmission module is used to transmit frequency hopping sensing signals in N time units, wherein the frequency hopping sensing signals include N subsequences belonging to a first sequence, and N is a positive integer;

[0014] Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0015] In another aspect, embodiments of this application provide a signal processing apparatus, the apparatus comprising:

[0016] A signal receiving module is used to receive frequency hopping sensing signals in N time units, wherein the frequency hopping sensing signals include N subsequences belonging to a first sequence, and N is a positive integer;

[0017] Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0018] In another aspect, embodiments of this application provide a device, the device comprising: a processor, and a transceiver connected to the processor; wherein:

[0019] The transceiver is configured to transmit frequency hopping sensing signals in N time units, the frequency hopping sensing signals comprising N subsequences belonging to a first sequence, where N is a positive integer;

[0020] Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0021] In another aspect, embodiments of this application provide a device, the device comprising: a processor, and a transceiver connected to the processor; wherein:

[0022] The transceiver is configured to receive frequency hopping sensing signals in N time units, the frequency hopping sensing signals comprising N subsequences belonging to a first sequence, where N is a positive integer;

[0023] Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0024] In another aspect, embodiments of this application provide a computer-readable storage medium storing a computer program that is executed by a device processor to implement the signal processing method described above.

[0025] In another aspect, embodiments of this application provide a chip, the chip including programmable logic circuits and / or program instructions, which, when the chip is running on a device, is used to implement the signal processing method described above.

[0026] In another aspect, embodiments of this application provide a computer program product that, when run on a device, causes the device to execute the aforementioned signal processing method.

[0027] The technical solutions provided in this application embodiment may have the following beneficial effects:

[0028] By providing a frequency-hopping sensing signal, target localization, sensing, and imaging can be achieved without requiring the target to have communication capabilities, thus reducing the cost and capability requirements of the equipment. Furthermore, in this embodiment, the frequency-hopping sensing signal maps a large-bandwidth sequence across multiple time units using frequency domain segmentation. That is, the frequency-hopping sensing signal employs a segmented frequency-hopping transmission method, enabling devices with limited bandwidth and / or power to provide high-precision localization and sensing capabilities. This facilitates the wider application and deployment of high-precision localization, target tracking, position awareness, attitude recognition, high-precision imaging, and environmental reconstruction in more future scenarios. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a schematic diagram of a sensing system provided in one embodiment of this application;

[0031] Figure 2 This is a flowchart of a signal processing method provided in one embodiment of this application;

[0032] Figure 3 This is a schematic diagram of sequence segmentation provided in one embodiment of this application;

[0033] Figure 4 This is a schematic diagram of time-frequency resource mapping provided in one embodiment of this application;

[0034] Figure 5 This is a schematic diagram of a beam transmission mechanism provided in one embodiment of this application;

[0035] Figure 6 This is a block diagram of a signal processing apparatus provided in one embodiment of this application;

[0036] Figure 7 This is a block diagram of a signal processing apparatus provided in another embodiment of this application;

[0037] Figure 8 This is a block diagram of a signal processing apparatus provided in another embodiment of this application;

[0038] Figure 9 This is a block diagram of a signal processing apparatus provided in yet another embodiment of this application;

[0039] Figure 10 This is a structural block diagram of a device provided in one embodiment of this application. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0041] The network architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0042] 3GPP standardized positioning technology refers to the technology that achieves positioning through the transmission of communication signals between network devices and communication devices. In NR systems, to locate terminal devices, network devices need to send downlink positioning reference information to the terminal devices; the terminal devices perform delay and beam measurements based on the received positioning reference information and send uplink positioning reference signals to the network devices; the network devices perform timing and azimuth measurements based on the received positioning reference signals.

[0043] In the NR system, a variety of positioning technologies have been standardized, such as Enhanced Cell Identifier (E-CID) positioning, downlink time difference of arrival (TDOA) positioning, uplink TDOA positioning, multi-station round-trip delay (RTD) positioning, downlink-Angle of Departure (DL-AOD) positioning, and uplink-Angle of Arrival (UL-AOA) positioning.

[0044] The above positioning method has the following drawbacks:

[0045] First, for downlink time difference of arrival (TDOA) location and uplink time difference of arrival (TDOA) location, network devices typically need to deploy multiple Transmit-Receive Points (TRPs). These TRPs need to maintain strict clock synchronization, which places high demands on the cost and deployment conditions of network devices.

[0046] Secondly, for multi-station round-trip time delay positioning, from the perspective of signal transmission and reception between the terminal device and each TRP, as well as the perspective of implementation complexity, multi-station round-trip time delay positioning is equivalent to simultaneously supporting downlink time difference of arrival positioning and uplink time difference of arrival positioning. Therefore, multi-station round-trip time delay positioning requires high system resources and processing complexity.

[0047] Finally, all of the above positioning methods are based on communication signals. On the one hand, the positioning process requires receiving, measuring and processing positioning-related communication signals, which results in a long positioning processing time. On the other hand, since it involves the transmission and processing of communication signals, it is only applicable to positioning of terminal devices with communication capabilities. Moreover, the positioning function is an optional function of the terminal device. If the terminal device has a positioning function, it will increase the complexity and cost of the terminal device.

[0048] In the future, scenarios such as smart homes, smart factories, high-precision imaging, and environmental reconstruction will require positioning, sensing, and imaging of non-communication devices, targets, and environments. Furthermore, the positioning accuracy requirements will be extremely high, potentially requiring centimeter-level or millimeter-level precision. Therefore, the aforementioned positioning methods will not meet the needs of future business scenarios. Based on this, embodiments of this application provide a signal processing method that can be used to achieve ubiquitous sensing of devices, targets, and environments. The technical solution provided in this application will be described below with reference to several embodiments.

[0049] Please refer to Figure 1 This illustrates a schematic diagram of a sensing system provided in one embodiment of this application. Figure 1As shown, the sensing system includes a detection target 110 and a device 120. In this embodiment, the device 120 is used to locate, sense, and image the detection target 110.

[0050] The detection target 110 includes various terminal devices (such as mobile phones, smart wearable devices, vehicle-mounted devices, computing devices, user devices, etc.), objects (such as people, animals, buildings, vehicles, plants, etc.), and the environment. This application embodiment does not limit whether the detection target 110 has communication capabilities; in other words, this application embodiment does not require the detection target 110 to be able to transmit and process communication signals, but the detection target 110 can still have communication capabilities. Optionally, the detection target 110 is stationary or moving at a low speed, thereby ignoring the Doppler effect and obtaining a longer channel coherence time.

