Broadband communication and sensing integrated system base station, three-dimensional beamforming method and device

Abstract

This invention provides a broadband communication and sensing integrated system base station, a three-dimensional beamforming method, and an apparatus. It incorporates true delay line units in existing broadband ISAC base stations based on MIMO-OFDM technology. The phase shift of the phase shifter and the delay value of the true delay line units are set based on the initial and final spatial angle directions required for beam offset. This causes all subcarrier beams transmitted by the base station to gradually shift from the initial spatial angle direction to the final spatial angle direction, achieving flexible and controllable three-dimensional beamforming. When the initial, final, and user spatial angle directions are all the same, the base station can overcome beam offset and achieve stable directional communication transmission. When the initial and final spatial angle directions coincide with the boundaries of the base station's required sensing range, the base station can reverse the beam offset phenomenon to achieve rapid sensing over a large area.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and in particular to a broadband communication sensing integrated system base station, a three-dimensional beamforming method and apparatus. Background Technology

[0002] The sixth-generation mobile communication (6G) is planned to use millimeter wave or terahertz frequency bands combined with massive multiple input and multiple output (MIMO) technology to build an integrated sensing and communication (ISAC) system. This system can take advantage of the high frequency and large bandwidth of millimeter wave or terahertz frequency bands and the high angular resolution of massive MIMO systems to achieve ultra-high-speed communication and ultra-high-precision sensing based on communication signals. In other words, the broadband integrated sensing and communication system will dominate 6G communication.

[0003] MIMO arrays in ISAC systems typically require advanced beamforming techniques to generate directional beams for communication and sensing tasks. With the advent of 5G mobile communication, antenna arrays have gradually expanded from one-dimensional to two-dimensional configurations, and beamforming technology has also evolved from two-dimensional to three-dimensional beamforming. Three-dimensional beamforming can simultaneously control the shape of the antenna pattern in both the horizontal and vertical directions, thus enabling more precise beam pointing towards the desired communication user or the dynamic target to be sensed.

[0004] In existing technologies, MIMO arrays primarily use traditional phase shifters as the mainstream hardware for beamforming, which provides good beamforming performance in narrowband systems. However, since phase shifters are inherently narrowband devices, the angle of their generated beam cannot change with frequency. Therefore, if a broadband ISAC system based on Orthogonal Frequency Division Multiplexing (OFDM) waveform modulation uses phase shifters for beamforming, beam shift will occur. This means that the beamforming from subcarriers of different frequencies will point in different spatial angles, causing the beam energy of some subcarriers to deviate from the desired spatial angle, resulting in energy leakage. Beam shift will have a significant impact on three-dimensional beamforming technology in broadband ISAC systems, not only degrading directional communication performance but also interfering with accurate directional sensing. Currently, there is no technology that can completely avoid beam shift during three-dimensional beamforming in a broadband communication and sensing integrated system. Summary of the Invention

[0005] To address the problem of beam offset affecting three-dimensional beamforming in existing broadband communication sensing integrated systems, this invention provides a base station, a three-dimensional beamforming method, and an apparatus for a broadband communication sensing integrated system. It incorporates a true delay line unit in an existing broadband ISAC base station based on MIMO-OFDM technology. The phase shift of the phase shifter and the delay value of the true delay line unit are set based on the initial and final spatial angle directions required for beam offset. This causes all subcarrier beams transmitted by the base station to gradually shift from the initial spatial angle direction to the final spatial angle direction, achieving flexible and controllable three-dimensional beamforming. When the initial, final, and user spatial angle directions are all the same, the base station can overcome beam offset and achieve stable directional communication transmission. When the initial and final spatial angle directions coincide with the boundaries of the base station's required sensing range, the base station can reverse the beam offset phenomenon to achieve rapid sensing over a large area.

[0006] In a first aspect, the present invention provides a broadband communication sensing integrated system base station, the base station being a MIMO-OFDM base station, comprising: a uniform planar array, N phase shifters, N true delay line units, and a radio frequency chain;

[0007] The uniform planar array comprises N antenna array elements with a half-carrier wavelength spacing.

[0008] The N antenna array elements, the N phase shifters, and the N true delay line units are all arranged according to N=N x ×N z Arranged in a certain way;

[0009] The output of the RF chain is connected to the input of the N true delay line units, and the (n)th x ,n z The output of the (n)th true delay line unit is connected through the (n)th... x ,n z ) phase shifter and (n) x ,n z The input terminals of the N antenna array elements are connected together, and the output terminals of the N antenna array elements can transmit electromagnetic signals into free space;

[0010] Where, n x =0,1,...,N x -1, n z =0,1,...,N z -1, N x N represents the number of rows of antenna elements in the uniform planar array. z is the number of columns of antenna elements in the uniform planar array.

[0011] Secondly, this invention provides a three-dimensional beamforming method for a broadband communication and sensing integrated system, the method being applicable to base station directional communication scenarios, the method comprising:

[0012] Obtain the horizontal and vertical angles of the communication user in the physical angular direction;

[0013] The spatial angular direction of the communication user is determined based on the horizontal angle and the pitch angle.

[0014] Set the initial spatial angle direction and the final spatial angle direction to be the same as the spatial angle direction;

[0015] The phase shift of N phase shifters in the base station is set based on the initial spatial angle direction, and the delay value of N true delay line units in the base station is set based on the termination spatial angle direction, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the termination spatial angle direction. At this time, the beams of all subcarriers will be focused on the spatial angle where the communication user is located, realizing directional communication.

[0016] According to the three-dimensional beamforming method of the broadband communication sensing integrated system provided by the present invention, the step of setting the phase shift of N phase shifters in the base station based on the initial spatial angle direction includes:

[0017] Based on the initial spatial angle direction and the first preset formula, determine the phase shift of N phase shifters in the base station;

[0018] The first preset formula is:

[0019]

[0020] In the above formula, It is the (n)th x n z ) phase shift of each phase shifter, d is the spacing between antenna elements in a uniform planar array, f0 is the frequency of the 0th subcarrier, c is the speed of light, (Ψ start Ω start )) represents the initial spatial angle direction, n x =0,1,...,N x -1, n z =0,1,...,N z -1, N x N represents the number of rows of antenna elements in a uniform planar array. z This represents the number of columns of antenna elements in a uniform planar array.

