Single base station based dynamic target 6d perception and tracking method and apparatus

Abstract

The application provides a single-base-station-based dynamic target 6D perception and tracking method and device, comprising: extracting a dynamic target echo signal from a received echo signal of a transmitting beam to obtain a dynamic target echo signal tensor; obtaining a motion parameter estimation matrix according to the dynamic target echo signal tensor; obtaining a motion parameter spatial value by using an array signal estimation method according to the motion parameter estimation matrix, and calculating a pitch angle single-frame perception result, a horizontal angle single-frame perception result, a distance single-frame perception result and a virtual speed single-frame perception result by using a preset single-frame perception result calculation formula according to the motion parameter spatial value; obtaining a radial speed single-frame perception result, a horizontal angle speed single-frame perception result and a pitch angle speed single-frame perception result of a dynamic target to be measured according to the pitch angle single-frame perception result, the horizontal angle single-frame perception result and the virtual speed single-frame perception result, obtaining a motion parameter single-frame perception result, and realizing 6D comprehensive perception of the dynamic target.

Description

Technical Field

[0001] This invention relates to the field of wireless communication technology, and in particular to a method and apparatus for dynamic target 6D sensing and tracking based on a single base station. Background Technology

[0002] The sixth-generation mobile communication (6G) is planned to utilize millimeter-wave or terahertz frequency bands combined with massive MIMO (Multiple Input Multiple Output) technology to construct an integrated sensing and communication (ISAC) system, with a particular focus on integrating wireless communication systems and radar sensing systems. Its core idea is to use communication signals to sense various information in the physical world, such as target locations and building distribution. Once the base station acquires this information, it can not only better serve communication users but also support a variety of emerging applications, such as connected vehicles and smart factories.

[0003] The essence of perception is to construct a mapping from the real physical world to the digital twin world. The real physical world typically consists of a static environment and dynamic targets. Changes in the static environment are usually slow, so various environment reconstruction techniques can be used to obtain perception results of the static environment. However, changes in dynamic targets are rapid, so it is necessary to update the parameter information of dynamic targets in real time. This is usually referred to as radar perception of dynamic targets, which includes the detection, parameter estimation, tracking, and identification of dynamic targets.

[0004] Generally, dynamic targets can move arbitrarily in three-dimensional space. The motion parameters of a dynamic target in a spherical coordinate system include the following six items: range, horizontal angle, elevation angle, radial velocity, horizontal angular velocity, and elevation angular velocity. We call these the 6D motion parameters of a dynamic target. Existing monostatic radar systems based on MIMO arrays and monostatic communication and sensing integrated systems based on MIMO arrays are generally considered to only be able to measure the radial velocity of a dynamic target. Therefore, they can only achieve 4D sensing of dynamic targets, i.e., estimating the range, horizontal angle, elevation angle, and radial velocity. Thus, 4D radar systems have the serious limitation of being unable to observe the angular velocity of dynamic targets. Summary of the Invention

[0005] This invention provides a method and apparatus for 6D perception and tracking of dynamic targets based on a single base station, which solves the defect in the prior art that the angular velocity of dynamic targets cannot be observed, and realizes 6D comprehensive perception of dynamic targets.

[0006] This invention provides a dynamic target 6D sensing and tracking method based on a single base station, comprising:

[0007] The dynamic target echo signal is extracted from the received echo signal of the transmitted beam to obtain the dynamic target echo signal tensor; the transmitted beam is transmitted within the target cell time slot based on the single-frame sensing results of the historical motion parameters of the dynamic target to be measured;

[0008] The motion parameter estimation matrix is ​​obtained based on the dynamic target echo signal tensor;

[0009] Based on the motion parameter estimation matrix, spatial values ​​of motion parameters are obtained using an array signal estimation method. Based on the spatial values ​​of motion parameters, single-frame perception results of pitch angle, horizontal angle, distance, and virtual velocity are calculated using a preset single-frame perception result calculation formula.

[0010] Based on the single-frame perception results of the pitch angle, the horizontal angle, and the virtual velocity, the single-frame perception results of the radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test are obtained, thus obtaining the single-frame perception results of the motion parameters.

[0011] According to the present invention, a dynamic target 6D perception and tracking method based on a single base station is provided, wherein the motion parameter estimation matrix includes a spatial direction matrix, a range matrix, and a virtual velocity matrix; the spatial direction matrix includes a first spatial direction matrix and a second spatial direction matrix; the step of obtaining the motion parameter estimation matrix based on the dynamic target echo signal tensor specifically includes:

[0012] The dynamic target echo signal tensor is configured with a first preset dimension to obtain the first spatial direction matrix;

[0013] The dynamic target echo signal tensor is configured into a second preset dimension to obtain the second spatial direction matrix;

[0014] The distance matrix is ​​obtained by configuring the dynamic target echo signal tensor with a third preset dimension;

[0015] The virtual velocity matrix of the target receiving antenna is obtained by extracting the dynamic target echo signal on all subcarriers of all target transmission symbols received by the target receiving antenna from the dynamic target echo signal tensor.

[0016] According to the present invention, a dynamic target 6D perception and tracking method based on a single base station is provided, wherein the preset single-frame perception result calculation formula includes a first preset formula; the first preset formula is used to calculate the pitch angle single-frame perception result based on the spatial values ​​of the motion parameters corresponding to the first spatial direction matrix.

[0017] The first preset formula includes:

[0018]

[0019] in, This is the single-frame sensing result of the pitch angle of the target dynamic object within the target cell time slot. The target dynamic object is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Let f0 be the first spatial direction matrix, f0 be the carrier frequency, and d be the antenna spacing.

[0020] According to the present invention, a dynamic target 6D perception and tracking method based on a single base station is provided, wherein the preset single-frame perception result calculation formula includes a second preset formula; the second preset formula is used to calculate the horizontal angle single-frame perception result based on the motion parameter spatial values ​​corresponding to the second spatial direction matrix;

[0021] The second preset formula includes:

[0022]

[0023] in, This is the single-frame sensing result of the horizontal angle of the target dynamic object within the target cell time slot. The target dynamic object is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Here, f0 is the carrier frequency and d is the antenna spacing, representing the second spatial direction matrix. It is the single-frame sensing result of the pitch angle of the dynamic target under test within the time slot of the target unit.

[0024] According to the present invention, a dynamic target 6D perception and tracking method based on a single base station is provided, wherein the preset single-frame perception result calculation formula includes a third preset formula; the third preset formula is used to calculate the distance single-frame perception result based on the spatial values ​​of the motion parameters corresponding to the distance matrix;

[0025] The third preset formula includes:

[0026]

[0027] in, This is the single-frame sensing result of the distance of the dynamic target under test within the target cell time slot. The dynamic target under test is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Let f be the distance matrix, and Δf be the subcarrier frequency spacing.

[0028] According to the present invention, a dynamic target 6D perception and tracking method based on a single base station is provided, wherein the preset single-frame perception result calculation formula includes a fourth preset formula; the fourth preset formula is used to calculate the virtual velocity single-frame perception result based on the motion parameter spatial value corresponding to the virtual velocity matrix;

[0029] The fourth preset formula includes:

[0030]

[0031] in, This is a single-frame sensing result of the virtual velocity of the target dynamic target observed by the target receiving antenna within the target cell time slot. The target dynamic target is the k′-th target, and the target receiving antenna is the k′-th target. There are 1 receiving antenna, the target element time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, This is a virtual velocity matrix, where f0 is the carrier frequency and T is the virtual velocity matrix. s It is the duration of a target transmitted symbol.