[0051] Device 120 is capable of transmitting and processing sensing signals. Device 120 uses sensing signals to locate, sense, and image the target 110. Device 120 includes various radar devices, network devices, base stations, relay stations, access points, communication terminal devices, etc. In some examples, device 120 may also be referred to as a "sensing device," "integrated sensing and communication device," "frequency hopping sensing device," etc. For ease of description, in this embodiment, devices with sensing signal processing capabilities are collectively referred to as devices.

[0052] Optionally, the sensing signal in this embodiment is a frequency-hopping sensing signal, which refers to a sensing signal that segments and transmits the full bandwidth sequence using frequency hopping. By using frequency-hopping sensing signals, devices with limited transmission bandwidth or power can also provide high-precision positioning and sensing capabilities, reducing device cost and capability requirements. This allows advanced services such as high-precision positioning, target tracking, position awareness, attitude recognition, high-precision imaging, and environmental reconstruction to be more widely applied and deployed in the future. For further descriptions of frequency-hopping sensing signals, please refer to the following method embodiments; they will not be repeated here.

[0053] like Figure 1 As shown, device 120 includes a transmitter 122 and a receiver 124. The transmitter 122 generates and transmits a sensing signal 132. The sensing signal 132 is reflected and / or refracted into an echo signal 134 after encountering the detection target 110. The receiver 124 receives and processes the echo signal 134. In some examples, the transmitter 122 may also be referred to as a "sensing signal transmitter," and the receiver 124 may also be referred to as a "sensing signal receiver." For ease of description, this application embodiment uses the names "transmitter" and "receiver" as examples. This application embodiment does not limit the deployment method of the transmitter 122 and the receiver 124. Several exemplary deployment methods are shown below.

[0054] In one example, the transmitter 122 and receiver 124 are deployed in the same device 120. In this deployment, the transmitter of the sensed signal is also the receiver of the echo signal; this deployment method can be called single-site sensing or active sensing. Optionally, when the transmitter 122 and receiver 124 are deployed in the same device 120, the device 120 needs to have full-duplex capability and co-channel self-interference cancellation capability, meaning that the transmitting and receiving paths of the device 120 can operate simultaneously on the same operating frequency band.

[0055] In another example, the transmitter 122 and receiver 124 are deployed in different devices 120. That is, the transmitter 122 is implemented as one device 120, and the receiver 124 is implemented as another device 120. In this deployment method, the transmitter of the sensing signal itself does not receive or process the echo signal. Instead, the receiver of the sensing signal, deployed at a certain distance and orientation from the transmitter, receives and processes the echo signal. This deployment method can be called dual-station sensing, multi-station joint sensing, or passive sensing. Optionally, when the transmitter 122 and receiver 124 are deployed in different devices 120, the devices 120 (transmitter 122 and receiver 124) need to have high-precision time synchronization capabilities, and the receiver 124 needs to accurately know the precise location and orientation of the transmitter 122.

[0056] It should be understood that the sensing system provided in this application embodiment can be implemented as an integrated communication and sensing system. That is, the devices in this sensing system can transmit and process both sensing signals and communication signals. Therefore, in the case of implementing an integrated communication and sensing system, the transmission multiplexing between communication signals and sensing signals is involved. This application embodiment does not limit the multiplexing method between the transmission resources of communication signals and sensing signals. In one example, communication signals and sensing signals can be transmitted using at least one of the following multiplexing methods: Time Division Multiplexing (TDM), Frequency Division Multiplexing (FDM), Code Division Multiplexing (CDM), and Space Division Multiplexing (SDM). Since the sensing signals designed in this application embodiment can still achieve high-precision positioning and high-resolution sensing even when the device's operating bandwidth or power is limited, the use of time division multiplexing between the transmission resources of sensing signals and communication signals can maximize the system's performance. When time-division multiplexing is used between the transmission resources of communication signals and sensing signals, the unit of time-division multiplexing can be a time slot, so there can be two types of time slots: time slots for transmitting communication signals (communication time slots) and time slots for transmitting sensing signals (sensing time slots); or, the unit of time-division multiplexing can be a symbol, so sensing signals can be transmitted on symbol resources that are not occupied by communication signals, or communication signals can be transmitted on symbol resources that are not occupied by sensing signals.

[0057] It should be noted that the communication in the integrated communication and sensing system described in this application embodiment can be implemented as communication between network devices and terminal devices through an air interface (Uu), or as communication between terminal devices through a sidelink, or as other communication methods. This application embodiment does not limit this.

[0058] Please refer to Figure 2 It illustrates a flowchart of a signal processing method provided in one embodiment of this application, which can be performed by... Figure 1 The method is performed by the transmitter 122 and receiver 124 in the sensing system shown. The method may include at least some of the following steps.

[0059] Step 210: The transmitting end transmits frequency hopping sensing signals in N time units. The frequency hopping sensing signals include N subsequences belonging to the first sequence, where N is a positive integer. Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0060] The transmitting end can send frequency-hopping sensing signals. Since these signals are reflected and / or refracted when encountering a target during transmission, the receiving end receives the reflected and / or refracted signals and performs timing processing, thus enabling the localization, sensing, and imaging of the target. For a detailed explanation of the receiving end's reception of the frequency-hopping sensing signals and timing processing, please refer to the following embodiments; further details are omitted here.

[0061] As can be seen from the above embodiments, the technical solution provided in this application can be applied to an integrated communication and sensing system. Based on this, there is a technical issue regarding how to multiplex the transmission resources of frequency-hopping sensing signals and communication signals. Optionally, the frequency-hopping sensing signals and communication signals are transmitted using at least one of the following multiplexing methods: time-division multiplexing, frequency-division multiplexing, code-division multiplexing, and space-division multiplexing. Optionally, time-division multiplexing is performed in units of time slots; or, time-division multiplexing is performed in units of symbols. For further descriptions of other multiplexing methods, please refer to the above embodiments; they will not be repeated here.

[0062] In this embodiment, the frequency-hopping sensing signal is transmitted over N time units, and the frequency-hopping sensing signal includes N sub-sequences belonging to the first sequence. In one example, the time unit includes, but is not limited to, a symbol. During the transmission of the frequency-hopping sensing signal, any two sub-sequences among the N sub-sequences occupy different time units; that is, the transmitting end transmits one sub-sequence of the frequency-hopping sensing signal in each of the N time units. In other words, the transmitting end transmits the frequency-hopping sensing signal in a segmented manner. Furthermore, during the transmission of the frequency-hopping sensing signal, any two sub-sequences among the N sub-sequences occupy different frequency domain ranges; that is, the transmitting end transmits different sub-sequences of the frequency-hopping sensing signal through different frequency domain ranges. In other words, the transmitting end transmits the frequency-hopping sensing signal using a frequency-hopping method. Therefore, this embodiment uses a combination of segmentation and frequency hopping to transmit the frequency-hopping sensing signal. For further descriptions of the transmission of the frequency-hopping sensing signal, please refer to the following embodiments, which will not be repeated here.