[0021] According to the three-dimensional beamforming method of the broadband communication sensing integrated system provided by the present invention, the step of setting the delay values ​​of N true delay line units in the base station based on the termination spatial angle direction includes:

[0022] Based on the termination spatial angle direction and the second preset formula, the delay values ​​of N true delay line units in the base station are determined;

[0023] The second preset formula is:

[0024]

[0025] In the above formula, It is the (n)th x n z The time delay values ​​of ) true delay line elements, d is the spacing between antenna elements in a uniform planar array, f0 is the frequency of the 0th subcarrier, W is the system transmission bandwidth, and c is the speed of light. It is the (n)th x n z The phase shift of each phase shifter, (Ψ) end Ω end ) represents the terminating spatial angle direction, n x =0,1,...,N x -1, n z =0,1,...,N z -1, N x N represents the number of rows of antenna elements in a uniform planar array. z This represents the number of columns of antenna elements in a uniform planar array.

[0026] Secondly, this invention provides a three-dimensional beamforming method for a broadband communication and sensing integrated system, the method being applicable to large-area sensing scenarios at base stations, the method comprising:

[0027] Obtain the physical angle direction sensing range of the area to be sensed; wherein, the physical angle direction sensing range is used as... Let θ, θ min and θ max These are the horizontal angle, lower limit of the horizontal angle, and upper limit of the horizontal angle, respectively, in the physical angular direction. and These are the pitch angle, lower limit of pitch angle, and upper limit of pitch angle in the physical angle direction, respectively.

[0028] Based on the physical angle direction sensing range, the spatial angle direction sensing range of the area to be sensed is determined; wherein, the spatial angle direction sensing range is denoted by {(Ψ, Ω)|Ψ min ≤Ψ≤Ψ max Ω min ≤Ω≤Ω max} to represent;

[0029] The spatial angular direction sensing range is divided into a finite number of distinct sub-ranges in an orderly manner; wherein, the k-th sub-range is denoted by {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max}, k∈{1,2…Θ} can be represented by or by {(Ψ,Ω) k )|Ψ min ≤Ψ≤Ψ max}, k∈{1,2…Γ}, where Θ is represented by the first preset step size from [Ψ min Ψ max The number of angles sampled in Γ is determined by the second preset step size from [Ω]. min Ω max The number of angles sampled in the image;

[0030] For each sub-range, an initial spatial angle direction is set to coincide with the first boundary sub-point corresponding to the sub-range, and a termination spatial angle direction is set to coincide with the second boundary sub-point corresponding to the sub-range. The phase shift of N phase shifters in the base station is set based on the initial spatial angle direction, and the delay value of N true delay line units in the base station is set based on the termination spatial angle direction, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the termination spatial angle direction, thereby completing the sensing of the sub-range; where {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) k Ω min ) and (Ψ k Ω max );{(Ψ,Ω k )|Ψ min ≤Ψ≤Ψ max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) min Ω k ) and (Ψ max Ω k );

[0031] Traverse all sub-ranges to complete the perception of the region to be perceived.

[0032] According to the three-dimensional beamforming method of the broadband communication sensing integrated system provided by the present invention, the step of setting the phase shift of N phase shifters in the base station based on the initial spatial angle direction includes:

[0033] Based on the initial spatial angle direction and the first preset formula, determine the phase shift of N phase shifters in the base station;

[0034] The step of setting the delay values ​​of N true delay line units in the base station based on the termination spatial angle direction includes:

[0035] Based on the termination spatial angle direction and the second preset formula, the delay values ​​of N true delay line units in the base station are determined;

[0036] The first preset formula is:

[0037]

[0038] The second preset formula is:

[0039]

[0040] In the above formula, It is the (n)th x n z The delay value of ) true delay line units, It is the (n)th x n z ) phase shift of each phase shifter, d is the spacing between antenna elements in a uniform planar array, f0 is the frequency of the 0th subcarrier, W is the system transmission bandwidth, c is the speed of light, (Ψ start Ω start )) is the initial spatial angle direction, (Ψ) end Ω end ) represents the terminating spatial angle direction, n x =0,1,...,N x -1, n z =0,1,...,N z -1, N x N represents the number of rows of antenna elements in a uniform planar array. z This represents the number of columns of antenna elements in a uniform planar array.

[0041] Fourthly, the present invention provides a three-dimensional beamforming device for a broadband communication sensing integrated system, the device being suitable for base station directional communication scenarios, the device comprising:

[0042] The first acquisition module is used to acquire the horizontal and vertical angles of the communication user in the physical angle direction;

[0043] The first determining module is used to determine the spatial angular direction of the communication user based on the horizontal angle and the pitch angle;

[0044] The first setting module is used to set the initial spatial angle direction and the final spatial angle direction to be the same as the spatial angle direction;

[0045] The second setting module is used to set the phase shift of N phase shifters in the base station based on the initial spatial angle direction, and to set the delay value of N true delay line units in the base station based on the termination spatial angle direction, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the termination spatial angle direction. At this time, the beams of all subcarriers will be focused on the spatial angle where the communication user is located, so as to realize directional communication.

[0046] Fifthly, the present invention provides a three-dimensional beamforming device for a broadband communication and sensing integrated system. The device is suitable for large-area sensing scenarios at base stations, and includes:

[0047] The second acquisition module is used to acquire the physical angle direction sensing range of the area to be sensed; wherein, the physical angle direction sensing range is used as... Let θ, θ min and θ max These are the horizontal angle, lower limit of the horizontal angle, and upper limit of the horizontal angle, respectively, in the physical angular direction. and These are the pitch angle, lower limit of pitch angle, and upper limit of pitch angle in the physical angle direction, respectively.

[0048] The second determining module is used to determine the spatial angle direction sensing range of the area to be sensed based on the physical angle direction sensing range; wherein, the spatial angle direction sensing range is denoted by {(Ψ, Ω)|Ψ min ≤Ψ≤Ψ max Ω min ≤Ω≤Ω max} to represent;

[0049] The partitioning module is used to orderly divide the spatial angle and direction sensing range into a finite number of distinct sub-ranges; wherein the k-th sub-range is denoted by {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max}, k∈{1,2…Θ} can be represented by or by {(Ψ,Ω) k )|Ψ min ≤Ψ≤Ψ max}, k∈{1,2…Γ}, where Θ is represented by the first preset step size from [Ψ min Ψ max The number of angles sampled in Γ is determined by the second preset step size from [Ω]. min Ω max The number of angles sampled in the image;

[0050] The third setting module is used to, for each sub-range, set an initial spatial angle direction that coincides with the first boundary sub-point corresponding to the sub-range, set an ending spatial angle direction that coincides with the second boundary sub-point corresponding to the sub-range, set the phase shift of N phase shifters in the base station based on the initial spatial angle direction, and set the delay value of N true delay line units in the base station based on the ending spatial angle direction, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the ending spatial angle direction, thereby completing the sensing of the sub-range; wherein, {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) k Ω min ) and (Ψ k Ω max );{(Ψ,Ω k )|Ψ min ≤Ψ≤Ψ max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) min Ω k ) and (Ψ max Ω k );

[0051] The traversal module is used to traverse all sub-ranges to complete the perception of the area to be perceived.