[0032] According to the present invention, a dynamic target 6D perception and tracking method based on a single base station is provided, wherein obtaining the radial velocity single-frame perception result, horizontal angular velocity single-frame perception result, and pitch angular velocity single-frame perception result of the dynamic target under test based on the pitch angle single-frame perception result, the horizontal angle single-frame perception result, and the virtual velocity single-frame perception result specifically includes:

[0033] Based on the array element number of the target receiving antenna and the virtual velocity single-frame perception result, a set of ternary pairs is constructed. Two-dimensional plane fitting is performed on the set of ternary pairs to obtain the plane parameter fitting result.

[0034] Based on the plane parameter fitting results and the pitch angle single-frame perception results, the pitch angular velocity single-frame perception results are calculated using the fifth preset formula.

[0035] Based on the plane parameter fitting results, the pitch angle single-frame perception results, the horizontal angle single-frame perception results, and the pitch angular velocity single-frame perception results, the horizontal angular velocity single-frame perception results are calculated using the sixth preset formula.

[0036] Based on the plane parameter fitting results, the pitch angle single-frame perception results, the horizontal angle single-frame perception results, the pitch angular velocity single-frame perception results, and the horizontal angular velocity single-frame perception results, the radial velocity single-frame perception results are calculated according to the seventh preset formula.

[0037] According to the present invention, a dynamic target 6D sensing and tracking method based on a single base station is provided, wherein the fifth preset formula includes:

[0038]

[0039] and / or

[0040] The sixth preset formula includes:

[0041]

[0042] and / or

[0043] The seventh preset formula includes:

[0044]

[0045] in, It is the single-frame sensing result of the pitch angular velocity of the dynamic target under test within the target cell time slot. This is the result of fitting the parameters of the third plane, where d is the antenna spacing. It is the single-frame sensing result of the pitch angle of the dynamic target under test within the target cell time slot. It is the single-frame sensing result of the horizontal angular velocity of the dynamic target under test within the target cell time slot. This is the result of fitting the parameters of the second plane, where d is the antenna spacing. It is the single-frame sensing result of the horizontal angle of the dynamic target under test within the time slot of the target cell. This is the result of a single-frame radial velocity sensing. This is the result of fitting the parameters of the first plane, where d is the antenna spacing.

[0046] According to the present invention, a dynamic target 6D perception and tracking method based on a single base station is provided, wherein the single-frame perception results of radial velocity, horizontal angular velocity, and pitch angular velocity, as well as the single-frame perception results of pitch angle, horizontal angle, and distance constitute the single-frame perception results of the motion parameters of the dynamic target under test in the target cell time slot; the method further includes obtaining the single-frame perception results of radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test based on the single-frame perception results of pitch angle, horizontal angle, and virtual velocity, and then further comprising:

[0047] The motion parameter single-frame perception result of the next unit time slot of the target unit time slot is calculated, and then the temporal result of the motion parameter single-frame perception result is obtained to realize multi-frame tracking of the dynamic target to be tested.

[0048] The present invention also provides a dynamic target 6D sensing and tracking device based on a single base station, comprising:

[0049] The echo unit is used to extract the dynamic target echo signal from the received echo signal of the transmitted beam to obtain the dynamic target echo signal tensor; the transmitted beam is transmitted within the target unit time slot based on the single-frame sensing results of the historical motion parameters of the dynamic target to be measured;

[0050] Matrix unit, used to obtain motion parameter estimation matrix based on the dynamic target echo signal tensor;

[0051] The first estimation unit is used to obtain the spatial values ​​of motion parameters by using an array signal estimation method based on the motion parameter estimation matrix, and to calculate the single-frame perception results of pitch angle, horizontal angle, distance and virtual velocity based on the single-frame perception results using a preset single-frame perception result calculation formula.

[0052] The second estimation unit is used to obtain the radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test based on the pitch angle single-frame perception result, the horizontal angle single-frame perception result, and the virtual velocity single-frame perception result, and thus obtain the motion parameter single-frame perception result.

[0053] The present invention also 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 dynamic target 6D perception and tracking method based on a single base station as described above.

[0054] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the dynamic target 6D perception and tracking method based on a single base station as described above.

[0055] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the dynamic target 6D perception and tracking method based on a single base station as described above.

[0056] The present invention provides a 6D dynamic target perception and tracking method based on a single base station. This method extracts the dynamic target echo signal from the received echo signal of the transmitted beam to obtain a dynamic target echo signal tensor. The transmitted beam is emitted within the target cell time slot based on the historical motion parameters of the dynamic target under test in a single-frame perception. A motion parameter estimation matrix is ​​obtained based on the dynamic target echo signal tensor. Based on the motion parameter estimation matrix, spatial values ​​of the motion parameters are obtained using an array signal estimation method. Based on these spatial values, single-frame perception results for pitch angle, horizontal angle, range, and virtual velocity are calculated using a preset single-frame perception result calculation formula. Finally, single-frame perception results for radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test are obtained based on these results, resulting in single-frame perception results of the motion parameters. This invention is based on integrated communication and sensing technology. It constructs a motion parameter estimation matrix based on echo signals and estimates the 6D motion parameter single-frame sensing results based on the motion parameter estimation matrix, thereby achieving 6D comprehensive sensing of dynamic targets. 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 one of the flowcharts of the dynamic target 6D perception and tracking method based on a single base station provided by the present invention;

[0059] Figure 2 This is a schematic diagram of the dynamic target 6D motion parameters in the dynamic target 6D sensing and tracking method based on a single base station provided by the present invention.

[0060] Figure 3 This is the second flowchart of the dynamic target 6D perception and tracking method based on a single base station provided by the present invention;

[0061] Figure 4 This is a schematic diagram of virtual velocity plane fitting for the dynamic target 6D perception and tracking method based on a single base station provided by the present invention;

[0062] Figure 5 This is a schematic diagram of the structure of the dynamic target 6D sensing and tracking device based on a single base station provided by the present invention;

[0063] Figure 6This is a schematic diagram of the structure of the electronic device provided by the present invention.

[0064] Figure label:

[0065] 510: Echo unit; 520: Matrix unit; 530: First estimation unit; 540: Second estimation unit. Detailed Implementation

[0066] 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.

[0067] By re-examining and analyzing the relationship between the 6D motion parameters of dynamic targets and the sensing echo channel of a large-scale MIMO array, it was found that the sensing echo channel of a large-scale MIMO array actually contains the 6D motion parameters of the dynamic target. Therefore, it is entirely possible to achieve 6D sensing and tracking of dynamic targets based on a monostatic radar system, thereby constructing a more comprehensive and reliable monostatic 6D radar system. Based on this, the present invention provides a method and apparatus for 6D sensing and tracking of dynamic targets based on a single base station.

[0068] The following is combined Figures 1-4 This invention describes a dynamic target 6D sensing and tracking method based on a single base station. Figure 1 This is one of the flowcharts illustrating the dynamic target 6D sensing and tracking method based on a single base station provided by the present invention, such as... Figure 1 As shown, the method includes:

[0069] Step 110: Extract the dynamic target echo signal from the received echo signal of the transmitted beam to obtain the dynamic target echo signal tensor; the transmitted beam is transmitted within the target cell time slot based on the single-frame sensing results of the historical motion parameters of the dynamic target to be measured.