[0063] The waveform and frequency domain mapping of the frequency hopping sensing signal will be introduced and explained below.

[0064] This application does not limit the waveform of the frequency hopping sensing signal. In one example, the frequency hopping sensing signal includes, but is not limited to, any of the following waveforms: OFDM (Orthogonal Frequency Division Multiplexing) waveform and DFT-S-OFDM (Discrete Fourier Transform-Spread OFDM) waveform. Among them, OFDM waveform has advantages in spectral efficiency, MIMO (Multiple-Input Multiple-Output) capability, and resistance to frequency-selective fading; DFT-S-OFDM waveform has a low peak-to-average power ratio and lower requirements for RF (Radio Frequency) power amplifier device specifications.

[0065] This application does not limit the frequency domain mapping pattern of the frequency hopping sensing signal. In one example, the frequency hopping sensing signal includes any of the following frequency domain mapping patterns: continuous mapping pattern and comb mapping pattern. A continuous mapping pattern refers to a pattern formed by mapping on consecutive frequency domain units. Optimal range resolution and positioning accuracy can be obtained through continuous mapping patterns. A comb mapping pattern refers to a pattern formed by mapping every M frequency domain units, where M is a positive integer. Comb mapping patterns help reduce interference between inter-cell communication and sensing integrated signals and increase the power of individual frequency domain units, thereby increasing the sensing and detection range. For example, when the comb mapping pattern is tripled, mapping is performed every 3 frequency domain units; when the comb mapping pattern is six times multiplied, mapping is performed every 6 frequency domain units. Optionally, the frequency domain units include subcarriers. Optionally, the sensing transmitter can flexibly select either a continuous mapping pattern or a comb mapping pattern based on configuration.

[0066] The generation method of frequency hopping sensing signal is described below. In one example, the following steps (steps 200-202) are included before step 210 above.

[0067] Step 200: The sending end obtains the first sequence.

[0068] The first sequence, also known as the full-bandwidth sequence, has a decisive impact on positioning accuracy and temporal resolution. In this embodiment, the first sequence can be a sequence with good autocorrelation and / or good cross-correlation. Good autocorrelation can yield sequence correlation and matched filtering gains, while good cross-correlation can reduce interference. Therefore, in one example, the first sequence includes, but is not limited to, any of the following sequences: pseudo-noise M-sequence, Gold sequence, and ZC (Zadoff-Chu) sequence. It should be understood that the first sequence can also include sequences that may be adopted in systems after NR systems (such as 6G (6-Generation) systems).

[0069] This application does not limit the method by which the transmitting end obtains the first sequence. In one example, the first sequence is pre-configured, for example, the transmitting end statically generates the first sequence during the device initialization phase; in another example, the first sequence is dynamically generated, for example, the transmitting end dynamically generates the first sequence before transmitting the frequency hopping sensing signal. This application does not limit the sequence length of the first sequence. Optionally, the sequence length of the first sequence is positively correlated with the maximum RF operating bandwidth of the transmitting end, that is, the larger the maximum RF operating bandwidth, the larger the sequence length of the first sequence.

[0070] Step 202: The transmitting end segments the first sequence to obtain the frequency hopping sensing signal.

[0071] In future sensing systems, signal bandwidth will increase with the availability of more spectrum resources. According to basic signal processing theory, time resolution is inversely proportional to signal bandwidth; that is, the larger the signal bandwidth, the higher the time resolution, and the higher the positioning accuracy. However, excessively large signal bandwidth places higher demands on the sampling rate and sampling clock of the equipment. Furthermore, under power constraints, the power spectral density (PSD) of the signal will decrease, leading to a reduction in the received signal-to-noise ratio of the echo signal, affecting the performance and accuracy of positioning, etc.

[0072] To reduce equipment requirements and ensure high-precision time resolution, this application embodiment segments the first sequence across the entire bandwidth to obtain frequency-hopping sensing signals comprising N sub-sequences. These frequency-hopping sensing signals are then used to achieve high-precision positioning, sensing, and imaging. This application embodiment does not limit the segmentation method. Optionally, the segmentation can be equal division, that is, dividing the first sequence into N equal sub-sequences, where each of the N sub-sequences has the same sequence length; in other words, the sequence length of each of the N sub-sequences is the first length. Alternatively, the segmentation can be unequal division, in which case at least two of the N sub-sequences obtained from the first sequence have different sequence lengths.

[0073] For example, such as Figure 3 As shown, assuming the total length of the first sequence is L, and the first sequence is divided into 4 subsequences, then the length of each subsequence is equal to L / 4.

[0074] This application does not limit the value of N. Generally, the value of N should not be too large to ensure channel coherence between N time units. In one example, the value of N is related to at least one of the following: radio resource availability, maximum bandwidth capability of a single transmission, channel coherence between consecutive time units, and subcarrier spacing. In practical applications, the value of N can be determined by combining the above four aspects, or by referring to one or some aspects. Taking the subcarrier spacing as an example in determining the value of N, a larger subcarrier spacing corresponds to a shorter symbol length, so the value of N can be larger; a smaller subcarrier spacing corresponds to a longer symbol length, so the value of N can be smaller. In one example, the value of N is a positive integer greater than or equal to 1 and less than or equal to 14, i.e., [1, 14]. Optionally, N is pre-configured; or, N is dynamically determined.

[0075] The following section introduces and explains the transmission resources for frequency hopping sensing signals.

[0076] In one example, to ensure channel coherence during the transmission time of the frequency hopping sensing signal, this embodiment transmits the sub-sequences of the frequency hopping sensing signal in consecutive time units. That is, the time units occupied by the above N sub-sequences are continuous in the time domain, or in other words, the above N time units are consecutive time units. Of course, during the channel coherence time, the transmitting end can also transmit the sub-sequences of the frequency hopping sensing signal in discontinuous time units. That is, the above N time units are discontinuous time units. For example, there is a one-time-unit interval between two adjacent time units in the above N time units, but the N time units need to be within the channel coherence time.