[0052] In a sixth aspect, the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the three-dimensional beamforming method of the broadband communication and sensing integrated system as described in the second aspect or to implement the three-dimensional beamforming method of the broadband communication and sensing integrated system as described in the third aspect.

[0053] In a seventh aspect, the present invention provides a non-transitory computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the three-dimensional beamforming method of the broadband communication and sensing integrated system as described in the second aspect or implements the three-dimensional beamforming method of the broadband communication and sensing integrated system as described in the third aspect.

[0054] The broadband communication sensing integrated system base station provided by this invention is a MIMO-OFDM base station, comprising: a uniform planar array, N phase shifters, N true delay line elements, and a radio frequency chain; the uniform planar array includes N antenna elements with a half-carrier wavelength spacing; the N antenna elements, the N phase shifters, and the N true delay line elements are all configured such that N = N x ×N zThe RF chain is arranged in a specific manner; the output of the RF chain is connected to the input of the N true delay line units, and the (n)th... x n z The output of the (n)th true delay line unit is connected through the (n)th... x n z ) phase shifter and (n) x n z The input terminals of N antenna elements are connected together, and the output terminals of the N antenna elements are capable of transmitting electromagnetic signals into free space; where n x =0,1,...,N x -1, n z =0,1,...,N z -1, N x N represents the number of rows of antenna elements in the uniform planar array. z The number of columns of antenna elements in the uniform planar array. This invention sets up true delay line units in existing broadband ISAC base stations based on MIMO-OFDM technology. By reasonably setting the phase shift of the phase shifter and the delay value of the true delay line units, all subcarrier beams transmitted by the base station can be shifted from a preset initial spatial angle direction to a preset termination spatial angle direction, achieving flexible and controllable beam offset range.

[0055] The present invention provides a three-dimensional beamforming method for a broadband communication sensing integrated system. This method is applicable to directional communication scenarios at base stations and specifically includes: acquiring the horizontal and pitch angles of the communication user in the physical angle direction; determining the spatial angle direction of the communication user based on the horizontal and pitch angles; setting an initial spatial angle direction and a final spatial angle direction that are the same as the initial spatial angle direction; setting the phase shift of N phase shifters in the base station based on the initial spatial angle direction, and setting the delay value of N true delay line units in the base station based on the final spatial angle direction, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the final spatial angle direction. At this time, the beams of all subcarriers will be focused on the spatial angle of the communication user, thereby realizing directional communication. This invention sets the phase shift of N phase shifters to make the initial spatial angle direction of beam offset the same as the spatial angle direction of the communication user, and sets the delay value of N true delay line units to make the final spatial angle direction of beam offset the same as the spatial angle direction of the communication user. This ensures that the beam spatial angle direction of all subcarriers is aligned with the spatial angle direction of the communication user, thereby mitigating beam offset and ensuring three-dimensional directional communication transmission.

[0056] The present invention provides a three-dimensional beamforming method for a broadband communication sensing integrated system. This method is applicable to large-area sensing scenarios at base stations and specifically includes: acquiring the physical angle direction sensing range of the area to be sensed; wherein, the physical angle direction sensing range is used... Let θ, θ min and θ max These are the horizontal angle, lower limit of the horizontal angle, and upper limit of the horizontal angle, respectively, in the physical angular direction. and These are the pitch angle, lower limit of pitch angle, and upper limit of pitch angle, respectively, in the physical angle direction. Based on the physical angle direction sensing range, the spatial angle direction sensing range of the area to be sensed is determined. The spatial angle direction sensing range is denoted by {(Ψ, Ω)|Ψ...}. min ≤Ψ≤Ψ max Ω min ≤Ω≤Ω max} represents the spatial angle and direction sensing range, which is divided into a finite number of distinct sub-ranges; where the k-th sub-range is represented by {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max}, k∈{1,2…Θ} can be represented by or by {(Ψ,Ω) k )|Ψ min ≤Ψ≤Ψ max}, k∈{1,2…Γ}, where Θ is represented by the first preset step size from [Ψ min Ψ max The number of angles sampled in Γ is determined by the second preset step size from [Ω]. min Ω max The number of sampling angles in the [ ]; for each sub-range, the initial spatial angle direction is set to coincide with the first boundary sub-point corresponding to the sub-range, and the termination spatial angle direction is set to coincide with the second boundary sub-point corresponding to the sub-range. Based on the initial spatial angle direction, the phase shift of N phase shifters in the base station is set, and based on the termination spatial angle direction, the delay value of N true delay line units in the base station is set, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the termination spatial angle direction, thereby completing the sensing of the sub-range; where, {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) k Ω min ) and (Ψ k Ω max );{(Ψ,Ω k )|Ψ min ≤Ψ≤Ψ max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) min Ω k ) and (Ψ max Ω kThe invention objectively and orderly divides the sensing range required by the base station into a finite number of distinct small ranges. Then, it reverses the beam offset phenomenon (by setting the phase shift of N phase shifters to make the initial spatial angle direction of the beam offset coincide with the initial sensing boundary of the sensing sub-range required by the base station, and by setting the delay value of N true delay line units to make the termination spatial angle direction of the beam offset coincide with the termination sensing boundary of the sensing sub-range required by the base station, so that the beam spatial angle direction of all subcarriers gradually shifts from the initial sensing boundary to the termination sensing boundary) to achieve the sensing of the small ranges; finally, it traverses all small ranges to achieve rapid sensing of the sensing range required by the base station. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0058] Figure 1 This is a schematic diagram of the link structure of the base station of the broadband communication sensing integrated system provided by the present invention;

[0059] Figure 2 This is a schematic diagram of the simulation results of beam shift caused by using only a phase shifter for three-dimensional beamforming in the broadband system provided by this invention;

[0060] Figure 3 This is a schematic diagram of the simulation results of the broadband system provided by the present invention based on true time delay line-assisted three-dimensional controllable beamforming;

[0061] Figure 4 This is a flowchart illustrating the three-dimensional beamforming method for a broadband communication and sensing integrated system applicable to base station directional communication scenarios provided by the present invention.

