A perception method and apparatus

Abstract

The embodiment of the application provides a kind of perception method and device, it is related to communication technical field, can be combined with Sub-7GHz frequency band and mmWave frequency band for Wi-Fi perception, improve the perception performance of Wi-Fi signal.The specific scheme is: simultaneously using first frequency band and second frequency band for perception, the frequency of first frequency band is higher than the frequency of second frequency band, this method comprises: receiving multiple communication data frames of first frequency band and multiple communication data frames of second frequency band;Obtain multiple pairs of communication data frames, each pair of communication data frames in multiple pairs of communication data frames includes the first communication data frame in multiple communication data frames of first frequency band and the second communication data frame in multiple communication data frames of second frequency band, the time difference of the first timestamp of first communication data frame and the second timestamp of second communication data frame is within the preset threshold range.The embodiment of the application is used for the process of Wi-Fi perception.

Description

[0001] The application claims priority from the Chinese Patent Application No. 202210727163.4 filed on June 24, 2022, and entitled "Wi-Fi Sensing Method", the content of which is incorporated herein by reference in its entirety. TECHNICAL FIELD

[0002] Embodiments of the present application relate to the field of communication technology, and in particular to a sensing method and apparatus. BACKGROUND

[0003] Wireless-Fidelity (Wi-Fi) technology is used in the field of wireless sensing, for example, including intrusion detection, action recognition, and gesture recognition.

[0004] Based on frequency bands, the current Wi-Fi communication standards can be roughly divided into two categories: Sub-7GHz frequency band and mmWave frequency band. In Wi-Fi sensing technology, the higher the bandwidth used to transmit and receive Wi-Fi signals, the more precise the distance resolution of the determined environment and / or human body. The Sub-7GHz frequency band is in the low frequency band, and the bandwidth is relatively limited. In applications involving distance information, the distance resolution is limited. At the same time, in the application of sensing motion information, due to the low frequency of the Sub-7GHz frequency band, the carrier wavelength is long, and the phase change is small. The phase noise has a greater interference on the calculation of motion information. The Sub-7GHz frequency band is insufficient in capturing small amplitude motion, and the sensing performance of Wi-Fi signals in the Sub-7GHz frequency band is limited.

[0005] Although the mmWave frequency band has a higher frequency and a higher distance resolution, and can capture high-precision micro-motion information, the carrier wavelength is short, the phase change is large, and phase ambiguity is prone to occur. It is difficult to capture large amplitude or high speed motion targets, and the sensing performance of Wi-Fi signals in the mmWave frequency band is limited. SUMMARY

[0006] Embodiments of the present application provide a sensing method and apparatus, which can combine the Sub-7GHz frequency band and the mmWave frequency band for Wi-Fi sensing, and improve the sensing performance of Wi-Fi signals.

[0007] To achieve the above-mentioned purpose, the embodiments of the present application adopt the following technical solutions:

[0008] In a first aspect, a sensing method is provided, which simultaneously uses a first frequency band and a second frequency band for sensing, the first frequency band having a higher frequency than the second frequency band. The method comprises: receiving a plurality of communication data frames in the first frequency band and a plurality of communication data frames in the second frequency band; and obtaining a plurality of pairs of communication data frames, each pair of communication data frames comprising a first communication data frame in the plurality of communication data frames in the first frequency band and a second communication data frame in the plurality of communication data frames in the second frequency band, a time difference between a first timestamp of the first communication data frame and a second timestamp of the second communication data frame being within a preset threshold range.

[0009] That is, a sending device for sensing can simultaneously send a communication data frame in the first frequency band and a communication data frame in the second frequency band to a receiving device. When each communication data frame carries a timestamp, the receiving device or a third-party device can match the communication data frames in the two frequency bands according to the timestamps carried by each communication data frame to obtain a plurality of pairs of communication data frames. In embodiments of the present application, the first frequency band with a high frequency generally has the advantages of high distance resolution and high-precision micro-motion detection. The second frequency band with a low frequency generally has the advantage of strong resistance to phase ambiguity. If the communication data frames in the two frequency bands are matched frame by frame, Wi-Fi sensing can be performed on each pair of communication data frames in combination, so that the Wi-Fi sensing not only has the advantages of high distance resolution and high-precision micro-motion detection, but also has the advantage of strong resistance to phase ambiguity, thereby improving the performance of Wi-Fi sensing.

[0010] In a possible design, the first communication data frame comprises a first timestamp, and the first timestamp is a sending timestamp of the first communication data frame; and the second communication data frame comprises a second timestamp, and the second timestamp is a sending timestamp of the second communication data frame.

[0011] That is, when a time difference between a sending timestamp of the first communication data frame in the first frequency band and a sending timestamp of the second communication data frame in the second frequency band is within a preset threshold range, the first communication data frame and the second communication data frame are matched to form a pair of communication data frames.

[0012] Alternatively, in another possible design, the two communication data frames with the closest sending timestamps in the two frequency bands can also be matched to form a pair of communication data frames.

[0013] Alternatively, in another possible design, the receiving device can also match the communication data frames in the two frequency bands according to receiving timestamps of the communication data frames when receiving the communication data frames in the two frequency bands.

[0014] In a possible design, the first phase change information between the adjacent communication data frames in the multiple communication data frames of the first frequency band is obtained for a same target contacted by signals of the first frequency band and the second frequency band during propagation.

[0015] The first phase change information between the adjacent communication data frames in the multiple communication data frames of the first frequency band is obtained according to the phase change information between the adjacent communication data frames in the multiple communication data frames of the second frequency band, the time interval between the adjacent communication data frames in the multiple communication data frames of the first frequency band, and the time interval between the adjacent communication data frames in the multiple communication data frames of the second frequency band.

[0016] This is because the distance resolution under the first frequency band is high, but phase ambiguity is prone to occur, that is, the anti-phase ambiguity capability is poor. Therefore, the phase change information between the continuous communication data frames on the second frequency band can be obtained. On the basis of the matching of the communication data frames of the two frequency bands described above, the phase change information under the second frequency band can be converted to the phase change information under the first frequency band, which is equivalent to combining the advantage of strong anti-phase ambiguity capability of the second frequency band with the advantages of high distance resolution and high-precision micro-motion detection of the first frequency band for each pair of communication data frames, thereby improving the sensing performance of the Wi-Fi signal.

[0017] In a possible design, the adjacent communication data frames in the multiple communication data frames of the first frequency band include a third communication data frame and a fourth communication data frame, the adjacent communication data frames in the multiple communication data frames of the second frequency band include a fifth communication data frame and a sixth communication data frame, the third communication data frame and the fifth communication data frame are a pair of communication data frames in the multiple pairs of communication data frames, and the fourth communication data frame and the sixth communication data frame are a pair of communication data frames in the multiple pairs of communication data frames.