[0077] In one example, to ensure the integrity of the frequency domain occupancy of the frequency-hopping sensing signal and reduce the processing overhead of the device, the frequency domain ranges occupied by the aforementioned N sub-sequences are continuous in the frequency domain. Based on this, the N frequency domain ranges of the transmitted frequency-hopping sensing signal have neither overlapping regions nor frequency intervals in the frequency domain, and from the perspective of the entire transmission process, the N frequency domain ranges are continuous in the frequency domain. In other words, among any two adjacent sub-sequences of the N sub-sequences included in the frequency-hopping sensing signal, the frequency domain range occupied by the preceding sub-sequence is higher than that occupied by the following sub-sequence, and the frequency domain ranges occupied by the preceding and following sub-sequences are continuous; or, among any two adjacent sub-sequences of the N sub-sequences included in the frequency-hopping sensing signal, the frequency domain range occupied by the preceding sub-sequence is lower than that occupied by the following sub-sequence, and the frequency domain ranges occupied by the preceding and following sub-sequences are continuous.

[0078] In the above embodiments, when describing the generation process of the frequency-hopping sensing signal, it is mentioned that the first sequence can be equally divided to obtain N sub-sequences. Based on this, the N sub-sequences have equal sequence lengths, and therefore, the size of the frequency domain range for transmitting these N sub-sequences can also be equal. That is, in one example, the N sub-sequences occupy equal frequency domain ranges; in other words, the size of the frequency domain range occupied by each of the N sub-sequences is a first value. Optionally, if the N sub-sequences have unequal sequence lengths, the size of the frequency domain range occupied by the N sub-sequences will also be unequal. Of course, if the N sub-sequences have equal sequence lengths, the size of the frequency domain range occupied by the N sub-sequences can also be unequal; or, if the N sub-sequences have unequal sequence lengths, the size of the frequency domain range occupied by the N sub-sequences can also be equal. It should be understood that these should all fall within the scope of protection of this application.

[0079] For example, assuming the sensing system operates in the millimeter-wave band, and a typical subcarrier spacing of 120 kHz (kilohertz) is used in reference NR at FR2 (Frequency 2), then the time domain length of one OFDM symbol is approximately 8.7 μs (microseconds), and the total duration of four consecutive symbols is 35 μs. For the object and target being sensed, if they are stationary or in low-speed movement, the channel coherence time is sufficiently long, and the Doppler shift is sufficiently small; the channel can be assumed to be stable within the 35 μs duration. Based on this, as... Figure 4 As shown, the frequency-hopping sensing signal includes four subsequences belonging to the first sequence. The transmitting end sequentially transmits these four subsequences over four consecutive symbols and a continuous frequency domain range. Figure 4As shown in (a), the frequency domain range occupied by the preceding subsequence is higher than that occupied by the following subsequence; this frequency hopping transmission method is called "frequency hopping transmission from high frequency to low frequency". Figure 4 As shown in (b), the frequency range occupied by the subsequence transmitted earlier is lower than the frequency range occupied by the subsequence transmitted later. This frequency hopping transmission method is called "frequency hopping transmission from low frequency to high frequency".

[0080] After receiving the reflected and / or refracted frequency-hopping sensing signal, the receiver merges the N sub-sequences to obtain the first sequence with full bandwidth. From a signal processing perspective, the time units for transmitting the N sub-sequences (i.e., the N time units) must not only be within the channel correlation time but also maintain the consistency of the channel spatial characteristics. Therefore, in one example, the transmitter uses the same beam direction to transmit the frequency-hopping sensing signal across the N time units. That is, the beam direction corresponding to each of the N sub-sequences included in the frequency-hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction. Optionally, the beam direction corresponding to the frequency-hopping sensing signal is related to the position parameters of the detected target, including azimuth and / or movement trajectory. The transmitter can determine the beam direction of the frequency-hopping sensing signal itself.

[0081] In some examples, the transmitting end can transmit multiple frequency-hopping sensing signals. In the examples above, the beam directions corresponding to one or more sub-sequences included in each frequency-hopping sensing signal are the same. However, this application does not limit whether the beam directions corresponding to different frequency-hopping sensing signals are the same. In one example, at least two frequency-hopping sensing signals have the same beam direction. For example, when it is necessary to detect a target in a specific direction, the transmitting end keeps the beam direction unchanged when transmitting frequency-hopping sensing signals multiple times. In another example, at least two frequency-hopping sensing signals have different beam directions. For example, when it is necessary to detect a specific target that is constantly moving, or when it is necessary to detect targets in multiple directions, or when it is necessary to image and reconstruct the environment of the detected physical space, the transmitting end can change the beam direction when transmitting frequency-hopping sensing signals multiple times.

[0082] For example, such as Figure 5 As shown, assuming a time slot includes 14 symbols, the transmitter sends frequency-hopping sensing signals on 4 consecutive symbols and transmits 3 frequency-hopping sensing signals within one time slot. Figure 4 As shown, the symbols occupied by these three frequency-hopping sensing signals are: symbols 0 to 3, symbols 5 to 8, and symbols 10 to 13, respectively. Figure 4As shown, for each frequency hopping sensing signal, its various sub-sequences are transmitted using the same beam direction; for different frequency hopping sensing signals, different beam directions can be used for transmission.

[0083] The following section introduces and explains the receiving and processing mechanism of frequency hopping sensing signals.

[0084] like Figure 2 As shown, the signal processing method provided in this application embodiment further includes: step 220, the receiving end receives frequency hopping sensing signals in N time units, the frequency hopping sensing signals include N subsequences belonging to the first sequence, where N is a positive integer; wherein, any two subsequences in the N subsequences occupy different time units, and any two subsequences in the N subsequences occupy different frequency domain ranges.

[0085] The frequency-hopping sensing signal transmitted by the transmitter is reflected and / or refracted by the target before being received by the receiver. However, signal loss occurs during the transmission, reflection, and / or refraction of the frequency-hopping sensing signal. Therefore, the frequency-hopping sensing signal received by the receiver is not entirely the same as the one transmitted by the transmitter, and thus not identical in terms of signal energy. In some examples, the frequency-hopping sensing signal received by the receiver can also be called the echo signal. For further details regarding frequency-hopping sensing signals, such as the fact that the frequency-hopping sensing signal includes N sub-sequences, please refer to the above embodiments; further explanation is omitted here.

[0086] To achieve high-precision positioning, detection, and imaging, the receiver needs to process the received frequency-hopping sensing signal. Therefore, in one example, after step 220 above, the process further includes: merging the N sub-sequences of the frequency-hopping sensing signal to obtain a first sequence; and performing timing processing on the first sequence. Optionally, the timing processing includes at least one of the following methods: sequence correlation and matched filtering. By performing timing processing on the full-bandwidth sequence obtained through merging, high-precision time resolution can be obtained to achieve high-precision positioning, detection, and imaging. It should be understood that the first sequence obtained by the receiver after frequency-domain merging of the sub-sequences received in N time units has different signal energy than the first sequence generated by the transmitter due to transmission loss, reflection, and / or refraction loss. In this embodiment, for ease of description, the full-bandwidth sequence obtained by the receiver is also referred to as the first sequence, and those skilled in the art should understand its meaning.