[0070] It should be noted that, such as Figure 2 As shown, suppose we need to perceive K dynamic targets that move arbitrarily in three-dimensional space, and different targets have different physical orientation angles. The position of the k-th dynamic target can be represented as (r k ,θ k ,φ k ), where r k θ represents the distance of the target from the origin in spherical coordinates. k φ represents the horizontal angle of the target in spherical coordinates. kLet v represent the pitch angle of the target in spherical coordinates. The radial velocity of the k-th dynamic target is denoted as v. r,l The horizontal angular velocity is expressed as ω θ,k The pitch angular velocity is expressed as ω φ,k Therefore, describing the arbitrary motion of a dynamic target in three-dimensional space requires six motion parameters: distance, horizontal angle, pitch angle, radial velocity, horizontal angular velocity, and pitch angular velocity, which is the ultimate goal of this invention—6D perception and tracking. In some embodiments, the 6D motion parameters of the k-th dynamic target are considered as the state of that target.

[0071] It is understood that the dynamic target 6D perception and tracking method based on a single base station provided by this invention is implemented based on integrated communication and sensing technology and is applied to radar systems or integrated communication and sensing systems configured with large-scale multiple-input multiple-output (MLMI) arrays. In some embodiments, this invention is implemented based on a monostatic radar system or a single-base station integrated communication and sensing system. It is understood that the monostatic radar system or single-base station integrated communication and sensing system is configured with a transmitting array based on MLMI technology and a fully digital receiving array based on MLMI technology. Further, as... Figure 2 As shown, this invention is implemented based on an ISAC system using Orthogonal Frequency Division Multiplexing (OFDM) waveform modulation based on a MIMO array, operating in the millimeter-wave or terahertz frequency band. This system is configured with a dual-function base station, thereby simultaneously realizing wireless communication and radar sensing functions. For ease of description, this invention is referred to as... Figure 2 The system shown is described below. In this case, the target transmission signal is an OFDM transmission signal, but this does not represent a limitation of the present invention.

[0072] It should be noted that, Figure 2 The system shown is configured with two parallel and co-located uniform planar arrays as a transmitting array and a receiving array, respectively. The transmitting array is configured with N H There are 1 antenna array elements, with element numbers 0, 1, ..., N. H -1; The receiver array is configured with N R There are 1 antenna array elements, with element numbers 0, 1, ..., N. R -1; the uniform planar array is located on the plane y=0; the nth... H The transmitting antenna can also be referred to as the first... The nth transmitting antenna; R The receiving antenna can also be denoted as the first... One receiving antenna; the antenna spacing along the x-axis and z-axis of the uniform planar array is... Where λ is the carrier wavelength. Assuming the base station uses narrowband OFDM signals and has a total of M subcarriers, with the lowest frequency and subcarrier frequency spacing being f0 and Δf respectively, then the frequency of the m-th subcarrier is f. m = f0 + mΔf, where m = 0, 1, ..., M-1. Assume the base station uses N consecutive OFDM symbols to sense dynamic targets in the same sensing scanning direction, and the duration of the OFDM symbol is...

[0073] like Figure 3 As shown, this invention applies a monostatic radar 6D sensing and tracking scheme to an integrated communication and sensing system. In this case, it is necessary to address the coexistence of communication and sensing functions. In specific implementation, the sensing beam tracking phase is divided into L tracking time slots, and each tracking time slot is further divided into K unit time slots; each unit time slot includes N OFDM symbols (i.e., target transmission symbols), therefore the duration of each unit time slot is T. UTS =NT s The duration of each tracking time slot is T. TTS =KT UTS =KNT s Within the (l,k′)th time slot, the base station needs to update the 6D motion parameters of the k′th dynamic target, which is called single-frame sensing. Within the (l,k′)th time slot, to simultaneously achieve communication and sensing functions, the base station needs to generate P communication beams pointing to P communication users via a transmission array, and simultaneously generate a sensing beam pointing to the k′th dynamic target. The communication beam and the sensing beam are collectively referred to as the transmission beam. Further, within L consecutive tracking time slots, the base station needs to utilize methods such as Kalman filtering to... TTS Tracking K dynamic targets over a given time step is called multi-frame tracking.

[0074] For ease of description, the (l,k′)th unit time slot is taken as the target unit time slot, and the k′th dynamic target is taken as the dynamic target to be measured.

[0075] In practical implementation, the radar system first illuminates the target dynamic object by forming a transmission beam through the transmission array based on the single-frame perception results of historical motion parameters, and then receives the echo signal through a fully digital receiving array. Furthermore, in some embodiments, the single-frame perception results of historical motion parameters are the predicted results of the 6D motion parameters of the target dynamic object at the previous time slot of the target cell.

[0076] After receiving the echo signal from the transmitted beam, the dynamic target echo signal is extracted from the echo signal. Specifically, clutter suppression is first applied to the echo signal to extract a more effective dynamic target echo signal, and the echo signals on all subcarriers of all target transmission symbols from all antennas are stacked into a dynamic target echo signal tensor. Furthermore, in some embodiments, the target transmission symbol is an OFDM transmission symbol.

[0077] Step 120: Obtain the motion parameter estimation matrix based on the dynamic target echo signal tensor.

[0078] After obtaining the dynamic target echo signal tensor, the dynamic target echo signal tensor Y is... tensor Perceptual processing is performed; specifically, a motion parameter estimation matrix is ​​constructed to estimate 6D motion parameters.

[0079] Furthermore, the method for constructing the motion parameter estimation matrix based on the dynamic target echo signal tensor includes reconfiguration and extraction. Even further, in some embodiments, the motion parameter estimation matrix includes a spatial orientation matrix, a range matrix, and a virtual velocity matrix.

[0080] Based on the above embodiments, in some embodiments, the spatial direction matrix includes a first spatial direction matrix and a second spatial direction matrix; the step of obtaining the motion parameter estimation matrix based on the dynamic target echo signal tensor specifically includes:

[0081] The dynamic target echo signal tensor is configured with a first preset dimension to obtain the first spatial direction matrix;

[0082] The dynamic target echo signal tensor is configured into a second preset dimension to obtain the second spatial direction matrix;

[0083] The distance matrix is ​​obtained by configuring the dynamic target echo signal tensor with a third preset dimension;

[0084] The virtual velocity matrix of the target receiving antenna is obtained by extracting the dynamic target echo signal on all subcarriers of all target transmission symbols received by the target receiving antenna from the dynamic target echo signal tensor.

[0085] Specifically, in order to estimate the pitch angle of the dynamic target under test, the dynamic target echo signal tensor is... Reconfigured into a first spatial direction matrix with a first preset dimension.

[0086] In some embodiments, the first preset dimension is Furthermore, the first spatial direction matrix is ​​an Ω matrix. At this point, the first spatial direction matrix... It can be represented as:

[0087]

[0088] in, It is the pitch angle of the k′-th dynamic target in the l-th tracking time slot, which is the pitch angle obtained in the subsequent single-frame sensing result. It is the steering vector of the second spatial domain orientation array. It is the signal corresponding to the steering vector of the second spatial domain orientation array. It is the noise corresponding to the steering vector of the second spatial domain orientation array.