[0062] Figure 5 This is a schematic diagram of directional communication based on true delay line assistance to overcome beam offset phenomenon provided by the present invention;

[0063] Figure 6 This is a flowchart illustrating the three-dimensional beamforming method for a broadband communication and sensing integrated system applicable to large-scale sensing scenarios at base stations, provided by the present invention.

[0064] Figure 7 This is a schematic diagram of the large-area sensing based on beam offset assisted by true time delay line provided by the present invention;

[0065] Figure 8This is a schematic diagram of the structure of the three-dimensional beamforming device of the broadband communication sensing integrated system for base station directional communication scenarios provided by the present invention;

[0066] Figure 9 This is a schematic diagram of the structure of the three-dimensional beamforming device of the broadband communication sensing integrated system applicable to large-scale sensing scenarios of base stations provided by the present invention.

[0067] Figure 10 This is a schematic diagram of the structure of the electronic device provided by the present invention;

[0068] Figure label:

[0069] 1010: Processor; 1020: Communication interface; 1030: Memory; 1040: Communication bus. Detailed Implementation

[0070] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0071] The following is combined Figures 1-10 The present invention describes a broadband communication sensing integrated system base station, a three-dimensional beamforming method, and an apparatus.

[0072] In a first aspect, the present invention provides a base station for a broadband communication and sensing integrated system, such as... Figure 1 As shown, the base station is a MIMO-OFDM base station, comprising: a uniform planar array, N phase shifters, N true delay line units, and a radio frequency chain;

[0073] The uniform planar array comprises N antenna elements with a half-carrier wavelength spacing; the N antenna elements, the N phase shifters, and the N true delay line elements are all arranged according to N=N x ×N z Arranged in a certain way;

[0074] The output of the RF chain is connected to the input of the N true delay line units, and the (n)th x n z The output of the (n)th true delay line unit is connected through the (n)th... x n z ) phase shifter and (n) x n z The input terminals of the N antenna array elements are connected together, and the output terminals of the N antenna array elements can transmit electromagnetic signals into free space;

[0075] Where, n x =0,1,...,N x -1, n z =0,1,...,N z -1, N x N represents the number of rows of antenna elements in the uniform planar array. z is the number of columns of antenna elements in the uniform planar array.

[0076] The broadband communication sensing integrated system base station provided by this invention sets up a true delay line unit in the existing broadband ISAC base station based on MIMO-OFDM technology. Based on the initial spatial angle direction and the termination spatial angle direction of the beam offset requirement, the phase shift amount of the phase shifter and the delay value of the true delay line unit are set so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the termination spatial angle direction, thereby realizing flexible and controllable three-dimensional beamforming.

[0077] In other words, this invention considers a broadband massive MIMO system based on OFDM waveform modulation operating in the millimeter-wave or terahertz frequency band, wherein the base station is equipped with an antenna array element spacing of... N=N x ×N z A uniform planar array (UPA) and the required RF chain, wherein the (n)th x n z The spatial positions of the n antenna array elements are (n x d, 0, n z d), n x =0,1,...,N x -1, n z =0,1,...,N z -1. The carrier frequency and transmission bandwidth are f and f, respectively. c Given W, assume there are a total of M+1 subcarriers for signal transmission, where the 0th subcarrier has the lowest passband frequency. The passband frequency of the m-th subcarrier is Meanwhile, the baseband frequency of the m-th subcarrier is denoted as... Assuming the physical angle direction that the base station needs to sense is The corresponding spatial angular direction is {(Ψ,Ω)|Ψ min ≤Ψ≤Ψ max Ω min ≤Ω≤Ω max}, then the array steering vector of the planar array on the m-th subcarrier can be expressed as:

[0078]

[0079] in, This represents the Kronecker product operation, in terms of physical angle and direction. The mapping relationship between the spatial angle domain direction (Ψ, Ω) is as follows: θ and These are the horizontal angle and the pitch angle in the physical angular direction, respectively.

[0080] a m (Ψ,N x ) and a m (Ω,N z Specifically, it is expressed as:

[0081]

[0082]

[0083] Among them, f m is the frequency of the m-th subcarrier, d is the antenna spacing, c is the speed of light, [·] T This indicates the transpose operation, where j is the imaginary unit. It should be noted that this array steering vector is an example of the present invention; the invention still applies to other array steering vectors.

[0084] The nth in a planar array x n z The nth antenna array element was cascaded. x n z ) phase shifter and (n) x n z The nth true delay line unit, assuming the (n)th... x n z The phase shift of each phase shifter is The (n) x n z The delay value of a true delay line unit is The beamforming vector of the base station's planar array with the aid of a true delay line is:

[0085]

[0086] At this point, the array response of the m-th subcarrier in the spatial domain angle (Ψ, Ω) can be expressed as:

[0087]

[0088] In order to focus the 0th subcarrier in the initial spatial angle direction (Ψ) start Ω start Substitute (Ψ, Ω) = (Ψ) into the array response expression. start Ω start ), m=0, f m =f0、 You can get Therefore, based on the initial spatial angle direction (Ψ) of the base station beam offset requirement start Ω start ) and the first preset formula The required phase shift amount for N phase shifters in a base station can be calculated.

[0089] Furthermore, in order to focus the Mth subcarrier in the termination space angle direction (Ψ) end Ω end Substitute (Ψ, Ω) = (Ψ) into the array response expression. end Ω end ), m = M, f m =f M =f0+W、 You can get Therefore, based on the termination spatial angle direction of the base station beam offset requirement and the second preset formula The delay value of N true delay line units of the base station can be calculated.

[0090] Therefore, when the initial spatial angle direction (Ψ) is based on the base station beam offset requirement... start Ω start ) and the direction of the terminating spatial angle (Ψ) end Ω end After setting the phase shift of N phase shifters and the delay value of N true delay line units, all subcarrier beams transmitted by the base station will gradually shift from the initial spatial angle direction to the final spatial angle direction according to the predetermined beam offset method. Therefore, the base station of the present invention can control the range of beam offset.