[0018] The first phase change information between the third communication data frame and the fourth communication data frame is calculated in the following manner:

[0019]

[0020] where ΔΦ1 represents the first phase change information between the third communication data frame and the fourth communication data frame, ΔΦ2 represents the phase change information between the fifth communication data frame and the sixth communication data frame, Δt1 represents a time interval between a timestamp of the third communication data frame and a timestamp of the fourth communication data frame, Δt2 represents a time interval between a timestamp of the fifth communication data frame and a timestamp of the sixth communication data frame, λ1 represents a subcarrier wavelength under the first frequency band, and λ2 represents a subcarrier wavelength under the second frequency band.

[0021] In a possible design, the second phase change information between adjacent communication data frames in the first frequency band is determined according to the first phase change information between adjacent communication data frames in the first frequency band, for a same target contacted by signals in the first frequency band and the second frequency band during propagation.

[0022] The second phase change information is calculated according to the original phase change information between adjacent communication data frames in the first frequency band and a coefficient.

[0023] The coefficient is used to indicate that a phase difference between the second phase change information and the original phase change information satisfies an integer multiple of 2π, where π is a constant of a circular ratio.

[0024] In a possible design, the coefficient is represented as:

[0025]

[0026] where k' represents the coefficient, a phase difference between the original phase information of the third communication data frame and the original phase information of the fourth communication data frame, n is an integer, and round() represents a rounding operation.

[0027] This is because the first phase change information in the first frequency band obtained by the conversion is still greatly affected by phase noise, and the difference between the first phase change information in the first frequency band obtained by the conversion and the phase difference between the communication data frames actually detected in the second frequency band is usually an integer multiple of 2π. In order to remove the phase noise of the first phase change information in the first frequency band obtained by the conversion as much as possible, the high-precision original phase information in the continuous communication data frames corresponding to the first frequency band can be further used to optimize the first phase change information in the first frequency band.

[0028] In a possible design, the first frequency band is a mmWave frequency band, and the second frequency band is a Sub-7GHz frequency band. The distance resolution of the Sub-7GHz frequency band is limited because the Sub-7GHz frequency band is in a low frequency band and has a relatively limited bandwidth. Although large-scale motion can be captured, the precision for capturing small-scale motion is insufficient. The mmWave frequency band is in a high frequency band, has a high frequency and a short carrier wavelength, and has a high distance resolution. The mmWave frequency band has an advantage of strong resistance to phase ambiguity.

[0029] In a second aspect, a sensing device is provided, which simultaneously uses a first frequency band and a second frequency band for sensing, the first frequency band having a higher frequency than the second frequency band, and the sensing device comprises: a receiving unit configured to receive a plurality of communication data frames in the first frequency band and a plurality of communication data frames in the second frequency band; and a data frame matching unit configured to obtain a plurality of pairs of communication data frames, each pair of communication data frames in the plurality of pairs of communication data frames comprising a first communication data frame in the plurality of communication data frames in the first frequency band and a second communication data frame in the plurality of communication data frames in the second frequency band, and a time difference between a first timestamp of the first communication data frame and a second timestamp of the second communication data frame being within a preset threshold range.

[0030] The beneficial effects of the second aspect can be seen from the description of the first aspect.

[0031] In a possible design, the first communication data frame comprises a first timestamp, and the first timestamp is a sending timestamp of the first communication data frame; and the second communication data frame comprises a second timestamp, and the second timestamp is a sending timestamp of the second communication data frame.

[0032] In a possible design, the sensing device further comprises a phase obtaining unit configured to: obtain first phase change information between adjacent communication data frames in the plurality of communication data frames in the first frequency band for a same target contacted by signals in the first frequency band and the second frequency band during propagation; and wherein the first phase change information between the adjacent communication data frames in the plurality of communication data frames in the first frequency band is obtained according to second phase change information between adjacent communication data frames in the plurality of communication data frames in the second frequency band, a time interval between the adjacent communication data frames in the plurality of communication data frames in the first frequency band, and a time interval between the adjacent communication data frames in the plurality of communication data frames in the second frequency band.

[0033] In a possible design, the adjacent communication data frames in the plurality of communication data frames in the first frequency band comprise a third communication data frame and a fourth communication data frame, the adjacent communication data frames in the plurality of communication data frames in the second frequency band comprise a fifth communication data frame and a sixth communication data frame, the third communication data frame and the fifth communication data frame are a pair of communication data frames in the plurality of pairs of communication data frames, and the fourth communication data frame and the sixth communication data frame are a pair of communication data frames in the plurality of pairs of communication data frames; and the first phase change information between the third communication data frame and the fourth communication data frame is calculated in the following manner.

[0034]

[0035] wherein, ΔΦ1 represents first phase change information between the third communication data frame and the fourth communication data frame, ΔΦ2 represents phase change information between the fifth communication data frame and the sixth communication data frame, Δt1 represents a time interval between a time stamp of the third communication data frame and a time stamp of the fourth communication data frame, Δt2 represents a time interval between a time stamp of the fifth communication data frame and a time stamp of the sixth communication data frame, λ1 represents a subcarrier wavelength under the first frequency band, and λ2 represents a subcarrier wavelength under the second frequency band.

[0036] In a possible design, the phase obtaining unit is further configured to: for a same target contacted by signals of the first frequency band and the second frequency band in a propagation process, determine, according to the first phase change information between adjacent communication data frames in the plurality of communication data frames of the first frequency band, second phase change information between the adjacent communication data frames in the plurality of communication data frames of the first frequency band.

[0037] wherein, the second phase change information is calculated according to a relationship between original phase change information between adjacent communication data frames in the plurality of communication data frames of the first frequency band and a coefficient; and the coefficient is used to indicate that a phase difference between the second phase change information and the original phase change information satisfies an integer multiple of 2π, and π is a constant of a circular ratio.

[0038] In a possible design, based on the first phase change information between the third communication data frame and the fourth communication data frame, the coefficient is represented as:

[0039]

[0040] wherein, k' represents the coefficient, represents a phase difference between original phase information of the third communication data frame and original phase information of the fourth communication data frame, n is an integer, and round() represents a rounding operation.

[0041] In a possible design, the first frequency band is a mmWave frequency band, and the second frequency band is a Sub-7GHz frequency band.

[0042] In a third aspect, a communication apparatus is provided, including at least one processor and a memory coupled to the at least one processor, and the at least one processor is configured to read and execute a program stored in the memory, so that the apparatus performs the method in the first aspect or any one of the implementations of the first aspect.