[0089] Accordingly, in order to estimate the horizontal angle of the dynamic target under test, the dynamic target echo signal tensor is... Reconfigured into a second spatial direction matrix with a second preset dimension.

[0090] In some embodiments, the second preset dimension is In one step, the second spatial direction matrix is ​​a Ψ matrix. At this point, the second spatial direction matrix... It can be represented as

[0091]

[0092] in, It is the pitch angle of the k′-th dynamic target in the l-th tracking time slot, which is the pitch angle obtained in the subsequent single-frame sensing result. It is the horizontal angle of the k′-th dynamic target in the l-th tracking time slot, which is the single-frame sensing result of the horizontal angle subsequently calculated. It is the steering vector of the first spatial domain orientation array. It is the signal corresponding to the steering vector of the first spatial domain orientation array. It is the noise corresponding to the steering vector of the first spatial domain orientation array.

[0093] Accordingly, in order to estimate the distance to the dynamic target under test, the dynamic target echo signal tensor is... Reconfigured into a distance matrix with a third preset dimension.

[0094] In some embodiments, the third preset dimension is At this point, the distance matrix It can be represented as:

[0095]

[0096] in This is the distance of the k′-th dynamic target within the l-th tracking time slot, which is the single-frame sensing result of the distance calculated subsequently. It is the range array steering vector. It is the signal corresponding to the range array steering vector. It is the noise corresponding to the range array steering vector.

[0097] Accordingly, in order to estimate the virtual velocity of the dynamic target under test, the dynamic target echo signal tensor is used to... The dynamic target echo signals on all subcarriers of all OFDM symbols (i.e., target transmission symbols) received by the target receiving antenna are extracted to form the virtual velocity matrix of the target receiving antenna. In some embodiments, the target receiving antenna is the first One receiving antenna. At this time, the virtual velocity matrix... It can be represented as:

[0098]

[0099] in The k′-th dynamic target is relative to the l-th target in the l-th tracking time slot. The virtual velocity of each receiving antenna, i.e., the virtual velocity single-frame sensing result to be calculated subsequently. It is a virtual velocity array steering vector. It is the signal corresponding to the steering vector of the virtual velocity array. It is the noise corresponding to the steering vector of the virtual velocity array.

[0100] It should be emphasized that the present invention does not restrict the order in which the first spatial direction matrix, the second spatial direction matrix, the distance matrix, and the virtual velocity matrix are constructed; in specific implementation, they can be constructed in any order.

[0101] Step 130: Based on the motion parameter estimation matrix, obtain the spatial values ​​of motion parameters using the array signal estimation method, and calculate the single-frame perception results of pitch angle, horizontal angle, distance, and virtual velocity using the preset single-frame perception result calculation formula based on the spatial values ​​of motion parameters.

[0102] After constructing the motion parameter estimation matrix, the pitch angle, horizontal angle, distance, and virtual velocity single-frame perception results are estimated based on the array signal estimation method and the preset single-frame perception result calculation formula.

[0103] In some embodiments, the array signal estimation method includes a preset spectrum estimation method for calculating spatial values ​​of motion parameters based on the motion parameter estimation matrix. Further, in some embodiments, the preset spectrum estimation method is the ESPRIT algorithm (Estimation of Signal Parameters via Rotational Invariance Techniques, a spectrum estimation method based on matrix eigenvalue decomposition).

[0104] Based on the above embodiments, in some embodiments, the preset single-frame perception result calculation formula includes a first preset formula; the first preset formula is used to calculate the pitch angle single-frame perception result based on the motion parameter spatial values ​​corresponding to the first spatial direction matrix;

[0105] The first preset formula includes:

[0106]

[0107] in, This is the single-frame sensing result of the pitch angle of the target dynamic object within the target cell time slot. The target dynamic object is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Let f0 be the first spatial direction matrix, f0 be the carrier frequency, and d be the antenna spacing.

[0108] Specifically, for the first spatial direction matrix Using array signal estimation methods to obtain The corresponding motion parameter space value is Then, based on the first preset formula, the pitch angle of the k′-th dynamic target in the l-th tracking time slot is calculated as the single-frame sensing result.

[0109] In some embodiments, the preset single-frame perception result calculation formula includes a second preset formula; the second preset formula is used to calculate the horizontal angle single-frame perception result based on the motion parameter spatial values ​​corresponding to the second spatial direction matrix;

[0110] The second preset formula includes:

[0111]

[0112] in, This is the single-frame sensing result of the horizontal angle of the target dynamic object within the target cell time slot. The target dynamic object is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Here, f0 is the carrier frequency and d is the antenna spacing, representing the second spatial direction matrix. This is the single-frame sensing result of the pitch angle of the dynamic target under test within the target cell time slot. In some embodiments, The pitch angle of the k′th target in the l-th tracking time slot is the single-frame sensing result given by the first preset formula.

[0113] Specifically, for the second spatial direction matrix Using array signal estimation methods to obtain The corresponding motion parameter space value is Then, based on the second preset formula, the horizontal angle of the k′-th dynamic target in the l-th tracking time slot is calculated as the single-frame perception result.

[0114] In some embodiments, the preset single-frame perception result calculation formula includes a third preset formula; the third preset formula is used to calculate the distance single-frame perception result based on the spatial values ​​of the motion parameters corresponding to the distance matrix;

[0115] The third preset formula includes:

[0116]

[0117] in, This is the single-frame sensing result of the distance of the dynamic target under test within the target cell time slot. The dynamic target under test is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Let f be the distance matrix, and Δf be the subcarrier frequency spacing.

[0118] Specifically, for the distance matrix Using array signal estimation methods to obtain The corresponding motion parameter space value is Then, based on the third preset formula, the distance of the k′-th dynamic target in the l-th tracking time slot is calculated, and the single-frame perception result is...

[0119] In some embodiments, the preset single-frame perception result calculation formula includes a fourth preset formula; the fourth preset formula is used to calculate the virtual velocity single-frame perception result based on the motion parameter spatial values ​​corresponding to the virtual velocity matrix;

[0120] The fourth preset formula includes:

[0121]

[0122] in, This is a single-frame sensing result of the virtual velocity of the target dynamic target observed by the target receiving antenna within the target cell time slot. The target dynamic target is the k′-th target, and the target receiving antenna is the k′-th target. There are 1 receiving antenna, the target element time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, This is a virtual velocity matrix, where f0 is the carrier frequency and T is the virtual velocity matrix. s It is the duration of a target transmitted symbol.

[0123] Specifically, for the virtual velocity matrix Using array signal estimation methods to obtain The corresponding space value Then, the fourth preset formula is used to calculate the... The single-frame sensing result of the virtual velocity of the k′-th dynamic target observed by the receiving antennas in the l-th tracking time slot is as follows:

[0124] Step 140: Based on the pitch angle single-frame perception result, the horizontal angle single-frame perception result, and the virtual velocity single-frame perception result, obtain the radial velocity single-frame perception result, horizontal angular velocity single-frame perception result, and pitch angular velocity single-frame perception result of the dynamic target under test, and obtain the motion parameter single-frame perception result.