[0087] Optionally, the timing processing of the first sequence described above includes: the receiving end acquiring the second sequence; and performing timing processing on the first sequence based on the second sequence. In this example, the receiving end also needs to acquire the full-bandwidth sequence to perform timing processing on the first sequence obtained by merging based on the acquired full-bandwidth sequence. In this example, the full-bandwidth sequence acquired by the receiving end, which is generated in the same way as the first sequence, is referred to as the second sequence. Optionally, the second sequence includes any of the following sequences: pseudo-noise M-sequence, Gold sequence, and ZC sequence. Optionally, the sequence length of the first sequence is positively correlated with the maximum RF operating bandwidth. Optionally, the first sequence is pre-configured; or, the first sequence is dynamically generated. For other descriptions regarding acquiring the second sequence, please refer to the above descriptions regarding acquiring the first sequence, which will not be repeated here.

[0088] From the above deployment methods for the transmitting and receiving ends, it can be concluded that the transmitting and receiving ends can be deployed in the same device (single-site sensing) or in different devices (dual-site sensing). In the dual-site sensing deployment method, the transmitting end can transmit relevant parameters of the frequency-hopping sensing signal to the receiving end via communication signals. Based on this, in one example, the above method further includes: the transmitting end sending relevant parameters of the frequency-hopping sensing signal to the receiving end. Optionally, the relevant parameters of the frequency-hopping sensing signal include at least one of the following: the sequence length of the first sequence, N (the number of subsequences included in the frequency-hopping sensing signal, or the number of segments of the first sequence), the frequency domain range corresponding to each time unit, and the frequency domain mapping pattern of the frequency-hopping sensing signal (continuous mapping pattern or comb mapping pattern).

[0089] In summary, the technical solution provided in this application, by offering a frequency-hopping sensing signal, enables target localization, sensing, and imaging without requiring the target to possess communication capabilities, thus reducing the cost and capability requirements of the equipment. Furthermore, in this application, the frequency-hopping sensing signal maps a large-bandwidth sequence across multiple time units using frequency domain segmentation. That is, the frequency-hopping sensing signal employs a segmented frequency-hopping transmission method, enabling devices with limited bandwidth and / or power to provide high-precision localization and sensing capabilities. This facilitates the wider application and deployment of high-precision localization, target tracking, position awareness, attitude recognition, high-precision imaging, and environmental reconstruction in more future scenarios.

[0090] It should be noted that, in the above embodiments, the signal processing method provided in this application is described from the perspective of the cooperation between the transmitting end and the receiving end. In the above embodiments, the steps implemented by the transmitting end can be implemented as a separate signal processing method for the transmitting end; similarly, the steps implemented by the receiving end can be implemented as a separate signal processing method for the receiving end.

[0091] Another point to note is that when N is an integer greater than 1, the frequency-hopping sensing signal includes multiple sub-sequences belonging to the first sequence. That is, the first sequence, with its larger full bandwidth, is segmented and transmitted via frequency hopping, making it suitable for devices with limited operating bandwidth and / or power, thus reducing the equipment capability requirements. However, when the device's operating bandwidth and power are not limited, the first sequence can be segmented (i.e., N equals 1), and the transmitter can repeatedly transmit the full-bandwidth first sequence within several time units of channel coherence. This improves the signal-to-noise ratio and signal processing gain at the receiver, effectively solving problems such as weak echo signals caused by long-distance target sensing, and helping to extend the sensing and detection range.

[0092] The following are embodiments of the apparatus described in this application, which can be used to execute the embodiments of the method described in this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the method described in this application.

[0093] Please refer to Figure 6 This diagram illustrates a block diagram of a signal processing apparatus according to an embodiment of this application. The apparatus has the functionality to implement the method example of the transmitting end described above; this functionality can be implemented in hardware or by hardware executing corresponding software. The apparatus can be the transmitting end described above, or it can be disposed within the transmitting end. Figure 6 As shown, the device 600 may include a signal transmitting module 610.

[0094] The signal transmission module 610 is used to transmit frequency hopping sensing signals in N time units. The frequency hopping sensing signals include N subsequences belonging to a first sequence, where N is a positive integer. Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0095] In one example, such as Figure 7 As shown, the device 600 further includes: a sequence acquisition module 620 for acquiring the first sequence; and a sequence segmentation module 630 for segmenting the first sequence to obtain the frequency hopping sensing signal.

[0096] In one example, the first sequence includes any of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.

[0097] In one example, the sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth.

[0098] In one example, the first sequence is pre-configured; or, the first sequence is dynamically generated.

[0099] In one example, the frequency hopping sensing signal includes any one of the following waveforms: OFDM waveform, DFT-S-OFDM waveform.

[0100] In one example, the frequency hopping sensing signal includes any of the following frequency domain mapping patterns: continuous mapping pattern and comb mapping pattern; wherein, the continuous mapping pattern refers to a pattern formed by mapping on consecutive frequency domain units; the comb mapping pattern refers to a pattern formed by mapping once every M frequency domain units, where M is a positive integer.

[0101] In one example, the frequency domain unit includes a subcarrier.

[0102] In one example, the sequence length of each of the N subsequences is the first length.

[0103] In one example, the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units.

[0104] In one example, the time unit includes a symbol.

[0105] In one example, the frequency domain range occupied by the N subsequences is continuous in the frequency domain.

[0106] In one example, the frequency domain range occupied by each of the N subsequences is the first value.

[0107] In one example, N is pre-configured; or, N is dynamically determined.

[0108] In one example, the value of N is related to at least one of the following: radio resource availability, maximum bandwidth capability for a single transmission, channel coherence between consecutive time units, and subcarrier spacing.

[0109] In one example, N is a positive integer greater than or equal to 1 and less than or equal to 14.

[0110] In one example, the beam direction corresponding to each of the N sub-sequences included in the frequency hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction.

[0111] In one example, at least two frequency-hopping sensing signals correspond to the same beam direction; or, at least two frequency-hopping sensing signals correspond to different beam directions.

[0112] In one example, the beam direction corresponding to the frequency hopping sensing signal is related to the position parameters of the target being detected; the position parameters include azimuth and / or movement trajectory.

[0113] In one example, the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

[0114] In one example, the time division multiplexing is in units of time slots; or, the time division multiplexing is in units of symbols.

[0115] In one example, such as Figure 7 As shown, the device further includes: a parameter sending module 640, used to send relevant parameters of the frequency hopping sensing signal to the receiving end; wherein, the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, N, the frequency domain range corresponding to each time unit, and the frequency domain mapping pattern of the frequency hopping sensing signal.