[0043] In a fourth aspect, a chip is provided, which is coupled to a memory and is configured to read and execute a program instruction stored in the memory, so as to implement the method in the first aspect or any one of the implementations of the first aspect.

[0044] In a fifth aspect, an embodiment of the present application provides a perception device, which is included in an electronic device, and the device has a function of implementing the behavior of the electronic device in any of the above aspects and any possible implementation manner. The function can be implemented by hardware, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions. For example, a receiving module or unit, a data frame matching module or unit, and a phase acquisition module or unit.

[0045] In a sixth aspect, an embodiment of the present application provides a computer-readable storage medium, including computer instructions, when the computer instructions are run on an electronic device, causing the electronic device to execute the antenna gain adjustment method in the first aspect and any possible implementation manner.

[0046] In a seventh aspect, an embodiment of the present application provides a computer program product, when the computer program product is run on a computer or a processor, causing the computer or the processor to execute the perception method in the first aspect and any possible implementation manner.

[0047] In an eighth aspect, an embodiment of the present application provides a system, which can include the perception device and the sending device in any possible implementation manner of the second aspect, and the sending device can send communication data frames in two frequency bands to the perception device. The perception device and the sending device can execute the perception method in the first aspect and any possible implementation manner.

[0048] It can be understood that any of the perception devices, perception devices, chips, computer-readable storage media or computer program products provided above can be applied to the corresponding method provided above, and therefore the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be described here.

[0049] These aspects or other aspects of the present application will be more apparent in the following description. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 A network architecture schematic diagram is provided for an embodiment of the present application;

[0051] Figure 2 A network architecture schematic diagram is provided for an embodiment of the present application, in which the sending device is a router and the receiving device is a notebook computer in a Wi-Fi environment;

[0052] Figure 3 A flowchart of a perception method is provided for an embodiment of the present application;

[0053] Figure 4 A flowchart of a perception method is provided for an embodiment of the present application;

[0054] Figure 5 An mmWave frequency band provided for embodiments of this application ( Figure 5 The first frequency band in the middle) and the Sub-7GHz band ( Figure 5 A schematic diagram of multiple pairs of communication data frames after matching communication data frames in the second frequency band (in the second frequency band);

[0055] Figure 6 A schematic diagram illustrating the distance information of two targets in the Sub-7GHz band and mmWave band, provided for embodiments of this application;

[0056] Figure 7 A schematic diagram of multipath information between a person and a transmitting and receiving device is provided as an embodiment of this application;

[0057] Figure 8 This application provides a schematic diagram illustrating the distance information between a person and a transmitting device when the person is between a transmitting device and a receiving device.

[0058] Figure 9 A schematic diagram illustrating the time interval between communication data frames in a first frequency band and a second frequency band, provided as an embodiment of this application;

[0059] Figure 10 This is a schematic diagram of the structure of a sensing device provided in an embodiment of this application;

[0060] Figure 11 This is a schematic diagram of the structure of a sensing device provided in an embodiment of this application. Detailed Implementation

[0061] For ease of understanding, the examples provide explanations of some concepts related to the embodiments of this application for reference. As shown below:

[0062] Millimeter wave (mmWave): A type of electromagnetic wave with a specific frequency range, usually defined as 30GHz to 300GHz, corresponding to wavelengths of 10mm to 1mm, hence the name millimeter wave.

[0063] Channel state information (CSI): In wireless communication, CSI describes the state of a signal along each propagation path. This information describes how a signal propagates from the transmitter to the receiver through the channel, such as signal scattering. It characterizes a combination of factors, such as environmental attenuation and distance attenuation. CSI enables communication systems to adapt to current channel conditions, ensuring high reliability and high-speed communication in multi-antenna systems.

[0064] The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application. In the description of the embodiments of the present application, unless otherwise specified, " / " represents the meaning of or, for example, A / B can represent A or B; in this document, "and / or" is only a description of the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the three cases of A alone, A and B together, and B alone. In addition, in the description of the embodiments of the present application, "multiple" means two or more than two.

[0065] Hereinafter, the terms "first" and "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first" and "second" can explicitly or implicitly include one or more of the features. In the description of the embodiments, unless otherwise specified, the meaning of "multiple" is two or more than two.

[0066] Wi-Fi, as a widely used wireless network transmission technology, has experienced multiple generations of standard evolution. Based on frequency bands, the current Wi-Fi communication standards can be roughly divided into two categories:

[0067] 1) Sub-7GHz frequency band: including Institute of Electrical and Electronics Engineers (IEEE) 802.11a / g / n / g and IEEE 802.11ax, IEEE 802.11be, mainly covering 2.4GHz, 5GHz, and about 6GHz frequency bands.

[0068] 2) mmWave frequency band: including IEEE 802.11ad / ay, mainly covering about 45GHz and 60GHz frequency bands.

[0069] In addition to communication functions, many academic researches are exploring the application of Wi-Fi technology in the field of wireless sensing, such as application in intrusion detection, action recognition and gesture recognition, etc.

[0070] Wi-Fi sensing technology mainly analyzes Wi-Fi signals to infer the environment and / or human body in the propagation process of Wi-Fi signals. One typical method is to use the CSI data specified in the existing Wi-Fi standard for inference. The CSI data usually contains multiple Orthogonal Frequency Division Multiplexing (OFDM) subcarrier information, and by analyzing the CSI data, the direct distance, human action and breathing heartbeat, etc. information can be calculated.

[0071] For distance information, the difference between different subcarriers at the same time can be analyzed. A typical way is to use Inverse Discrete Fourier Transform (IDFT) to process the information of all subcarriers at the same time. Among them, the distance resolution R of the environment and / or human body res Correlation with the total bandwidth B of the signal, which can be expressed as shown in equation (1).

[0072]

[0073] From equation (1), the higher the total bandwidth B of the signal, the smaller the value of distance resolution R res , that is, the more accurate the distance resolution.

[0074] For motion information, the phase change at consecutive observation times of the same carrier, that is, the Doppler effect, can be analyzed. A typical method is to use Discrete Fourier Transform (DFT) to process the phase information of subcarriers at the same frequency at consecutive observation times. Each Wi-Fi frame can be used as an observation time, and the relationship between the motion information Δr of the environment and / or human body and the phase change ΔΦ can be expressed as shown in equation (2).

[0075] Δr∝λΔΦ (2)

[0076] Where λ is the wavelength of the subcarrier. The motion information Δr is proportional to the phase change ΔΦ.

[0077] For the same motion information, the relationship between the phase change ΔΦ and the wavelength of the subcarrier can be shown in equation (3).