[0125] After obtaining the single-frame perception results of pitch angle, horizontal angle, range, and virtual velocity, the next step is to use a two-dimensional plane fitting method to demodulate and recover the radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target based on the single-frame perception results of virtual velocity, pitch angle, and horizontal angle, thereby achieving 6D radar single-frame perception of the dynamic target.

[0126] In some embodiments, obtaining the radial velocity single-frame perception result, horizontal angular velocity single-frame perception result, and pitch angular velocity single-frame perception result of the dynamic target under test based on the pitch angle single-frame perception result, the horizontal angle single-frame perception result, and the virtual velocity single-frame perception result specifically includes:

[0127] Based on the array element number of the target receiving antenna and the virtual velocity single-frame perception result, a set of ternary pairs is constructed. Two-dimensional plane fitting is performed on the set of ternary pairs to obtain the plane parameter fitting result.

[0128] Based on the plane parameter fitting results and the pitch angle single-frame perception results, the pitch angular velocity single-frame perception results are calculated using the fifth preset formula.

[0129] Based on the plane parameter fitting results, the pitch angle single-frame perception results, the horizontal angle single-frame perception results, and the pitch angular velocity single-frame perception results, the horizontal angular velocity single-frame perception results are calculated using the sixth preset formula.

[0130] Based on the plane parameter fitting results, the pitch angle single-frame perception results, the horizontal angle single-frame perception results, the pitch angular velocity single-frame perception results, and the horizontal angular velocity single-frame perception results, the radial velocity single-frame perception results are calculated according to the seventh preset formula.

[0131] Specifically, such as Figure 4 As shown, after all antennas calculate the virtual velocity of the k′-th dynamic target (the dynamic target under test) in the l-th tracking time slot (target cell time slot), it can be found that for the same target, the virtual velocities observed by different antennas are different, and the virtual velocities and the two-dimensional indices of the receiving antennas form ternary pairs. All ternary pairs are located on the same spatial plane. Therefore, the radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target can be recovered from all virtual velocities through planar parameter fitting.

[0132] Specifically, virtual speed It can be regarded as an antenna index A bivariate function satisfies the functional relationship:

[0133]

[0134] Where A k′,l B k′,l C k′,l These are the parameters of the two-dimensional plane equation, and:

[0135]

[0136]

[0137]

[0138] in, These are the horizontal angle, elevation angle, radial velocity, horizontal angular velocity, and elevation angular velocity of the k′-th dynamic target in the l-th tracking time slot, respectively, where d is the antenna spacing. It represents the number of antennas in the transmitting array along the x-axis. It represents the number of antennas in the transmitting array along the z-axis.

[0139] Therefore, based on Single-frame sensing results of different virtual velocities of the same dynamic target observed by multiple receiving antennas. pairs of ternaries Perform a two-dimensional plane fitting to obtain the plane fitting parameter estimates as follows: These are respectively denoted as the first plane parameter fitting result, the second plane parameter fitting result, and the third plane parameter fitting result. Further, in some embodiments, the two-dimensional plane fitting is a minimum variance plane fitting.

[0140] Furthermore, based on the fitting results of the third plane parameters and the single-frame perception results of the pitch angle, the single-frame perception result of the pitch angular velocity of the k′-th dynamic target in the l-th tracking time slot is calculated using the fifth preset formula. The fifth preset formula includes:

[0141]

[0142] in, It is the single-frame sensing result of the pitch angular velocity of the dynamic target under test within the target cell time slot. This is the result of fitting the parameters of the third plane, where d is the antenna spacing. This is the single-frame sensing result of the pitch angle of the dynamic target under test within the target cell time slot. In some embodiments, It is the single-frame perception result of the pitch angle of the k′th dynamic target in the lth tracking time slot, obtained according to the first preset formula.

[0143] Furthermore, based on the fitting results of the second plane parameters, the single-frame perception results of the pitch angle, the single-frame perception results of the horizontal angle, and the single-frame perception results of the pitch angular velocity, the single-frame perception result of the horizontal angular velocity of the k′-th dynamic target in the l-th tracking time slot is calculated using the sixth preset formula. The sixth preset formula includes:

[0144]

[0145] in, It is the single-frame sensing result of the horizontal angular velocity of the dynamic target under test within the target cell time slot. This is the result of fitting the parameters of the second plane, where d is the antenna spacing. It is the single-frame sensing result of the pitch angle of the dynamic target under test within the target cell time slot. It is the single-frame sensing result of the horizontal angle of the dynamic target under test within the time slot of the target cell. It is the single-frame sensing result of the pitch angular velocity of the dynamic target under test within the target cell time slot. In some embodiments, It is the single-frame sensing result of the pitch angle of the k′-th dynamic target in the l-th tracking time slot, obtained according to the first preset formula. It is the single-frame perception result of the horizontal angle of the k′-th dynamic target in the l-th tracking time slot, obtained according to the second preset formula. It is the single-frame perception result of the pitch angular velocity of the k′th dynamic target in the lth tracking time slot, obtained according to the fifth preset formula.

[0146] Furthermore, based on the fitting results of the first plane parameters, the single-frame perception results of the pitch angle, the single-frame perception results of the horizontal angle, the single-frame perception results of the pitch angular velocity, and the single-frame perception results of the horizontal angular velocity, the single-frame perception result of the radial velocity of the k′-th dynamic target in the l-th tracking time slot is calculated using the seventh preset formula. The seventh preset formula includes:

[0147]

[0148] in, This is the result of a single-frame radial velocity sensing. This is the result of fitting the parameters of the first plane, where d is the antenna spacing. It is the single-frame sensing result of the pitch angle of the dynamic target under test within the target cell time slot. It is the single-frame sensing result of the horizontal angle of the dynamic target under test within the time slot of the target cell. It is the single-frame sensing result of the pitch angular velocity of the dynamic target under test within the target cell time slot. It is the single-frame sensing result of the horizontal angular velocity of the dynamic target under test within the target cell time slot. In some embodiments, It is the single-frame sensing result of the pitch angle of the k′-th dynamic target in the l-th tracking time slot, obtained according to the first preset formula. It is the single-frame perception result of the horizontal angle of the k′-th dynamic target in the l-th tracking time slot, obtained according to the second preset formula. It is the single-frame sensing result of the pitch angular velocity of the k′-th dynamic target in the l-th tracking time slot, obtained according to the fifth preset formula. It is the single-frame perception result of the horizontal angular velocity of the k′th dynamic target in the lth tracking time slot, obtained according to the sixth preset formula.

[0149] Therefore, based on the first, second, third, fifth, sixth, and seventh preset formulas, the 6D motion parameters of the k′-th dynamic target within the l-th tracking time slot can be obtained in a single frame. Specifically, the single-frame perception results of radial velocity, horizontal angular velocity, and pitch angular velocity, along with the single-frame perception results of pitch angle, horizontal angle, and range, constitute the single-frame perception results of the motion parameters of the target dynamic target within the target unit time slot.

[0150] Furthermore, in some embodiments, the step of obtaining the radial velocity single-frame perception result, horizontal angular velocity single-frame perception result, and pitch angular velocity single-frame perception result of the dynamic target under test based on the pitch angle single-frame perception result, the horizontal angle single-frame perception result, and the virtual velocity single-frame perception result further includes:

[0151] The motion parameter single-frame perception result of the next unit time slot of the target unit time slot is calculated, and then the temporal result of the motion parameter single-frame perception result is obtained to realize multi-frame tracking of the dynamic target to be tested.