[0116] Please refer to Figure 8 This diagram illustrates a block diagram of a signal processing apparatus according to an embodiment of this application. The apparatus has the functionality to implement the method example of the receiving end described above; this functionality can be implemented in hardware or by hardware executing corresponding software. The apparatus can be the receiving end described above, or it can be disposed within a receiving end. Figure 8 As shown, the device 800 may include a signal receiving module 810.

[0117] The signal receiving module 810 is used to receive frequency hopping sensing signals in N time units. The frequency hopping sensing signals include N subsequences belonging to a first sequence, where N is a positive integer. Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0118] In one example, such as Figure 9 As shown, the device further includes: a sequence merging module 820, used to merge the N sub-sequences included in the frequency hopping sensing signal to obtain the first sequence; and a timing processing module 830, used to perform timing processing on the first sequence.

[0119] In one example, the timing processing includes at least one of the following processing methods: sequence correlation and matched filtering.

[0120] In one example, such as Figure 9 As shown, the timing processing module 830 is used to: obtain a second sequence whose generation method is the same as that of the first sequence; and perform timing processing on the first sequence based on the second sequence.

[0121] In one example, the second sequence includes any of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.

[0122] In one example, the sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth.

[0123] In one example, the first sequence is pre-configured; or, the first sequence is dynamically generated.

[0124] In one example, the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

[0125] In one example, the time division multiplexing is in units of time slots; or, the time division multiplexing is in units of symbols.

[0126] In one example, such as Figure 9 As shown, the device 800 further includes: a parameter receiving module 840, used to receive relevant parameters of the frequency hopping sensing signal from the transmitting end; wherein, the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, N, the frequency domain range corresponding to each time unit, and the frequency domain mapping pattern of the frequency hopping sensing signal.

[0127] It should be noted that the device provided in the above embodiments is only illustrated by the division of the above functional modules when implementing its functions. In actual applications, the above functions can be assigned to different functional modules according to actual needs, that is, the content structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0128] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0129] Please refer to Figure 10 This illustration shows a schematic diagram of the structure of a device 100 provided in one embodiment of this application. For example, this device can be used to execute the above-described signal processing method, such as implementing the above-described signal processing method for the transmitting end, and / or implementing the above-described signal processing method for the receiving end. Specifically, the device 100 may include: a processor 101, and a transceiver 102 connected to the processor 101; wherein:

[0130] The processor 101 includes one or more processing cores. The processor 101 executes various functional applications and information processing by running software programs and modules.

[0131] Transceiver 102 includes a receiver and a transmitter. Optionally, transceiver 102 is a communication chip.

[0132] In one example, device 100 further includes a memory and a bus. The memory is connected to a processor via the bus. The memory can be used to store a computer program, which the processor uses to execute to implement the various steps performed by the device in the above method embodiments.

[0133] Furthermore, the memory can be implemented by any type of volatile or non-volatile storage device or a combination thereof, including but not limited to: RAM (Random-Access Memory) and ROM (Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory or other solid-state storage technologies, CD-ROM (Compact Disc Read-Only Memory), DVD (Digital Video Disc) or other optical storage, magnetic tape cassettes, magnetic tape, disk storage or other magnetic storage devices.

[0134] In the case where device 100 includes the aforementioned transmitter:

[0135] The transceiver 102 is used to transmit frequency hopping sensing signals in N time units. The frequency hopping sensing signals include N subsequences belonging to a first sequence, where N is a positive integer. Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0136] In one example, the processor 101 is configured to acquire the first sequence; and to segment the first sequence to obtain the frequency hopping sensing signal.

[0137] In one example, the first sequence includes any of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.

[0138] In one example, the sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth.

[0139] In one example, the first sequence is pre-configured; or, the first sequence is dynamically generated.

[0140] In one example, the frequency hopping sensing signal includes any one of the following waveforms: OFDM waveform, DFT-S-OFDM waveform.

[0141] In one example, the frequency hopping sensing signal includes any of the following frequency domain mapping patterns: continuous mapping pattern and comb mapping pattern; wherein, the continuous mapping pattern refers to a pattern formed by mapping on consecutive frequency domain units; the comb mapping pattern refers to a pattern formed by mapping once every M frequency domain units, where M is a positive integer.

[0142] In one example, the frequency domain unit includes a subcarrier.

[0143] In one example, the sequence length of each of the N subsequences is the first length.

[0144] In one example, the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units.

[0145] In one example, the time unit includes a symbol.

[0146] In one example, the frequency domain range occupied by the N subsequences is continuous in the frequency domain.

[0147] In one example, the frequency domain range occupied by each of the N subsequences is the first value.

[0148] In one example, N is pre-configured; or, N is dynamically determined.

[0149] In one example, the value of N is related to at least one of the following: radio resource availability, maximum bandwidth capability for a single transmission, channel coherence between consecutive time units, and subcarrier spacing.

[0150] In one example, N is a positive integer greater than or equal to 1 and less than or equal to 14.

[0151] In one example, the beam direction corresponding to each of the N sub-sequences included in the frequency hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction.

[0152] In one example, at least two frequency-hopping sensing signals correspond to the same beam direction; or, at least two frequency-hopping sensing signals correspond to different beam directions.

[0153] In one example, the beam direction corresponding to the frequency hopping sensing signal is related to the position parameters of the target being detected; the position parameters include azimuth and / or movement trajectory.

[0154] In one example, the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

[0155] In one example, the time division multiplexing is in units of time slots; or, the time division multiplexing is in units of symbols.

[0156] In one example, the transceiver 102 is further configured to send relevant parameters of the frequency hopping sensing signal to the receiving end; wherein, the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, N, the frequency domain range corresponding to each time unit, and the frequency domain mapping pattern of the frequency hopping sensing signal.

[0157] In the case where device 100 includes the aforementioned receiver:

[0158] The transceiver 102 is used to receive frequency hopping sensing signals in N time units. The frequency hopping sensing signals include N subsequences belonging to a first sequence, where N is a positive integer. Among the N subsequences, any two subsequences occupy different time units, and any two subsequences occupy different frequency domain ranges.

[0159] In one example, the processor 101 is configured to merge the N sub-sequences included in the frequency hopping sensing signal to obtain the first sequence; and to perform timing processing on the first sequence.

[0160] In one example, the timing processing includes at least one of the following processing methods: sequence correlation and matched filtering.

[0161] In one example, the processor 101 is configured to: obtain a second sequence generated in the same way as the first sequence; and perform timing processing on the first sequence based on the second sequence.