[0078]

[0079] That is, under the same motion information, the shorter the wavelength of the subcarrier, the greater the phase change ΔΦ. In order to ensure that the observation is not ambiguous, it is necessary to ensure that the phase change ΔΦ between adjacent observation times meets the requirements of equation (4).

[0080] |ΔΦ|<π (4)

[0081] In the embodiments of the present application, the distance information and the motion information can be collectively referred to as perception information.

[0082] Among them, the motion information can be understood as the speed information of the environment and / or human body, which can be used to establish a coordinate graph to analyze the behavior, gesture and action of the environment and / or human body.

[0083] Current sensing technology can be based on one of the Sub-7GHz frequency band and the mmWave frequency band for analysis, but both frequencies have their own defects.

[0084] The Sub-7GHz frequency band is in the low frequency band, and the bandwidth is relatively limited (the maximum bandwidth of the currently known standard is 320MHz). In the application of sensing distance information, the distance resolution of the Sub-7GHz frequency band is limited. At the same time, in the application of sensing motion information, due to the low frequency band and the long carrier wavelength, according to the above formula (2), the phase noise Φ e The interference to the motion information calculation is large, although it has the advantage of strong resistance to phase ambiguity, but the precision of capturing small amplitude motion is insufficient.

[0085] The mmWave frequency band is in the high frequency band, the frequency is high, the carrier wavelength is short, and the distance resolution is high, which can capture small amplitude motion. However, according to the above formulas (3) and (4), in the application of sensing motion information, phase ambiguity phenomenon is easy to occur in the mmWave frequency band, and large amplitude motion cannot be captured.

[0086] To this end, the present application proposes a Wi-Fi sensing method combining high and low frequency bands, which can complement the advantages of the two frequency bands to improve the sensing performance of the Wi-Fi signal.

[0087] In some embodiments, the present application can combine the Sub-7GHz frequency band and the mmWave frequency band for Wi-Fi sensing. By matching the frame timestamps of the two frequency bands, the high anti-phase ambiguity advantage of the Sub-7GHz frequency band and the high example resolution, high precision small motion detection advantage of the mmWave frequency band are combined, thereby improving the sensing performance of the Wi-Fi signal.

[0088] As shown in Figure 1 The network architecture provided by the embodiments of the present application can include a sending device and a receiving device. The sending device and the receiving device can transmit signals through Wi-Fi. The signals sent by the sending device can be transmitted to the receiving device through the environment and / or the human body. The sending device or the receiving device can sense through the reflection of the signals on the environment and / or the human body to determine distance information and motion information, etc. Alternatively, the reflection of the Wi-Fi signal sent by the sending device on the environment and / or the human body can also be obtained through a third party device for sensing.

[0089] For example, the aforementioned transmitting and receiving devices can be devices such as mobile phones, routers, and laptops, which can simultaneously support high-frequency and low-frequency Wi-Fi communication. For instance, they can support Wi-Fi communication in both the Sub-7GHz and mmWave bands. When communication in both the Sub-7GHz and mmWave bands is enabled simultaneously, the transmitting and receiving devices can enter a multi-frequency high data rate mode.

[0090] For example Figure 2 This illustrates a network architecture in a Wi-Fi environment where the transmitting device is a router and the receiving device is a laptop. The router can simultaneously transmit mmWave frequency band signals to the laptop. Figure 2 Communication data frames in the first frequency band and the Sub-7GHz band ( Figure 2 Communication data frames in both frequency bands (the second frequency band) can pass through the human body. By reflecting these data frames off the body, the system can sense the distance, movement, breathing, and heart rate of the human body. This sensing device can be a router or a laptop computer, or a third-party device can acquire these communication data frames from both frequency bands to detect these functions.

[0091] The network architecture of this application embodiment is described below.

[0092] like Figure 3 The diagram shown is a flowchart of a sensing method according to an embodiment of this application. The method uses a first frequency band and a second frequency band for sensing simultaneously. The frequency of the first frequency band is higher than that of the second frequency band. The method includes the following steps.

[0093] 301. The receiving device receives multiple communication data frames from the first frequency band and multiple communication data frames from the second frequency band.

[0094] In other words, the receiving device can simultaneously receive communication data frames from two frequency bands. These communication data frames can be Wi-Fi communication data frames. For example, the receiving device is... Figure 2 When a laptop is in use, it can receive communication data frames from the router in two frequency bands.

[0095] 302. The receiving device acquires multiple pairs of communication data frames. Each pair of communication data frames includes a first communication data frame in multiple communication data frames of the first frequency band and a second communication data frame in multiple communication data frames of the second frequency band. The time difference between the first timestamp of the first communication data frame and the second timestamp of the second communication data frame is within a preset threshold range.

[0096] In some embodiments, a first timestamp is used to indicate the transmission timestamp of a first communication data frame, and a second timestamp is used to indicate the transmission timestamp of a second communication data frame.

[0097] When the receiving device receives communication data frames from the first frequency band and the second frequency band, it can perform frame matching on the communication data frames from the first frequency band and the second frequency band according to the transmission timestamps of the communication data frames to obtain multiple pairs of communication data frames. If the time difference between the first timestamp of the first communication data frame in the first frequency band and the second timestamp of the second communication data frame in the second frequency band is within a preset threshold range, the first communication data frame and the second communication data frame can be considered as a pair of communication data frames.

[0098] Thus, in this embodiment, the high-frequency first band typically offers advantages in high distance resolution and high-precision micro-motion detection. The low-frequency second band typically offers advantages in strong resistance to phase ambiguity. By performing frame matching on the communication data frames from both bands, each pair of communication data frames can be combined for Wi-Fi sensing. This allows Wi-Fi sensing to not only possess the advantages of high distance resolution and high-precision micro-motion detection, but also the advantage of strong resistance to phase ambiguity, thereby improving Wi-Fi sensing performance.

[0099] The following explanation uses the example of the first frequency band being the mmWave band and the second frequency band being the Sub-7GHz band.

[0100] like Figure 4 The diagram shown is a schematic representation of a sensing method and process according to an embodiment of this application. The method uses both the Sub-7GHz band and the mmWave band for sensing, and includes the following process.

[0101] 401. When the transmitting device transmits communication data frames in the first frequency band and communication data frames in the second frequency band, it adds a transmission timestamp to each communication data frame in the first frequency band and adds a transmission timestamp to each communication data frame in the second frequency band.

[0102] Accordingly, the receiving device receives communication data frames in the first frequency band and communication data frames in the second frequency band.

[0103] For example, the transmitting device simultaneously transmits multiple communication data frames in the mmWave band and multiple communication data frames in the Sub-7GHz band. When transmitting the first communication data frame in the mmWave band, the transmitting device adds a transmission timestamp to the first communication data frame; when transmitting the second communication data frame in the Sub-7GHz band, the transmitting device adds a transmission timestamp to the second communication data frame.