[0152] Specifically, the next step is to calculate the single-frame sensing results of motion parameters within multiple consecutive tracking time slots, obtain the temporal results based on the single-frame sensing results of 6D motion parameters, and then realize multi-frame tracking of dynamic targets based on estimation and prediction methods such as Kalman filtering.

[0153] In other words, the dynamic target 6D perception and tracking method based on a single base station provided by this invention can perform single-frame perception and multi-frame tracking of dynamic targets. Specifically, the radar system can achieve single-frame perception of the dynamic target within one frame of signal time, that is, acquire the 6D motion parameters (range, horizontal angle, pitch angle, radial velocity, horizontal angular velocity, and pitch angular velocity) of the dynamic target within the current frame time slot. Based on the timing results of the single-frame perception of the dynamic target, the system can further utilize estimation and prediction techniques such as Kalman filtering to achieve long-term tracking of the dynamic target over multiple frames of signal time.

[0154] Furthermore, the present invention also includes a specific embodiment of a single-base station-based dynamic target 6D perception and tracking method for a single perception and tracking operation, comprising the following steps:

[0155] S1: The single-base station radar system first illuminates the target by forming a transmission beam through the transmission array based on the predicted 6D motion parameters of the target at the previous moment, and then receives the echo signal through the all-digital receiving array.

[0156] S2: The radar system suppresses clutter in the echo signal, extracts the dynamic target echo signal, and constructs the dynamic target echo signal tensor.

[0157] S3: Based on the dynamic target echo signal tensor, construct a spatial direction matrix, and use the array signal estimation method to estimate the horizontal and pitch angles of the target under test, obtaining the single-frame perception results of the pitch angle and the single-frame perception results of the horizontal angle; based on the dynamic target echo signal tensor, construct a distance matrix, and use the array signal estimation method to estimate the distance of the target under test, obtaining the single-frame perception result of the distance, thus realizing the dynamic target localization.

[0158] S4: Construct a virtual velocity array based on the dynamic target echo signal tensor, and use the array signal estimation method to estimate the virtual velocity of the dynamic target under test, so as to obtain the virtual velocity single-frame perception result.

[0159] S5: Next, based on the virtual velocity single-frame perception results, combined with the pitch angle single-frame perception results and the horizontal angle single-frame perception results, the radial velocity, horizontal angular velocity, and pitch angular velocity of the target under test are demodulated and recovered using the two-dimensional plane fitting method. This yields the radial velocity single-frame perception results, the horizontal angular velocity single-frame perception results, and the pitch angular velocity single-frame perception results, thereby achieving 6D radar single-frame perception of the dynamic target.

[0160] S6: Multi-frame long-term tracking of the dynamic target under test is achieved based on the temporal results of single-frame perception and Kalman filtering.

[0161] The present invention provides a 6D dynamic target perception and tracking method based on a single base station. This method extracts the dynamic target echo signal from the received echo signal of the transmitted beam to obtain a dynamic target echo signal tensor. The transmitted beam is emitted within the target cell time slot based on the historical motion parameters of the dynamic target under test in a single-frame perception. A motion parameter estimation matrix is ​​obtained based on the dynamic target echo signal tensor. Based on the motion parameter estimation matrix, spatial values ​​of the motion parameters are obtained using an array signal estimation method. Based on these spatial values, single-frame perception results for pitch angle, horizontal angle, range, and virtual velocity are calculated using a preset single-frame perception result calculation formula. Finally, single-frame perception results for radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test are obtained based on these results, resulting in single-frame perception results of the motion parameters. This invention is based on integrated communication and sensing technology. It constructs a motion parameter estimation matrix based on echo signals and estimates the 6D motion parameter single-frame sensing results based on the motion parameter estimation matrix, thereby achieving 6D comprehensive sensing of dynamic targets.

[0162] The following describes the dynamic target 6D sensing and tracking device based on a single base station provided by the present invention. The dynamic target 6D sensing and tracking device based on a single base station described below can be referred to in correspondence with the dynamic target 6D sensing and tracking method based on a single base station described above. Figure 5 This is a schematic diagram of the structure of the dynamic target 6D sensing and tracking device based on a single base station provided by the present invention, as shown below. Figure 5 As shown, the device includes:

[0163] The echo unit 510 is used to extract the dynamic target echo signal from the received echo signal of the transmitted beam to obtain the dynamic target echo signal tensor; the transmitted beam is transmitted within the target unit time slot based on the single-frame sensing results of the historical motion parameters of the dynamic target to be measured;

[0164] Matrix unit 520 is used to obtain a motion parameter estimation matrix based on the dynamic target echo signal tensor;

[0165] The first estimation unit 530 is used to obtain the spatial values ​​of motion parameters by using an array signal estimation method based on the motion parameter estimation matrix, and to calculate the pitch angle single-frame perception result, horizontal angle single-frame perception result, distance single-frame perception result and virtual velocity single-frame perception result based on the motion parameter spatial values ​​using a preset single-frame perception result calculation formula.

[0166] The second estimation unit 540 is used to obtain the radial velocity single-frame perception result, horizontal angular velocity single-frame perception result, and pitch angular velocity single-frame perception result of the dynamic target under test based on the pitch angle single-frame perception result, the horizontal angle single-frame perception result, and the virtual velocity single-frame perception result, and thus obtain the motion parameter single-frame perception result.

[0167] Based on the above embodiments, in this device, the motion parameter estimation matrix includes a spatial direction matrix, a distance matrix, and a virtual velocity matrix; the spatial direction matrix includes a first spatial direction matrix and a second spatial direction matrix; obtaining the motion parameter estimation matrix based on the dynamic target echo signal tensor specifically includes:

[0168] The dynamic target echo signal tensor is configured with a first preset dimension to obtain the first spatial direction matrix;

[0169] The dynamic target echo signal tensor is configured into a second preset dimension to obtain the second spatial direction matrix;

[0170] The distance matrix is ​​obtained by configuring the dynamic target echo signal tensor with a third preset dimension;

[0171] The virtual velocity matrix of the target receiving antenna is obtained by extracting the dynamic target echo signal on all subcarriers of all target transmission symbols received by the target receiving antenna from the dynamic target echo signal tensor.

[0172] Based on the above embodiments, in this device, the preset single-frame perception result calculation formula includes a first preset formula; the first preset formula is used to calculate the pitch angle single-frame perception result based on the motion parameter spatial values ​​corresponding to the first spatial direction matrix.

[0173] The first preset formula includes:

[0174]

[0175] in, This is the single-frame sensing result of the pitch angle of the target dynamic object within the target cell time slot. The target dynamic object is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Let f0 be the first spatial direction matrix, f0 be the carrier frequency, and d be the antenna spacing.

[0176] Based on the above embodiments, in this device, the preset single-frame perception result calculation formula includes a second preset formula; the second preset formula is used to calculate the horizontal angle single-frame perception result based on the motion parameter spatial values ​​corresponding to the second spatial direction matrix.

[0177] The second preset formula includes:

[0178]

[0179] in, This is the single-frame sensing result of the horizontal angle of the target dynamic object within the target cell time slot. The target dynamic object is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Here, f0 is the carrier frequency and d is the antenna spacing, representing the second spatial direction matrix. It is the single-frame sensing result of the pitch angle of the dynamic target under test within the time slot of the target unit.