[0091] To better understand the function of the base station in the broadband communication sensing integrated system of the present invention, the following two simulation examples are provided:

[0092] Example 1: Figure 2 This is a schematic diagram illustrating the simulation results of beam shift caused by using only a phase shifter for three-dimensional beamforming in the broadband system provided by this invention; the simulation parameters are as follows: number of antenna elements N = N x ×N z=50×50, carrier frequency f0=200GHz, bandwidth W=60GHz. For ease of visualization, the number of OFDM subcarriers is set to 8. At this point, only phase shifters are used for three-dimensional beamforming. The goal of beamforming is to focus the beams of all subcarriers in the desired spatial angle (Ψ0, Ω0) = (0.5, 0.5). However, simulation results show that only subcarrier 0 is focused as expected in the (0.5, 0.5) direction, while the beams of other frequency subcarriers deviate from the (0.5, 0.5) direction, exhibiting a significant beam shift phenomenon. This beam shift phenomenon causes severe energy leakage and degrades communication performance for users located in the (0.5, 0.5) direction. Therefore, beam shift is a significant issue in broadband ISAC systems.

[0093] Example 2: Figure 3 This is a schematic diagram of the simulation results of three-dimensional controllable beamforming based on true delay line assistance in the broadband system provided by this invention; the simulation parameters are as follows: number of antenna elements N = N x ×N z =30×30, carrier frequency f0=200GHz, bandwidth W=10GHz. For ease of visualization, the number of OFDM subcarriers is set to 8. At this point, a phase shifter and a true delay line are used simultaneously for three-dimensional controllable beamforming. By adjusting the phase shift of the phase shifter and the delay value of the true delay line, the initial and final spatial angle directions of the controllable beam offset are controlled as (Ψ... start Ω start ) = (0.5, 0.5) and (Ψ) end Ω end (Ψ) = (-0.3, -0.6). The simulation results show that the beam pointing of all subcarriers gradually shifts from the (0.5, 0.5) direction to the (-0.3, -0.6) direction, and the shift trajectory is a straight line segment on the spatial angle domain plane. This simulation successfully controls the initial and final spatial angles of the beam shift. In fact, by changing (Ψ)... start Ω start ) and (Ψ end Ω end The value of ) can be arbitrarily controlled to start and end the beam offset, realizing flexible and controllable three-dimensional beamforming.

[0094] Secondly, this invention provides a three-dimensional beamforming method for a broadband communication sensing integrated system, which is applicable to base station directional communication scenarios, such as... Figure 4 As shown, the method includes:

[0095] S11. Obtain the horizontal and vertical angles of the communication user in the physical angle direction;

[0096] S12. Determine the spatial angular direction of the communication user based on the horizontal angle and the pitch angle;

[0097] S13. Set the initial spatial angle direction and the final spatial angle direction to be the same as the spatial angle direction;

[0098] S14. Based on the initial spatial angle direction, set the phase shift of N phase shifters in the base station, and based on the termination spatial angle direction, set the delay value of N true delay line units in the base station, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the termination spatial angle direction. At this time, the beams of all subcarriers will be focused on the spatial angle where the communication user is located, realizing directional communication.

[0099] The present invention provides a three-dimensional beamforming method for a broadband communication sensing integrated system applicable to base station directional communication scenarios. By setting the phase shift of N phase shifters, the initial spatial angle direction of the beam offset is the same as the spatial angle direction of the communication user. By setting the delay value of N true delay line units, the final spatial angle direction of the beam offset is the same as the spatial angle direction of the communication user. This ensures that the beam spatial angle pointing of all subcarriers is aligned with the spatial angle direction of the communication user, thereby mitigating the beam offset phenomenon and guaranteeing three-dimensional directional communication transmission.

[0100] Further, setting the phase shift of the N phase shifters in the base station based on the initial spatial angle direction includes:

[0101] Based on the initial spatial angle direction and the first preset formula, determine the phase shift of N phase shifters in the base station;

[0102] The step of setting the delay values ​​of N true delay line units in the base station based on the termination spatial angle direction includes:

[0103] Based on the termination spatial angle direction and the second preset formula, the delay values ​​of N true delay line units in the base station are determined;

[0104] The first preset formula is:

[0105]

[0106] The second preset formula is:

[0107]

[0108] In the above formula, It is the (n)th x n z The phase shift of each phase shifter It is the (n)th xn z The time delay values ​​of ) true delay line elements, d is the spacing between antenna elements in a uniform planar array, f0 is the frequency of the 0th subcarrier, W is the system transmission bandwidth, c is the speed of light, (Ψ start Ω start )) is the initial spatial angle direction, (Ψ) end Ω end ) represents the terminating spatial angle direction, n x =0,1,...,N x -1, n z =0,1,...,N z -1, N x N represents the number of rows of antenna elements in a uniform planar array. z This represents the number of columns of antenna elements in a uniform planar array.

[0109] When a base station needs to implement directional communication, it can set the phase shift of N phase shifters to make the initial spatial angle direction of the beam offset the same as the spatial angle direction of the communication user. The base station further sets the delay value of N true delay line units to make the final spatial angle direction of the beam offset the same as the spatial angle direction of the communication user. At this point, the initial spatial angle direction, the final spatial angle direction, and the spatial angle direction of the communication user are all the same. Consequently, the beam spatial angle direction of all subcarriers will be the same as the spatial angle direction of the communication user, thus mitigating the beam offset phenomenon and ensuring three-dimensional directional communication transmission. To better understand the directional communication of the base station in the broadband communication sensing integrated system of this invention, the following simulation example is provided:

[0110] Example 3: Figure 5 This is a schematic diagram of directional communication based on true delay line assistance to overcome beam offset phenomenon provided by the present invention, wherein the simulation parameters are as follows: number of antenna elements N = N x ×N z =30×30, carrier frequency f0=200GHz, bandwidth W=10GHz. For ease of visualization, the number of OFDM subcarriers is set to 8. Assuming the communication user is located in the spatial angle (Ψ0, Ω0) = (0.5, 0.5), the goal of three-dimensional beamforming is to focus the beams of all subcarriers in the (0.5, 0.5) direction to achieve directional communication. At this time, a phase shifter and a true delay line are used simultaneously for controllable beamforming. By adjusting the phase shift of the phase shifter and the delay value of the true delay line, the initial and final spatial angle directions of the controllable beam offset are controlled as (Ψ0, Ω0) = (0.5, 0.5) / (0.5, 0.5). start Ω start )=(Ψ0,Ω0)=(0.5,0.5) and (Ψ end Ω endThe equation is (Ψ0, Ω0) = (0.5, 0.5). Simulation results show that all subcarrier beams are focused in the (0.5, 0.5) direction, achieving reliable directional communication. This demonstrates that with the aid of a true delay line, beam offset can be overcome to achieve effective directional communication and mitigate its negative impact.