[0104] That is, the first communication data frame includes a first timestamp, which is the timestamp of the transmission of the first communication data frame. The second communication data frame includes a second timestamp, which is the timestamp of the transmission of the second communication data frame.

[0105] Among them, multiple communication data frames under the mmWave band are not completely identical, and multiple communication data frames under the Sub-7GHz band are also not completely identical.

[0106] 402. The receiving device obtains the transmission timestamps of the received communication data frames in the first frequency band and the second frequency band, performs frame matching on the communication data frames in the first frequency band and the second frequency band, and obtains multiple pairs of communication data frames.

[0107] When the receiving device receives a communication data frame in the mmWave band, it obtains the transmission timestamp of the communication data frame through frame decoding. Similarly, when it receives a communication data frame in the Sub-7GHz band, it obtains the transmission timestamp of the communication data frame through frame decoding. Then, it can perform frame matching on the communication data frames in these two frequency bands based on their transmission timestamps to obtain multiple pairs of communication data frames.

[0108] In some embodiments, communication data frames in the mmWave band and Sub-7GHz band whose transmission timestamps differ within a preset range can be considered as a pair of communication data frames.

[0109] In some embodiments, the two communication data frames with the closest transmission timestamps in the mmWave band and Sub-7GHz band can be regarded as a pair of communication data frames.

[0110] For example, Figure 5 An mmWave frequency band is shown. Figure 5 The first frequency band in the middle) and the Sub-7GHz band ( Figure 5 Multiple pairs of communication data frames are formed by matching communication data frames under the second frequency band (in the second frequency band). For example, if the time difference between the first communication data frame under the mmWave frequency band and the second communication data frame under the Sub-7GHz frequency band is within a preset range, or if the transmission timestamps of the first and second communication data frames are closest, then the first and second communication data frames are a pair of communication data frames.

[0111] It should be noted that steps 402-406 of the present application can be performed by the receiving device, or by the sending device, or by a third-party device, that is, any of the three devices can be used as a sensing device. If performed by a third-party device, it does not affect the process of the sending device sending communication data frames in two frequency bands to the receiving device, which is equivalent to copying a copy of the communication data frames in two frequency bands for third-party processing. The following embodiments of the present application are described with the receiving device as an example.

[0112] 403、The receiving device extracts the signal propagation state information corresponding to each pair of communication data frames, and determines the signal propagation state matching relationship of the same target in each pair of communication data frames.

[0113] The receiving device can match the signal propagation state information carried by the first communication data frame and the signal propagation state information carried by the second communication data frame in each pair of communication data frames, and determine the signal propagation state matching relationship of the same target in each pair of communication data frames.

[0114] This is because there may be multiple targets in the Wi-Fi environment between the sending device and the receiving device. After determining multiple pairs of communication data frames, the signal in the first frequency band and the second frequency band contacts the same target during propagation, and the signal propagation state information of the same target in the mmWave frequency band and the Sub-7GHz frequency band is determined.

[0115] The target in the present application can be understood as an object or a human body, that is, an object or a human body contacted by the signal in the first frequency band and the second frequency band during propagation.

[0116] For example, as Figure 6 The distance information diagram of two targets in the Sub-7GHz frequency band and the mmWave frequency band is shown. Since the distance resolution in the Sub-7GHz frequency band is relatively rough, for example, each scale is 47 cm, and the distance resolution in the mmWave frequency band is relatively fine, for example, each scale is 1.74 cm. Figure 6 The horizontal axis in the figure represents distance information, and the vertical axis represents power. It is assumed that target 1 has distance information shown by curve 60 in the Sub-7GHz frequency band and distance information shown by curve 61 in the mmWave frequency band. The distance information of target 1 in the two frequency bands is different, and the distance information in the mmWave frequency band is more precise. The distance information shown by curve 60 and the distance information shown by curve 61 are matched, and the matched distance information indicates the same target 1. Target 2 is similar to target 1.

[0117] In some embodiments, the signal propagation state information is a propagation path length. The propagation path length can be understood as the sum of the distance from the transmitting device to the target and the distance from the target to the receiving device. As shown in FIG. 6, the propagation path length can be represented as LI + L2, where LI is the distance information from the transmitting device 70 to the person, and L2 is the distance information from the person to the receiving device 71. Figure 7

[0118] For example, for each pair of communication data frames, the receiving device 71 can parse the first communication data frame in the mmWave frequency band to obtain a first CSI, which includes the first propagation path length carried by the first communication data frame, and parse the second communication data frame in the Sub-7 GHz frequency band to obtain a second CSI, which includes the second propagation path length carried by the second communication data frame. The first propagation path length and the second propagation path length are matched to determine the propagation path length matching relationship in each pair of communication data frames for the same target in the mmWave frequency band and the Sub-7 GHz frequency band.

[0119] In some embodiments, the signal propagation state information is distance information between the target and the sensing device. The sensing device can be, for example, the transmitting device. As shown in FIG. 7, the distance information between the person and the transmitting device 80 can be understood as the distance information L3 between the transmitting device 80 and the person obtained by the transmitting device 80 when the communication data frame transmitted by the transmitting device 80 reaches the person and is reflected back to the transmitting device 80. The distance information L3 can be obtained, for example, by a radar device in the transmitting device 80. Figure 8

[0120] For example, for each pair of communication data frames, the transmitting device can parse the first communication data frame in the mmWave frequency band to obtain a first distance information, and parse the second communication data frame in the Sub-7 GHz frequency band to obtain a second distance information. The transmitting device matches the first distance information and the second distance information to determine the distance information matching relationship in each pair of communication data frames for the same target.

[0121] Since the bandwidths in the mmWave frequency band and the Sub-7 GHz frequency band are known information specified by standards, the signal propagation state information of the communication data frames in the two frequency bands can be matched based on formula (1). Since the distance resolution in the mmWave frequency band is better than that in the Sub-7 GHz frequency band, the same signal propagation state information may reflect a larger error in the Sub-7 GHz frequency band.

[0122] ​​404. The receiving device targets the same target and obtains the phase change information between communication data frames in the second frequency band.

[0123] While the mmWave band offers high range resolution, it is prone to phase ambiguity, meaning it has poor resistance to phase ambiguity. Therefore, the Sub-7GHz band can be chosen to acquire the phase change information ΔΦ between continuous communication data frames. sub7 Since the signal propagation state has already been matched in step 403, the same target can be identified in the high-resolution range information under the mmWave band based on the signal propagation state, such as the matching relationship of range information. The same target under the mmWave band is then matched to the range information corresponding to the communication data frame under the Sub-7GHz band to extract the phase information of the same target under the Sub-7GHz band in consecutive communication data frames, thereby obtaining the phase change information ΔΦ of the same target under the Sub-7GHz band. sub7 Because the wavelength of the Sub-7GHz band is longer, the extracted phase change information ΔΦ sub7 It has better anti-phase blurring performance.