[0162] In one example, the second sequence includes any of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.

[0163] In one example, the sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth.

[0164] In one example, the first sequence is pre-configured; or, the first sequence is dynamically generated.

[0165] In one example, the frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

[0166] In one example, the time division multiplexing is in units of time slots; or, the time division multiplexing is in units of symbols.

[0167] In one example, the transceiver 102 is further configured to receive relevant parameters of the frequency hopping sensing signal from the transmitting end; wherein the relevant parameters of the frequency hopping sensing signal include at least one of the following: the sequence length of the first sequence, the N, the frequency domain range corresponding to each time unit, and the frequency domain mapping pattern of the frequency hopping sensing signal.

[0168] This application also provides a computer-readable storage medium storing a computer program that is executed by a device processor to implement the above-described signal processing method.

[0169] This application also provides a chip, which includes programmable logic circuits and / or program instructions, and is used to implement the signal processing method described above when the chip is running on a device.

[0170] This application also provides a computer program product that, when run on a device, causes the device to perform the above-described signal processing method.

[0171] Those skilled in the art will recognize that the functions described in the embodiments of this application in one or more of the above examples can be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions can be stored in a computer-readable medium or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, wherein communication media include any medium that facilitates the transfer of a computer program from one place to another. Storage media can be any available medium that can be accessed by a general-purpose or special-purpose computer.

[0172] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A signal processing method, characterized in that, Applied to the sending end, the method includes: Frequency hopping sensing signals are transmitted over N time units. The frequency hopping sensing signals include N subsequences belonging to the first sequence, where N is a positive integer and the value of N is related to at least one of the following: radio resource availability, maximum bandwidth capability of a single transmission, channel coherence between consecutive time units, and subcarrier spacing. Wherein, any two subsequences among the N subsequences occupy different time units, and any two subsequences among the N subsequences occupy different frequency domain ranges, and the beam direction corresponding to each of the N subsequences included in the frequency hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction. The sequence length of each of the N subsequences is a first length; the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units; the frequency domain range occupied by the N subsequences is continuous in the frequency domain.

2. The method according to claim 1, characterized in that, Before sending the frequency hopping sensing signal, the method further includes: Obtain the first sequence; The first sequence is segmented to obtain the frequency hopping sensing signal.

3. The method according to claim 1 or 2, characterized in that, The first sequence includes any of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.

4. The method according to any one of claims 1 to 3, characterized in that, The sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth.

5. The method according to any one of claims 1 to 4, characterized in that, The first sequence is pre-configured; or, the first sequence is dynamically generated.

6. The method according to any one of claims 1 to 5, characterized in that, The frequency hopping sensing signal includes any one of the following waveforms: Orthogonal Frequency Division Multiplexing (OFDM) waveform, Discrete Fourier Transform-Extended Orthogonal Frequency Division Multiplexing (DFT-S-OFDM) waveform.

7. The method according to any one of claims 1 to 6, characterized in that, The frequency hopping sensing signal includes any of the following frequency domain mapping patterns: continuous mapping pattern, comb mapping pattern; The continuous mapping pattern refers to a pattern formed by mapping on consecutive frequency domain units; the comb mapping pattern refers to a pattern formed by mapping once every M frequency domain units, where M is a positive integer.

8. The method according to claim 7, characterized in that, The frequency domain unit includes subcarriers.

9. The method according to any one of claims 1 to 8, characterized in that, The time unit includes symbols.

10. The method according to any one of claims 1 to 9, characterized in that, The size of the frequency domain range occupied by each of the N subsequences is the first value.

11. The method according to any one of claims 1 to 10, characterized in that, The N is pre-configured; or the N is dynamically determined.

12. The method according to any one of claims 1 to 11, characterized in that, The value of N is a positive integer greater than or equal to 1 and less than or equal to 14.

13. The method according to any one of claims 1 to 12, characterized in that, At least two frequency-hopping sensing signals correspond to the same beam direction; or, at least two frequency-hopping sensing signals correspond to different beam directions.

14. The method according to any one of claims 1 to 13, characterized in that, The beam direction corresponding to the frequency hopping sensing signal is related to the position parameters of the detected target; the position parameters include azimuth and / or movement trajectory.

15. The method according to any one of claims 1 to 14, characterized in that, The frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

16. The method according to claim 15, characterized in that, The time division multiplexing is in units of time slots; or, the time division multiplexing is in units of symbols.

17. A signal processing method, characterized in that, Applied to the receiving end, the method includes: In N time units, frequency hopping sensing signals are received, the frequency hopping sensing signals include N subsequences belonging to the first sequence, where N is a positive integer, and the value of N is related to at least one of the following information: radio resource availability, maximum bandwidth capability of a single transmission, channel coherence between consecutive time units, and subcarrier spacing. Wherein, any two subsequences among the N subsequences occupy different time units, and any two subsequences among the N subsequences occupy different frequency domain ranges, and the beam direction corresponding to each of the N subsequences included in the frequency hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction. The sequence length of each of the N subsequences is a first length; the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units; the frequency domain range occupied by the N subsequences is continuous in the frequency domain.

18. The method according to claim 17, characterized in that, After receiving the frequency hopping sensing signal, the method further includes: The N sub-sequences included in the frequency hopping sensing signal are combined to obtain the first sequence; The first sequence is processed using timing.

19. The method according to claim 18, characterized in that, The timing processing includes at least one of the following processing methods: sequence correlation and matched filtering.

20. The method according to claim 18 or 19, characterized in that, The timing processing of the first sequence includes: Obtain a second sequence that is generated in the same way as the first sequence; Based on the second sequence, the first sequence is subjected to timing processing.

21. The method according to claim 20, characterized in that, The second sequence includes any of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.

22. The method according to claim 20 or 21, characterized in that, The sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth.

23. The method according to any one of claims 20 to 22, characterized in that, The first sequence is pre-configured; or, the first sequence is dynamically generated.

24. The method according to any one of claims 17 to 23, characterized in that, The frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

25. The method according to claim 24, characterized in that, The time division multiplexing is in units of time slots; or, the time division multiplexing is in units of symbols.

26. A signal processing apparatus, characterized in that, Located at the transmitting end, the device includes: A signal transmission module is used to transmit frequency hopping sensing signals in N time units. The frequency hopping sensing signals include N subsequences belonging to a first sequence, where N is a positive integer and the value of N is related to at least one of the following information: radio resource availability, maximum bandwidth capability of a single transmission, channel coherence between consecutive time units, and subcarrier spacing. Wherein, any two subsequences among the N subsequences occupy different time units, and any two subsequences among the N subsequences occupy different frequency domain ranges, and the beam direction corresponding to each of the N subsequences included in the frequency hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction. The sequence length of each of the N subsequences is a first length; the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units; the frequency domain range occupied by the N subsequences is continuous in the frequency domain.