[0111] Thirdly, this invention provides a three-dimensional beamforming method for an integrated broadband communication and sensing system. This method is applicable to large-scale sensing scenarios at base stations, such as... Figure 6 As shown, the method includes:

[0112] S21: Obtain the physical angle direction sensing range of the area to be sensed; wherein, the physical angle direction sensing range is used as... Let θ, θ min and θ max These are the horizontal angle, lower limit of the horizontal angle, and upper limit of the horizontal angle, respectively, in the physical angular direction. and These are the pitch angle, lower limit of pitch angle, and upper limit of pitch angle in the physical angle direction, respectively.

[0113] S22: Determine the spatial angle direction sensing range of the area to be sensed based on the physical angle direction sensing range; wherein, the spatial angle direction sensing range is represented by {(Ψ, Ω)|Ψ min ≤Ψ≤Ψ max Ω min ≤Ω≤Ω max} to represent;

[0114] s23: The spatial angle and direction sensing range is divided into a finite number of distinct sub-ranges in an orderly manner; wherein, the k-th sub-range is represented by {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max}, k∈{1,2…Θ} can be represented by or by {(Ψ,Ω) k )|Ψ min ≤Ψ≤Ψ max}, k∈{1,2…Γ}, where Θ is represented by the first preset step size from [Ψ min Ψ max The number of angles sampled in Γ is determined by the second preset step size from [Ω]. min Ω max The number of angles sampled in the image;

[0115] S24: For each sub-range, the initial spatial angle direction is set to coincide with the first boundary sub-point corresponding to the sub-range, and the terminating spatial angle direction is set to coincide with the second boundary sub-point corresponding to the sub-range. The phase shift of N phase shifters in the base station is set based on the initial spatial angle direction, and the delay value of N true delay line units in the base station is set based on the terminating spatial angle direction, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the terminating spatial angle direction, thereby completing the sensing of the sub-range; where {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) k Ω min ) and (Ψ k Ω max );{(Ψ,Ω k )|Ψ min ≤Ψ≤Ψ max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) min Ω k ) and (Ψ max Ω k );

[0116] S25: Traverse all sub-ranges to complete the perception of the area to be perceived.

[0117] The three-dimensional beamforming method provided by this invention for a broadband communication sensing integrated system suitable for large-scale sensing scenarios of base stations objectively and orderly divides the sensing range required by the base station into a finite number of distinct small ranges. Then, it reverses the beam offset phenomenon (by setting the phase shift of N phase shifters to make the initial spatial angle direction of the beam offset coincide with the initial sensing boundary of the sensing sub-range required by the base station, and by setting the delay value of N true delay line units to make the termination spatial angle direction of the beam offset coincide with the termination sensing boundary of the sensing sub-range required by the base station, so that the beam spatial angle pointing of all subcarriers gradually shifts from the initial sensing boundary to the termination sensing boundary) to achieve sensing of the small ranges; finally, it traverses all small ranges to achieve rapid sensing of the sensing range required by the base station.

[0118] Furthermore, setting the phase shift of the N phase shifters in the base station based on the initial spatial angle direction includes:

[0119] Based on the initial spatial angle direction and the first preset formula, determine the phase shift of N phase shifters in the base station;

[0120] The step of setting the delay values ​​of N true delay line units in the base station based on the termination spatial angle direction includes:

[0121] Based on the termination spatial angle direction and the second preset formula, the delay values ​​of N true delay line units in the base station are determined;

[0122] The first preset formula is:

[0123]

[0124] The second preset formula is:

[0125]

[0126] In the above formula, It is the (n)th x n z The delay value of ) true delay line units, It is the (n)th x n z ) phase shift of each phase shifter, d is the spacing between antenna elements in a uniform planar array, f0 is the frequency of the 0th subcarrier, W is the system transmission bandwidth, c is the speed of light, (Ψ start Ω start )) is the initial spatial angle direction, (Ψ) end Ω end ) represents the terminating spatial angle direction, n x =0,1,...,N x -1, n z =0,1,...,N z -1, N x N represents the number of rows of antenna elements in a uniform planar array. z This represents the number of columns of antenna elements in a uniform planar array.

[0127] When a base station needs to achieve a wide-area sensing function, it can set the phase shift of N phase shifters to make the initial spatial angle direction of the beam offset requirement coincide with the first boundary sub-point of the target sensing range. The base station further sets the delay values ​​of N true delay line units to make the final spatial angle direction of the beam offset requirement coincide with the second boundary sub-point of the target sensing range, thereby completing the sensing of the target sensing range. Given this, and considering that the first and second boundary sub-points of the target sensing range constitute a boundary sub-pair of the target sensing range, the boundary of the required sensing range of the base station is objectively and orderly divided into a finite number of distinct boundary sub-pairs, and these finite number of distinct boundary sub-pairs together constitute the spatial angle domain boundary set of the base station's sensing range. The base station gradually covers the entire required sensing space by traversing each boundary sub-pair, thereby achieving rapid scanning of the sensing space. To better understand the wide-area sensing of the base station in the broadband communication sensing integrated system of this invention, the following simulation example is provided:

[0128] Example 4:

[0129] Figure 7 This is a schematic diagram of large-area sensing based on true time delay line-assisted reverse beam offset provided by the present invention; the simulation parameters are as follows: number of antenna elements N = N x ×N z =30×30, carrier frequency f0=200GHz, bandwidth is W=10GHz. For ease of visualization, the number of OFDM subcarriers is set to 8. Assume the required spatial angle domain sensing subrange of the base station is {(Ψ, Ω)|Ψ=0.6, -0.5≤Ω≤0.5}. At this time, by adjusting the phase shift of the phase shifter and the delay value of the true delay line, the initial spatial angle direction and the final spatial angle direction of the controllable beam offset are controlled as (Ψ, Ω)|Ψ=0.6, -0.5≤Ω≤0.5}. start Ω start ) = (0.6, 0.5) and (Ψ) end Ω end The value of Ψ is (0.6, -0.5). Simulation results show that the beams of all subcarriers gradually shift from the (0.6, 0.5) direction to the (0.6, -0.5) direction, allowing all subcarriers to cover the entire required sub-sensing space in a single, large-scale operation. Assuming that the value of Ψ is further changed systematically and systematically, the entire required sensing space can be scanned quickly, enhancing the overall sensing performance of the system.

[0130] Fourthly, the three-dimensional beamforming device for the broadband communication sensing integrated system provided by the present invention will be described. The three-dimensional beamforming device for the broadband communication sensing integrated system described below can be referred to in correspondence with the three-dimensional beamforming method for the broadband communication sensing integrated system described in the second aspect. For example... Figure 8 As shown, the device is suitable for base station directional communication scenarios, and the device includes:

[0131] The first acquisition module 31 is used to acquire the horizontal angle and pitch angle of the communication user in the physical angle direction;

[0132] The first determining module 32 is used to determine the spatial angular direction of the communication user based on the horizontal angle and the pitch angle.