[0124] 405. The receiving device, targeting the same target, obtains the first phase change information between adjacent communication data frames in multiple communication data frames of the first frequency band based on the phase change information between communication data frames in the second frequency band.

[0125] Although the phase change information ΔΦ of the same target in the Sub-7GHz band obtained in step 404 sub7 While it exhibits good anti-phase ambiguity performance, its accuracy is poor when directly used for motion information estimation. This application can use the phase information from multiple pairs of communication data frames matched in step 402 within the mmWave band to adjust ΔΦ. sub7 Optimization can be performed. This involves adjusting ΔΦ according to the wavelength and the inter-frame spacing of the communication data frames. sub7 The conversion is performed to obtain the first phase change information between adjacent communication data frames in multiple communication data frames under the mmWave frequency band frame.

[0126] In other words, this application can obtain the first phase change information between adjacent communication data frames in multiple communication data frames of the first frequency band when the signals of the first frequency band and the second frequency band come into contact with the same target during the propagation process.

[0127] The first phase change information between adjacent communication data frames in the first frequency band is calculated based on the phase change information between adjacent communication data frames in the second frequency band, the time interval between adjacent communication data frames in the first frequency band, and the time interval between adjacent communication data frames in the second frequency band.

[0128] For example, such as Figure 9 The diagram shows the time interval between communication data frames in the first and second frequency bands. In the first frequency band, adjacent communication data frames include the third and fourth communication data frames; in the second frequency band, adjacent communication data frames include the fifth and sixth communication data frames. The third and fifth communication data frames are one pair of multiple pairs of communication data frames, and the fourth and sixth communication data frames are also one pair of multiple pairs of communication data frames. The calculation method for the first phase change information between the third and fourth communication data frames is as shown in formula (5). Δt1

[0129]

[0130] Wherein, ΔΦ1 represents the first phase change information between the third and fourth communication data frames, ΔΦ2 represents the phase change information between the fifth and sixth communication data frames, Δt1 represents the time interval between the timestamps of the third and fourth communication data frames, Δt2 represents the time interval between the timestamps of the fifth and sixth communication data frames, λ1 represents the subcarrier wavelength in the first frequency band, and λ2 represents the subcarrier wavelength in the second frequency band.

[0131] For example, taking the first frequency band as the mmWave band and the second frequency band as the Sub-7GHz band, the receiving device can use the phase change information ΔΦ between communication data frames in the Sub-7GHz band as an example. sub7 The carrier wavelength λ in the mmWave band mmW The carrier wavelength λ in the Sub-7GHz band sub7 The time interval Δt between communication data frames in the mmWave band mmW and the time interval Δt between communication data frames in the Sub-7GHz band. sub7 The phase change information ΔΦ between communication data frames in the Sub-7GHz band sub7 The first phase change information ΔΦ between communication data frames in the mmWave band is converted to this information. mmW ΔΦ mmW The calculation method is shown in formula (6).

[0132]

[0133] Thus, the phase change information ΔΦ of the same target in the Sub-7GHz band is... sub7 Phase change information Φ converted to mmWave frequency band mmWThis means that for each pair of communication data frames, the high phase ambiguity resistance of the Sub-7GHz band is combined with the high distance resolution and high precision micro-motion detection of the mmWave band, thereby improving the sensing performance of Wi-Fi signals.

[0134] The Φ obtained in step 405 above through conversion mmW It is still significantly affected by phase noise, and the calculated Φ is usually... mmmW The difference between the phase difference between the actual phase difference detected between communication data frames in the mmWave band and the phase difference between the two is an integer multiple of 2π. In order to remove the calculated Φ as much as possible... mmW To address the phase noise, this application can further utilize high-precision raw phase information from consecutive communication data frames corresponding to the mmWave frequency band to analyze ΔΦ. mmW Optimize.

[0135] Therefore, the sensing method of this application may also include step 406.

[0136] 406. For the same target encountered during the propagation of signals in the first and second frequency bands, the receiving device determines second phase change information between adjacent communication data frames in the first frequency band based on first phase change information between adjacent communication data frames in the first frequency band. The second phase change information is calculated based on the relationship between the original phase change information and coefficients between adjacent communication data frames in the first frequency band.

[0137] The coefficient is used to indicate that the phase difference between the second phase change information and the original phase change information is an integer multiple of 2π, where π is the constant of pi.

[0138] Specifically, given the possibility of phase ambiguity, the original phase information between any two communication data frames in the first frequency band is known. and The phase difference can be expressed as shown in formula (7).

[0139]

[0140] Here, mod represents the modulo division operation.

[0141] Thus, ΔΦ1 can be represented as shown in formula (8).

[0142]

[0143] Ideally, the coefficient k should be an integer. However, since ΔΦ1 contains phase noise, the actual coefficient k may contain decimal places. Therefore, the noise can be filtered out by rounding the coefficient k to the nearest integer.

[0144] Therefore, based on the first phase change information between any two communication data frames in the first frequency band, such as between the third communication data frame and the fourth communication data frame, the coefficient k' can be represented as shown in equation (9).

[0145]

[0146] where round represents the rounding operation. k' represents the optimized coefficient, represents the phase difference between the original phase information of any two communication data frames in the first frequency band, such as the third communication data frame and the fourth communication data frame, and n is an integer.

[0147] In this way, after optimizing the coefficient k to obtain k', the second phase change information between any two communication data frames in the first frequency band after optimization can be represented as shown in equation (10).

[0148]

[0149] Taking the first frequency band as the mmWave frequency band and the second frequency band as the Sub-7GHz frequency band as an example, the above equation (7) can be transformed as shown in equation (11).

[0150]

[0151] represents the phase difference between the original phase information of any two communication data frames in the mmWave frequency band.

[0152] The above equation (9) can be transformed as shown in equation (12).

[0153]

[0154] Therefore, the second phase change information between any two communication data frames in the mmWave frequency band can be represented as shown in equation (13).

[0155]

[0156] Therefore, based on ΔΦ' mmW The calculation of the motion information of the target can retain the advantage of high-precision detection of small movements in the mmWave frequency band.