27. The apparatus according to claim 26, characterized in that, The device further includes: Sequence acquisition module, used to acquire the first sequence; The sequence segmentation module is used to segment the first sequence to obtain the frequency hopping sensing signal.

28. The apparatus according to claim 26 or 27, characterized in that, The first sequence includes any of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.

29. The apparatus according to any one of claims 26 to 28, characterized in that, The sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth.

30. The apparatus according to any one of claims 26 to 29, characterized in that, The first sequence is pre-configured; or, the first sequence is dynamically generated.

31. The apparatus according to any one of claims 26 to 30, characterized in that, The frequency hopping sensing signal includes any one of the following waveforms: Orthogonal Frequency Division Multiplexing (OFDM) waveform, Discrete Fourier Transform-Extended Orthogonal Frequency Division Multiplexing (DFT-S-OFDM) waveform.

32. The apparatus according to any one of claims 26 to 31, characterized in that, The frequency hopping sensing signal includes any of the following frequency domain mapping patterns: continuous mapping pattern, comb mapping pattern; The continuous mapping pattern refers to a pattern formed by mapping on consecutive frequency domain units; the comb mapping pattern refers to a pattern formed by mapping once every M frequency domain units, where M is a positive integer.

33. The apparatus according to claim 32, characterized in that, The frequency domain unit includes subcarriers.

34. The apparatus according to any one of claims 26 to 33, characterized in that, The time unit includes symbols.

35. The apparatus according to any one of claims 26 to 34, characterized in that, The size of the frequency domain range occupied by each of the N subsequences is the first value.

36. The apparatus according to any one of claims 26 to 35, characterized in that, The N is pre-configured; or the N is dynamically determined.

37. The apparatus according to any one of claims 26 to 36, characterized in that, The value of N is a positive integer greater than or equal to 1 and less than or equal to 14.

38. The apparatus according to any one of claims 26 to 37, characterized in that, At least two frequency-hopping sensing signals correspond to the same beam direction; or, at least two frequency-hopping sensing signals correspond to different beam directions.

39. The apparatus according to any one of claims 26 to 38, characterized in that, The beam direction corresponding to the frequency hopping sensing signal is related to the position parameters of the detected target; the position parameters include azimuth and / or movement trajectory.

40. The apparatus according to any one of claims 26 to 39, characterized in that, The frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

41. The apparatus according to claim 40, characterized in that, The time division multiplexing is in units of time slots; or, the time division multiplexing is in units of symbols.

42. A signal processing apparatus, characterized in that, The device, located at the receiving end, includes: A signal receiving module is used to receive frequency hopping sensing signals in N time units. The frequency hopping sensing signals include N subsequences belonging to a first sequence, where N is a positive integer and the value of N is related to at least one of the following information: radio resource availability, maximum bandwidth capability of a single transmission, channel coherence between consecutive time units, and subcarrier spacing. Wherein, any two subsequences among the N subsequences occupy different time units, and any two subsequences among the N subsequences occupy different frequency domain ranges, and the beam direction corresponding to each of the N subsequences included in the frequency hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction. The sequence length of each of the N subsequences is a first length; the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units; the frequency domain range occupied by the N subsequences is continuous in the frequency domain.

43. The apparatus according to claim 42, characterized in that, The device further includes: A sequence merging module is used to merge the N sub-sequences included in the frequency hopping sensing signal to obtain the first sequence; The timing processing module is used to perform timing processing on the first sequence.

44. The apparatus according to claim 43, characterized in that, The timing processing includes at least one of the following processing methods: sequence correlation and matched filtering.

45. The apparatus according to claim 43 or 44, characterized in that, The timing processing module is used for: Obtain a second sequence that is generated in the same way as the first sequence; Based on the second sequence, the first sequence is subjected to timing processing.

46. ​​The apparatus according to claim 45, characterized in that, The second sequence includes any of the following sequences: pseudo-noise M sequence, Gold sequence, ZC sequence.

47. The apparatus according to claim 45 or 46, characterized in that, The sequence length of the first sequence is positively correlated with the maximum radio frequency operating bandwidth.

48. The apparatus according to any one of claims 45 to 47, characterized in that, The first sequence is pre-configured; or, the first sequence is dynamically generated.

49. The apparatus according to any one of claims 42 to 48, characterized in that, The frequency hopping sensing signal and the communication signal are transmitted using at least one of the following multiplexing methods: time division multiplexing, frequency division multiplexing, code division multiplexing, and space division multiplexing.

50. The apparatus according to claim 49, characterized in that, The time division multiplexing is in units of time slots; or, the time division multiplexing is in units of symbols.

51. A device, characterized in that, The device includes: a processor, and a transceiver connected to the processor; wherein: The transceiver is configured to transmit frequency hopping sensing signals over N time units. The frequency hopping sensing signals include N subsequences belonging to a first sequence, where N is a positive integer and the value of N is related to at least one of the following: radio resource availability, maximum bandwidth capability for a single transmission, channel coherence between consecutive time units, and subcarrier spacing. Wherein, any two subsequences among the N subsequences occupy different time units, and any two subsequences among the N subsequences occupy different frequency domain ranges, and the beam direction corresponding to each of the N subsequences included in the frequency hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction. The sequence length of each of the N subsequences is a first length; the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units; the frequency domain range occupied by the N subsequences is continuous in the frequency domain.

52. A device, characterized in that, The device includes: a processor, and a transceiver connected to the processor; wherein: The transceiver is configured to receive frequency hopping sensing signals over N time units. The frequency hopping sensing signals include N subsequences belonging to a first sequence, where N is a positive integer and the value of N is related to at least one of the following: radio resource availability, maximum bandwidth capability for a single transmission, channel coherence between consecutive time units, and subcarrier spacing. Wherein, any two subsequences among the N subsequences occupy different time units, and any two subsequences among the N subsequences occupy different frequency domain ranges, and the beam direction corresponding to each of the N subsequences included in the frequency hopping sensing signal is the first beam direction; or, the beam direction corresponding to each of the N time units is the first beam direction. The sequence length of each of the N subsequences is a first length; the time units occupied by the N subsequences are continuous in the time domain; or, the N time units are continuous time units; the frequency domain range occupied by the N subsequences is continuous in the frequency domain.

53. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that is executed by the device's processor to implement the signal processing method as described in any one of claims 1 to 16.

54. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that is executed by the device's processor to implement the signal processing method as described in any one of claims 17 to 25.

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