[0133] The first setting module 33 is used to set the initial spatial angle direction and the final spatial angle direction to be the same as the spatial angle direction;

[0134] The second setting module 34 is used to set the phase shift of N phase shifters in the base station based on the initial spatial angle direction, and to set the delay value of N true delay line units in the base station based on the final spatial angle direction, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the final spatial angle direction. At this time, the beams of all subcarriers will be focused on the spatial angle where the communication user is located, realizing directional communication.

[0135] The present invention provides a three-dimensional beamforming device for a broadband communication sensing integrated system suitable for base station directional communication scenarios. By setting the phase shift of N phase shifters, the initial spatial angle direction of the beam offset is the same as the spatial angle direction of the communication user. By setting the delay value of N true delay line units, the final spatial angle direction of the beam offset is the same as the spatial angle direction of the communication user. This ensures that the beam spatial angle direction of all subcarriers is aligned with the spatial angle direction of the communication user, thereby mitigating the beam offset phenomenon and guaranteeing three-dimensional directional communication transmission.

[0136] Fifthly, a three-dimensional beamforming device for the broadband communication sensing integrated system provided by the present invention will be described. The three-dimensional beamforming device for the broadband communication sensing integrated system described below can be referred to in correspondence with the three-dimensional beamforming method for the broadband communication sensing integrated system described in the third aspect. Figure 9 As shown, the device is suitable for large-scale sensing scenarios at base stations, and the device includes:

[0137] The second acquisition module 41 is used to acquire the physical angle direction sensing range of the area to be sensed; wherein, the physical angle direction sensing range is used as... Let θ, θ min and θ max These are the horizontal angle, lower limit of the horizontal angle, and upper limit of the horizontal angle, respectively, in the physical angular direction. and These are the pitch angle, lower limit of pitch angle, and upper limit of pitch angle in the physical angle direction, respectively.

[0138] The second determining module 42 is used to determine the spatial angle direction sensing range of the area to be sensed based on the physical angle direction sensing range; wherein, the spatial angle direction sensing range is denoted by {(Ψ, Ω)|Ψ min ≤Ψ≤Ψ max Ω min ≤Ω≤Ω max} to represent;

[0139] The partitioning module 43 is used to orderly divide the spatial angle direction sensing range into a finite number of distinct sub-ranges; wherein the k-th sub-range is denoted by {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max}, k∈{1,2…Θ} can be represented by or by {(Ψ,Ω) k )|Ψ min ≤Ψ≤Ψ max}, k∈{1,2…Γ}, where Θ is represented by the first preset step size from [Ψ min Ψmax The number of angles sampled in Γ is determined by the second preset step size from [Ω]. min Ω max The number of angles sampled in the image;

[0140] The third setting module 44 is used to, for each sub-range, set an initial spatial angle direction that coincides with the first boundary sub-point corresponding to the sub-range, set an ending spatial angle direction that coincides with the second boundary sub-point corresponding to the sub-range, set the phase shift of N phase shifters in the base station based on the initial spatial angle direction, and set the delay value of N true delay line units in the base station based on the ending spatial angle direction, so that all subcarrier beams transmitted by the base station gradually shift from the initial spatial angle direction to the ending spatial angle direction, thereby completing the sensing of the sub-range; wherein, {(Ψ k ,Ω)|Ω min ≤Ω≤Ω max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) k Ω min ) and (Ψ k Ω max );{(Ψ,Ω k )|Ψ min ≤Ψ≤Ψ max The corresponding first boundary sub-points and second boundary sub-points are (Ψ) min Ω k ) and (Ψ max Ω k );

[0141] Traversal module 45 is used to traverse all sub-ranges to complete the perception of the area to be perceived.

[0142] Sixth aspect, Figure 10 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 10 As shown, the electronic device may include a processor 1010, a communications interface 1020, a memory 1030, and a communication bus 1040, wherein the processor 1010, the communications interface 1020, and the memory 1030 communicate with each other via the communication bus 1040. The processor 1010 can call logical instructions in the memory 1030 to execute the three-dimensional beamforming method of the broadband communication-sensing integrated system as described in the first or second aspect.

[0143] Furthermore, the logical instructions in the aforementioned memory 1030 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0144] In a seventh aspect, the present invention also provides a computer program product comprising a computer program that can be stored on a non-transitory computer-readable storage medium, wherein when the computer program is executed by a processor, the computer is capable of executing the three-dimensional beamforming method of the broadband communication sensing integrated system as described in the first or second aspect.

[0145] Eighthly, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, is implemented to perform a three-dimensional beamforming method for a broadband communication sensing integrated system as described in the first or second aspect. The apparatus embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0146] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0147] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A three-dimensional beamforming method for a broadband communication and sensing integrated system, the method being applicable to directional communication scenarios of base stations in a broadband communication and sensing integrated system, characterized in that, The base station is a MIMO-OFDM base station, comprising: a uniform planar array, A phase shifter, A true delay line unit and an RF chain; The uniform planar array includes half-carrier wavelength spacing. One antenna array element; The Each antenna array element, the A phase shifter and the Each true delay line unit is in accordance with Arranged in a certain way; The output terminal of the radio frequency chain is connected to the The input terminals of each true delay line unit are connected together, and the first... The output of the true delay line unit is connected to the first The phase shifter and the first The input terminals of each antenna element are connected together, the The output of each antenna element can transmit electromagnetic signals into free space; in, , , Let be the row number of the antenna elements in the uniform planar array. The number of columns of antenna elements in the uniform planar array; The method includes: Obtain the horizontal and vertical angles of the communication user in the physical angular direction; The spatial angular direction of the communication user is determined based on the horizontal angle and the pitch angle. Set the initial spatial angle direction and the final spatial angle direction to be the same as the stated spatial angle direction; Based on the initial spatial angle direction, the base station is set in... The phase shift of each phase shifter, and the base station is set based on the termination spatial angle direction. The delay value of each true delay line unit is used to gradually shift all subcarrier beams transmitted by the base station from the initial spatial angle direction to the final spatial angle direction. At this time, the beams of all subcarriers will be focused on the spatial angle where the communication user is located, thus realizing directional communication. The base station is set based on the initial spatial angle direction. The phase shift of each phase shifter includes: Based on the initial spatial angle direction and the first preset formula, determine the base station Phase shift of each phase shifter; The first preset formula is: In the above formula, It is the first Phase shift of each phase shifter It is the spacing between antenna elements in a uniform planar array. It is the frequency of subcarrier number 0. It's the speed of light. It is the initial spatial angle and direction. , ; The base station is set based on the termination space angle direction. The delay value of each true delay line unit includes: Based on the termination space angle direction and the second preset formula, determine the base station... The delay value of a true delay line unit; The second preset formula is: In the above formula, It is the first The delay value of a true delay line unit. It is the system transmission bandwidth. It is the direction of the terminating spatial angle.