[0180] Based on the above embodiments, in this device, the preset single-frame perception result calculation formula includes a third preset formula; the third preset formula is used to calculate the distance single-frame perception result based on the spatial values ​​of the motion parameters corresponding to the distance matrix;

[0181] The third preset formula includes:

[0182]

[0183] in, This is the single-frame sensing result of the distance of the dynamic target under test within the target cell time slot. The dynamic target under test is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Let f be the distance matrix, and Δf be the subcarrier frequency spacing.

[0184] Based on the above embodiments, in this device, the preset single-frame perception result calculation formula includes a fourth preset formula; the fourth preset formula is used to calculate the virtual velocity single-frame perception result based on the motion parameter spatial values ​​corresponding to the virtual velocity matrix;

[0185] The fourth preset formula includes:

[0186]

[0187] in, This is a single-frame sensing result of the virtual velocity of the target dynamic target observed by the target receiving antenna within the target cell time slot. The target dynamic target is the k′-th target, and the target receiving antenna is the k′-th target. There are 1 receiving antenna, the target element time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, This is a virtual velocity matrix, where f0 is the carrier frequency and T is the virtual velocity matrix. s It is the duration of a target transmitted symbol.

[0188] Based on the above embodiments, in this device, obtaining the radial velocity single-frame perception result, horizontal angular velocity single-frame perception result, and pitch angular velocity single-frame perception result of the dynamic target under test based on the pitch angle single-frame perception result, the horizontal angle single-frame perception result, and the virtual velocity single-frame perception result specifically includes:

[0189] Based on the array element number of the target receiving antenna and the virtual velocity single-frame perception result, a set of ternary pairs is constructed. Two-dimensional plane fitting is performed on the set of ternary pairs to obtain the plane parameter fitting result.

[0190] Based on the plane parameter fitting results and the pitch angle single-frame perception results, the pitch angular velocity single-frame perception results are calculated using the fifth preset formula.

[0191] Based on the plane parameter fitting results, the pitch angle single-frame perception results, the horizontal angle single-frame perception results, and the pitch angular velocity single-frame perception results, the horizontal angular velocity single-frame perception results are calculated using the sixth preset formula.

[0192] Based on the plane parameter fitting results, the pitch angle single-frame perception results, the horizontal angle single-frame perception results, the pitch angular velocity single-frame perception results, and the horizontal angular velocity single-frame perception results, the radial velocity single-frame perception results are calculated according to the seventh preset formula.

[0193] Based on the above embodiments, in this device, the fifth preset formula includes:

[0194]

[0195] and / or

[0196] The sixth preset formula includes:

[0197]

[0198] and / or

[0199] The seventh preset formula includes:

[0200]

[0201] in, It is the single-frame sensing result of the pitch angular velocity of the dynamic target under test within the target cell time slot. This is the result of fitting the parameters of the third plane, where d is the antenna spacing. It is the single-frame sensing result of the pitch angle of the dynamic target under test within the target cell time slot. It is the single-frame sensing result of the horizontal angular velocity of the dynamic target under test within the target cell time slot. This is the result of fitting the parameters of the second plane, where d is the antenna spacing. It is the single-frame sensing result of the horizontal angle of the dynamic target under test within the time slot of the target cell. This is the result of a single-frame radial velocity sensing. This is the result of fitting the parameters of the first plane, where d is the antenna spacing.

[0202] Based on the above embodiments, in this device, the single-frame perception results of radial velocity, horizontal angular velocity, and pitch angular velocity, as well as the single-frame perception results of pitch angle, horizontal angle, and distance constitute the single-frame perception results of the motion parameters of the dynamic target under test in the target unit time slot; the step of obtaining the single-frame perception results of radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test based on the single-frame perception results of pitch angle, horizontal angle, and virtual velocity, further includes:

[0203] The motion parameter single-frame perception result of the next unit time slot of the target unit time slot is calculated, and then the temporal result of the motion parameter single-frame perception result is obtained to realize multi-frame tracking of the dynamic target to be tested.

[0204] The present invention provides a method and apparatus for 6D dynamic target perception and tracking based on a single base station. This method extracts the dynamic target echo signal from the received echo signal of the transmitted beam to obtain a dynamic target echo signal tensor. The transmitted beam is emitted within the target cell time slot based on the historical motion parameters of the dynamic target under test in a single-frame perception. A motion parameter estimation matrix is ​​obtained based on the dynamic target echo signal tensor. Based on the motion parameter estimation matrix, spatial values ​​of the motion parameters are obtained using an array signal estimation method. Based on the spatial values ​​of the motion parameters, single-frame perception results for pitch angle, horizontal angle, range, and virtual velocity are calculated using a preset single-frame perception result calculation formula. Based on the pitch angle, horizontal angle, and virtual velocity single-frame perception results, single-frame perception results for radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test are obtained, resulting in single-frame perception results of the motion parameters. This invention is based on integrated communication and sensing technology. It constructs a motion parameter estimation matrix based on echo signals and estimates the 6D motion parameter single-frame sensing results based on the motion parameter estimation matrix, thereby achieving 6D comprehensive sensing of dynamic targets.

[0205] Figure 6 An example is a schematic diagram of the physical structure of an electronic device, such as... Figure 6 As shown, the electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640, wherein the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call logic instructions in the memory 630 to execute a dynamic target 6D perception and tracking method based on a single base station. This method includes: extracting dynamic target echo signals from the received echo signals of a transmitted beam to obtain a dynamic target echo signal tensor; the transmitted beam is transmitted within a target cell time slot based on the historical motion parameters of the dynamic target under test in a single-frame perception result; obtaining a motion parameter estimation matrix based on the dynamic target echo signal tensor; obtaining spatial values ​​of motion parameters using an array signal estimation method based on the motion parameter estimation matrix; calculating single-frame perception results of pitch angle, horizontal angle, range, and virtual velocity based on the spatial values ​​using a preset single-frame perception result calculation formula; and obtaining single-frame perception results of radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test based on the pitch angle, horizontal angle, and virtual velocity, thus obtaining single-frame perception results of motion parameters.

[0206] Furthermore, the logical instructions in the aforementioned memory 630 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, essentially, 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.

[0207] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer is able to execute the dynamic target 6D perception and tracking method based on a single base station provided by the above methods. The method includes: extracting dynamic target echo signals from the echo signals of received transmitted beams to obtain a dynamic target echo signal tensor; the transmitted beam is transmitted within a target cell time slot based on the single-frame perception results of the historical motion parameters of the dynamic target to be measured; and obtaining the dynamic target echo signal tensor... Obtain the motion parameter estimation matrix; based on the motion parameter estimation matrix, obtain the spatial values ​​of the motion parameters using an array signal estimation method; based on the spatial values ​​of the motion parameters, calculate the single-frame perception results of the pitch angle, horizontal angle, distance, and virtual velocity using a preset single-frame perception result calculation formula; based on the single-frame perception results of the pitch angle, horizontal angle, and virtual velocity, obtain the single-frame perception results of the radial velocity, horizontal angular velocity, and pitch angular velocity of the target under test, thus obtaining the single-frame perception results of the motion parameters.