[0157] The application can match the communication data frames of the two frequency bands of the Sub-7GHz frequency band and the mmWave frequency band through the sending time stamps, can convert the high anti-fuzzing performance of the Sub-7GHz frequency band to the mmWave frequency band, and use the phase change information between the communication data frames in the mmWave frequency band for target motion information calculation. The advantages of the strong anti-phase fuzzing capability of the Sub-7GHz frequency band can be combined with the high distance resolution and high-precision micro-motion detection advantages of the mmWave frequency band, so as to improve the sensing performance of the Wi-Fi signal.

[0158] It should be noted that the above embodiments of the application are described by matching the sending time of the communication data frames in the two frequency bands received by the receiving device, but are not limited thereto. The application can also measure the receiving time of the communication data frames in the two frequency bands by the receiving device, and can also achieve similar effects to a certain extent.

[0159] It can be understood that, in order to realize the above functions, the sensing device contains the hardware and / or software modules corresponding to the execution of each function. The algorithm steps of each example described in conjunction with the embodiments disclosed herein can be realized in the form of hardware or a combination of hardware and computer software. Whether a certain function is executed in hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in conjunction with the embodiments, but such implementation should not be considered beyond the scope of the application.

[0160] The present embodiment can divide the functional modules of the sensing device according to the above method examples, for example, each functional module can be divided according to each function, or two or more functions can be integrated in one processing module. The integrated module can be realized in the form of hardware. It should be noted that the division of modules in the present embodiment is illustrative, and is only a logical functional division. Actual implementation can have another division method.

[0161] In the case of dividing each functional module according to each function, Figure 10 A possible composition schematic diagram of the sensing device 100 involved in the above embodiments is shown, as shown in the figure, the sensing device 100 can include a receiving unit 1001, a data frame matching unit 1002 and a phase acquisition unit 1003. Figure 10

[0162] The receiving unit 1001 can be used to support the sensing device 100 to execute the above steps 301, 401, etc., and / or for other processes of the technology described herein.

[0163] ​The data frame matching unit 1002 can be configured to support the perception device 100 to perform the above step 302, step 402, step 403, etc., and / or other procedures of the techniques described herein.

[0164] The phase acquisition unit 1003 can be configured to support the perception device 100 to perform the above step 404, step 405 and step 406, etc., and / or other procedures of the techniques described herein.

[0165] It should be noted that all related content of each step involved in the above method embodiments can be cited to the function description of the corresponding function module, which will not be repeated here.

[0166] The perception device 100 provided by the embodiment is used to perform the above perception method, so the same effect as the above implementation method can be achieved.

[0167] In the case of integrated units, the perception device 100 can include a processing module, a storage module and a communication module. The processing module can be used to control and manage the actions of the perception device 100, for example, it can be used to support the perception device 100 to perform the steps performed by the data frame matching unit 1002 and the phase acquisition unit 1003. The storage module can be used to support the perception device 100 to store program codes and data, etc., such as storing the phase change information between communication data frames. The communication module can be used to support the communication between the perception device 100 and other devices, such as the communication between the perception device 100 and the sending device sending the communication data frame or the receiving device receiving the communication data frame.

[0168] The processing module can be a processor or a controller. It can realize or execute various exemplary logic blocks, modules and circuits described in combination with the disclosure of the present application. The processor can also be a combination of computing functions, such as one or more microprocessor combinations, digital signal processing (DSP) and microprocessor combinations, etc. The storage module can be a memory. The communication module can be a device for interacting with other electronic devices, such as a radio frequency circuit, a Bluetooth chip, a Wi-Fi chip, etc.

[0169] In one embodiment, when the processing module is a processor, the storage module is a memory, and the transceiver module is a transceiver, the perception device involved in the embodiment can be a perception device with the structure as shown in the figure. Figure 11

[0170] ​The embodiment of the present application further provides an electronic device, comprising one or more processors and one or more memories. The one or more memories are coupled to the one or more processors, and the one or more memories are configured to store computer program codes, the computer program codes comprising computer instructions, which, when executed by the one or more processors, cause the electronic device to perform the above-mentioned related method steps to implement the perception method in the above-mentioned embodiment.

[0171] The embodiment of the present application further provides a computer storage medium, which stores computer instructions, and when the computer instructions are run on an electronic device, the electronic device performs the above-mentioned related method steps to implement the perception method in the above-mentioned embodiment.

[0172] The embodiment of the present application further provides a computer program product, which, when run on a computer, causes the computer to perform the above-mentioned related steps to implement the perception method performed by the electronic device in the above-mentioned embodiment.

[0173] In addition, the embodiment of the present application further provides a device, which can be a chip, a component or a module. The device can comprise a processor and a memory connected to each other. When the device is running, the processor can execute the computer execution instructions stored in the memory, so that the chip performs the perception method performed by the electronic device in the above-mentioned method embodiments.

[0174] The perception device, the computer storage medium, the computer program product or the chip provided by the embodiment can be used to execute the corresponding method provided above, and thus the beneficial effects achieved thereby can refer to the beneficial effects of the corresponding method provided above, which will not be described herein again.

[0175] Another embodiment of the present application provides a system, which can comprise the above-mentioned sending device and the above-mentioned receiving device, and can be used to implement the above-mentioned perception method.

[0176] Through the description of the above embodiments, those skilled in the art can understand that, for the convenience and brevity of description, only the division of the above functional modules is taken as an example for illustration, and in actual application, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above.

[0177] In several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented by other manners. For example, the apparatus embodiments described above are merely illustrative, for example, the division of the modules or units is merely a logical function division, and actual implementation can have another division manner, for example, a plurality of units or components can be combined or integrated into another apparatus, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection between the units or components shown or discussed can be indirect coupling or communication connection through some interfaces, apparatuses or units, and can be electrical, mechanical or other forms.

[0178] The units described as separate components can or can not be physically separate, and the components shown as units can be one physical unit or multiple physical units, that is, can be located in one place or distributed to multiple different places. Part or all of the units can be selected according to actual needs to achieve the purpose of the embodiment scheme.

[0179] In addition, the functional units in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be realized in the form of hardware or in the form of a software functional unit.

[0180] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a readable storage medium. Based on such understanding, the technical solutions of the embodiments of the present application essentially or the part of the prior art that contributes to the technical solutions or the whole or part of the technical solutions can be embodied in the form of a software product, which is stored in a storage medium and includes a plurality of instructions for causing an apparatus (which can be a single-chip microcomputer, a chip, etc.) or a processor to execute all or part of the steps of the method described in the embodiments of the present application. The foregoing storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various storage medium that can store program codes.