2. The three-dimensional beamforming method for the broadband communication and sensing integrated system according to claim 1, characterized in that, The method includes: Obtain the physical angle direction sensing range of the area to be sensed; wherein, the physical angle direction sensing range is used as... To indicate, , and These are the horizontal angle, lower limit of the horizontal angle, and upper limit of the horizontal angle, respectively, in the physical angular direction. , These are the pitch angle, lower limit of pitch angle, and upper limit of pitch angle in the physical angle direction, respectively. Based on the physical angle direction sensing range, the spatial angle direction sensing range of the area to be sensed is determined; wherein, the spatial angle direction sensing range is used as... To indicate; The spatial angular direction sensing range is divided into a finite number of distinct sub-ranges in an orderly manner; wherein, the first... A range of sizes to represent or use To indicate, It is based on the first preset step size from The number of angles sampled in the middle, It is based on the second preset step size from The number of angles sampled in the middle; For each sub-range, an initial spatial angle direction is set to coincide with the first boundary sub-point corresponding to the sub-range, and a termination spatial angle direction is set to coincide with the second boundary sub-point corresponding to the sub-range. Based on the initial spatial angle direction, the base station is configured... The phase shift of each phase shifter is set in the base station based on the termination space angle direction. The delay value of each true delay line unit is used to gradually shift all subcarrier beams transmitted by the base station from the initial spatial angle direction to the final spatial angle direction, thereby completing the sensing of the sub-range; wherein, The corresponding first boundary sub-points and second boundary sub-points are respectively ( , )and( , ); The corresponding first boundary sub-points and second boundary sub-points are respectively ( , )and( , ); Traverse all sub-ranges to complete the perception of the region to be perceived.

3. A three-dimensional beamforming device for a broadband communication sensing integrated system, the device being suitable for base station directional communication scenarios, characterized in that, The base station is a MIMO-OFDM base station, comprising: a uniform planar array, A phase shifter, A true delay line unit and an RF chain; The uniform planar array includes half-carrier wavelength spacing. One antenna array element; The Each antenna array element, the A phase shifter and the Each true delay line unit is in accordance with Arranged in a certain way; The output terminal of the radio frequency chain is connected to the The input terminals of each true delay line unit are connected together, and the first... The output of the true delay line unit is connected to the first The phase shifter and the first The input terminals of each antenna element are connected together, the The output of each antenna element can transmit electromagnetic signals into free space; in, , , Let be the row number of the antenna elements in the uniform planar array. The number of columns of antenna elements in the uniform planar array; The device includes: The first acquisition module is used to acquire the horizontal and vertical angles of the communication user in the physical angle direction; The first determining module is used to determine the spatial angular direction of the communication user based on the horizontal angle and the pitch angle; The first setting module is used to set the initial spatial angle direction and the final spatial angle direction to be the same as the spatial angle direction; The second setting module is used to set the base station orientation based on the initial spatial angle. The phase shift of each phase shifter, and the base station is set based on the termination spatial angle direction. The delay value of each true delay line unit is used to gradually shift all subcarrier beams transmitted by the base station from the initial spatial angle direction to the final spatial angle direction. At this time, the beams of all subcarriers will be focused on the spatial angle where the communication user is located, thus realizing directional communication. The base station is set based on the initial spatial angle direction. The phase shift of each phase shifter includes: Based on the initial spatial angle direction and the first preset formula, determine the base station Phase shift of each phase shifter; The first preset formula is: In the above formula, It is the first Phase shift of each phase shifter It is the spacing between antenna elements in a uniform planar array. It is the frequency of subcarrier number 0. It's the speed of light. It is the initial spatial angle and direction. , ; The base station is set based on the termination space angle direction. The delay value of each true delay line unit includes: Based on the termination space angle direction and the second preset formula, determine the base station... The delay value of a true delay line unit; The second preset formula is: In the above formula, It is the first The delay value of a true delay line unit. It is the system transmission bandwidth. It is the direction of the terminating spatial angle.

4. The three-dimensional beamforming device for the broadband communication and sensing integrated system according to claim 3, characterized in that, The device includes: The second acquisition module is used to acquire the physical angle direction sensing range of the area to be sensed; wherein, the physical angle direction sensing range is used as... To indicate, , and These are the horizontal angle, lower limit of the horizontal angle, and upper limit of the horizontal angle, respectively, in the physical angular direction. , These are the pitch angle, lower limit of pitch angle, and upper limit of pitch angle in the physical angle direction, respectively. The second determining module is used to determine the spatial angle direction sensing range of the area to be sensed based on the physical angle direction sensing range; wherein, the spatial angle direction sensing range is used as... To indicate; The partitioning module is used to orderly divide the spatial angle and direction sensing range into a finite number of distinct sub-ranges; wherein, the first... A range of sizes to represent or use To indicate, It is based on the first preset step size from The number of angles sampled in the middle, It is based on the second preset step size from The number of angles sampled in the middle; The third setting module is used to, for each sub-range, set an initial spatial angle direction that coincides with a first boundary sub-point corresponding to the sub-range, set a termination spatial angle direction that coincides with a second boundary sub-point corresponding to the sub-range, and set the base station based on the initial spatial angle direction. The phase shift of each phase shifter is set in the base station based on the termination space angle direction. The delay value of each true delay line unit is used to gradually shift all subcarrier beams transmitted by the base station from the initial spatial angle direction to the final spatial angle direction, thereby completing the sensing of the sub-range; wherein, The corresponding first boundary sub-points and second boundary sub-points are respectively ( , )and( , ); The corresponding first boundary sub-points and second boundary sub-points are respectively ( , )and( , ); The traversal module is used to traverse all sub-ranges to complete the perception of the area to be perceived.

5. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the three-dimensional beamforming method of the broadband communication sensing integrated system as described in any one of claims 1 to 2.

6. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the three-dimensional beamforming method of the broadband communication sensing integrated system as described in any one of claims 1 to 2.

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