[0181] The above is merely a specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A sensing method, characterized in that, Simultaneously employing a first frequency band and a second frequency band for sensing, wherein the frequency of the first frequency band is higher than the frequency of the second frequency band, the method includes: Receive multiple communication data frames from the first frequency band and multiple communication data frames from the second frequency band; Multiple pairs of communication data frames are acquired. Each pair of communication data frames includes a first communication data frame in the first frequency band and a second communication data frame in the second frequency band. The time difference between the first timestamp of the first communication data frame and the second timestamp of the second communication data frame is within a preset threshold range. For the same target encountered by signals from the first frequency band and the second frequency band during propagation, first phase change information between adjacent communication data frames in multiple communication data frames of the first frequency band is obtained; The first phase change information between adjacent communication data frames in the multiple communication data frames of the first frequency band is calculated based on the phase change information between adjacent communication data frames in the multiple communication data frames of the second frequency band, the time interval between adjacent communication data frames in the multiple communication data frames of the first frequency band, and the time interval between adjacent communication data frames in the multiple communication data frames of the second frequency band.

2. The method according to claim 1, characterized in that, The first communication data frame includes the first timestamp, which is the sending timestamp of the first communication data frame; The second communication data frame includes the second timestamp, which is the sending timestamp of the second communication data frame.

3. The method according to claim 1 or 2, characterized in that, The adjacent communication data frames in the multiple communication data frames of the first frequency band include a third communication data frame and a fourth communication data frame; the adjacent communication data frames in the multiple communication data frames of the second frequency band include a fifth communication data frame and a sixth communication data frame; the third communication data frame and the fifth communication data frame are one pair of communication data frames in the multiple pairs of communication data frames; the fourth communication data frame and the sixth communication data frame are one pair of communication data frames in the multiple pairs of communication data frames. The calculation method for the first phase change information between the third communication data frame and the fourth communication data frame includes: in, This indicates the first phase change information between the third and fourth communication data frames. This indicates the phase change information between the fifth and sixth communication data frames. This represents the time interval between the timestamp of the third communication data frame and the timestamp of the fourth communication data frame. This represents the time interval between the timestamp of the fifth communication data frame and the timestamp of the sixth communication data frame. This indicates the subcarrier wavelength in the first frequency band. This indicates the subcarrier wavelength in the second frequency band.

4. The method according to claim 3, characterized in that, The method further includes: For the same target encountered by signals from the first frequency band and the second frequency band during propagation, the second phase change information between adjacent communication data frames in the multiple communication data frames of the first frequency band is determined based on the first phase change information between adjacent communication data frames in the multiple communication data frames of the first frequency band. The second phase change information is calculated based on the relationship between the original phase change information and coefficients between adjacent communication data frames in the first frequency band. The coefficient is used to indicate that the phase difference between the second phase change information and the original phase change information is an integer multiple of 2π, where π is the constant of pi.

5. The method according to claim 4, characterized in that, Based on the first phase change information between the third and fourth communication data frames, the coefficient is expressed as: in, Represents the coefficient, This represents the phase difference between the original phase information of the third communication data frame and the original phase information of the fourth communication data frame, where n is an integer and round() represents the rounding operation.

6. The method according to claim 1 or 2, characterized in that, The first frequency band is the mmWave band, and the second frequency band is the Sub-7GHz band.

7. A sensing device, characterized in that, Simultaneously employing a first frequency band and a second frequency band for sensing, wherein the frequency of the first frequency band is higher than the frequency of the second frequency band, the sensing device includes: A receiving unit is configured to receive multiple communication data frames from the first frequency band and multiple communication data frames from the second frequency band. A data frame matching unit is used to acquire multiple pairs of communication data frames. Each pair of communication data frames includes a first communication data frame in multiple communication data frames of the first frequency band and a second communication data frame in multiple communication data frames of the second frequency band. The time difference between the first timestamp of the first communication data frame and the second timestamp of the second communication data frame is within a preset threshold range. The phase acquisition unit is used to: acquire first phase change information between adjacent communication data frames in multiple communication data frames of the first frequency band, for the same target encountered by the signals of the first frequency band and the second frequency band during propagation; The first phase change information between adjacent communication data frames in the multiple communication data frames of the first frequency band is calculated based on the phase change information between adjacent communication data frames in the multiple communication data frames of the second frequency band, the time interval between adjacent communication data frames in the multiple communication data frames of the first frequency band, and the time interval between adjacent communication data frames in the multiple communication data frames of the second frequency band.

8. The sensing device according to claim 7, characterized in that, The first communication data frame includes the first timestamp, which is the sending timestamp of the first communication data frame; The second communication data frame includes the second timestamp, which is the sending timestamp of the second communication data frame.

9. The sensing device according to claim 7 or 8, characterized in that, The adjacent communication data frames in the multiple communication data frames of the first frequency band include a third communication data frame and a fourth communication data frame; the adjacent communication data frames in the multiple communication data frames of the second frequency band include a fifth communication data frame and a sixth communication data frame; the third communication data frame and the fifth communication data frame are one pair of communication data frames in the multiple pairs of communication data frames; the fourth communication data frame and the sixth communication data frame are one pair of communication data frames in the multiple pairs of communication data frames. The calculation method for the first phase change information between the third communication data frame and the fourth communication data frame includes: in, This indicates the first phase change information between the third and fourth communication data frames. This indicates the phase change information between the fifth and sixth communication data frames. This represents the time interval between the timestamp of the third communication data frame and the timestamp of the fourth communication data frame. This represents the time interval between the timestamp of the fifth communication data frame and the timestamp of the sixth communication data frame. This indicates the subcarrier wavelength in the first frequency band. This indicates the subcarrier wavelength in the second frequency band.

10. The sensing device according to claim 9, characterized in that, The phase acquisition unit is further configured to: For the same target encountered by signals from the first frequency band and the second frequency band during propagation, the second phase change information between adjacent communication data frames in the multiple communication data frames of the first frequency band is determined based on the first phase change information between adjacent communication data frames in the multiple communication data frames of the first frequency band. The second phase change information is calculated based on the relationship between the original phase change information and coefficients between adjacent communication data frames in the first frequency band. The coefficient is used to indicate that the phase difference between the second phase change information and the original phase change information is an integer multiple of 2π, where π is the constant of pi.

11. The sensing device according to claim 10, characterized in that, Based on the first phase change information between the third and fourth communication data frames, the coefficient is expressed as: in, Represents the coefficient, This represents the phase difference between the original phase information of the third communication data frame and the original phase information of the fourth communication data frame, where n is an integer and round() represents the rounding operation.

12. The sensing device according to claim 7 or 8, characterized in that, The first frequency band is the mmWave band, and the second frequency band is the Sub-7GHz band.

13. A computer-readable storage medium, characterized in that, Includes computer instructions that, when executed on an electronic device, cause the electronic device to perform the method described in any one of claims 1-6.

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