[0208] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon. When executed by a processor, the computer program implements the 6D sensing and tracking method for dynamic targets based on a single base station provided by the methods described above. The method includes: extracting dynamic target echo signals from the echo signals of received transmitted beams to obtain a dynamic target echo signal tensor; the transmitted beam is transmitted within a target cell time slot based on the historical motion parameters of the dynamic target under test in a single-frame sensing result; obtaining a motion parameter estimation matrix based on the dynamic target echo signal tensor; obtaining spatial values ​​of motion parameters using an array signal estimation method based on the motion parameter estimation matrix; calculating single-frame sensing results of pitch angle, horizontal angle, range, and virtual velocity based on the spatial values ​​of motion parameters using a preset single-frame sensing result calculation formula; obtaining single-frame sensing results of radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test based on the single-frame sensing results of pitch angle, horizontal angle, and virtual velocity, thus obtaining single-frame sensing results of motion parameters.

[0209] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, 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.

[0210] 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.

[0211] 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 single base station based dynamic target 6D perception and tracking method, characterized in that, include: The dynamic target echo signal is extracted from the received echo signal of the transmitted beam to obtain the dynamic target echo signal tensor; The transmitted beam is emitted within the target unit time slot based on the single-frame sensing results of the historical motion parameters of the dynamic target under test; The motion parameter estimation matrix is ​​obtained based on the dynamic target echo signal tensor; Based on the motion parameter estimation matrix, spatial values ​​of motion parameters are obtained using an array signal estimation method. Based on the spatial values ​​of motion parameters, single-frame perception results of pitch angle, horizontal angle, distance, and virtual velocity are calculated using a preset single-frame perception result calculation formula. Based on the single-frame perception results of the pitch angle, the horizontal angle, and the virtual velocity, the single-frame perception results of the radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test are obtained, thus obtaining the single-frame perception results of the motion parameters.

2. The dynamic target 6D perception and tracking method based on a single base station according to claim 1, characterized in that, The motion parameter estimation matrix includes a spatial orientation matrix, a distance matrix, and a virtual velocity matrix; The spatial direction matrix includes a first spatial direction matrix and a second spatial direction matrix; The step of obtaining the motion parameter estimation matrix based on the dynamic target echo signal tensor specifically includes: The dynamic target echo signal tensor is configured with a first preset dimension to obtain the first spatial direction matrix; The dynamic target echo signal tensor is configured into a second preset dimension to obtain the second spatial direction matrix; The distance matrix is ​​obtained by configuring the dynamic target echo signal tensor with a third preset dimension; The virtual velocity matrix of the target receiving antenna is obtained by extracting the dynamic target echo signal on all subcarriers of all target transmission symbols received by the target receiving antenna from the dynamic target echo signal tensor.

3. The dynamic target 6D perception and tracking method based on a single base station according to claim 2, characterized in that, The preset formula for calculating the single-frame perception result includes a first preset formula; The first preset formula is used to calculate the pitch angle single-frame perception result based on the spatial values ​​of the motion parameters corresponding to the first spatial direction matrix; The first preset formula includes: in, This is the single-frame sensing result of the pitch angle of the target dynamic object within the target cell time slot. The target dynamic object is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Let f0 be the first spatial direction matrix, f0 be the carrier frequency, and d be the antenna spacing.

4. The dynamic target 6D perception and tracking method based on a single base station according to claim 2 or 3, characterized in that, The preset single-frame perception result calculation formula includes a second preset formula; the second preset formula is used to calculate the horizontal angle single-frame perception result based on the spatial values ​​of the motion parameters corresponding to the second spatial direction matrix. The second preset formula includes: in, This is the single-frame sensing result of the horizontal angle of the target dynamic object within the target cell time slot. The target dynamic object is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Here, f0 is the carrier frequency and d is the antenna spacing, representing the second spatial direction matrix. It is the single-frame sensing result of the pitch angle of the dynamic target under test within the time slot of the target unit.

5. The dynamic target 6D perception and tracking method based on a single base station according to claim 2, characterized in that, The preset single-frame perception result calculation formula includes a third preset formula; the third preset formula is used to calculate the distance single-frame perception result based on the spatial values ​​of the motion parameters corresponding to the distance matrix. The third preset formula includes: in, This is the single-frame sensing result of the distance of the dynamic target under test within the target cell time slot. The dynamic target under test is the k′-th target, the target cell time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, Let f be the distance matrix, and Δf be the subcarrier frequency spacing.

6. The dynamic target 6D perception and tracking method based on a single base station according to claim 2, characterized in that, The preset single-frame perception result calculation formula includes a fourth preset formula; the fourth preset formula is used to calculate the virtual velocity single-frame perception result based on the motion parameter spatial value corresponding to the virtual velocity matrix; The fourth preset formula includes: in, This is a single-frame sensing result of the virtual velocity of the target dynamic target observed by the target receiving antenna within the target cell time slot. The target dynamic target is the k′-th target, and the target receiving antenna is the k′-th target. There are 1 receiving antenna, the target element time slot is the l-th tracking time slot, and c is the speed of light. Is with The corresponding space values ​​of motion parameters, This is a virtual velocity matrix, where f0 is the carrier frequency and T is the virtual velocity matrix. s It is the duration of a target transmitted symbol.

7. The dynamic target 6D perception and tracking method based on a single base station according to claim 2, characterized in that, The process of obtaining the radial velocity, horizontal angular velocity, and pitch angular velocity single-frame perception results of the dynamic target under test based on the pitch angle single-frame perception results, the horizontal angle single-frame perception results, and the virtual velocity single-frame perception results specifically includes: Based on the array element number of the target receiving antenna and the virtual velocity single-frame perception result, a set of ternary pairs is constructed. Two-dimensional plane fitting is performed on the set of ternary pairs to obtain the plane parameter fitting result. Based on the plane parameter fitting results and the pitch angle single-frame perception results, the pitch angular velocity single-frame perception results are calculated using the fifth preset formula. Based on the plane parameter fitting results, the pitch angle single-frame perception results, the horizontal angle single-frame perception results, and the pitch angular velocity single-frame perception results, the horizontal angular velocity single-frame perception results are calculated using the sixth preset formula. Based on the plane parameter fitting results, the pitch angle single-frame perception results, the horizontal angle single-frame perception results, the pitch angular velocity single-frame perception results, and the horizontal angular velocity single-frame perception results, the radial velocity single-frame perception results are calculated according to the seventh preset formula.

8. The dynamic target 6D perception and tracking method based on a single base station according to claim 7, characterized in that, The fifth preset formula includes: and / or The sixth preset formula includes: and / or The seventh preset formula includes: in, It is the single-frame sensing result of the pitch angular velocity of the dynamic target under test within the target cell time slot. This is the result of fitting the parameters of the third plane, where d is the antenna spacing. It is the single-frame sensing result of the pitch angle of the dynamic target under test within the target cell time slot. It is the single-frame sensing result of the horizontal angular velocity of the dynamic target under test within the target cell time slot. This is the result of fitting the parameters of the second plane, where d is the antenna spacing. It is the single-frame sensing result of the horizontal angle of the dynamic target under test within the time slot of the target cell. This is the result of a single-frame radial velocity sensing. This is the result of fitting the parameters of the first plane, where d is the antenna spacing.

9. The dynamic target 6D perception and tracking method based on a single base station according to claim 1, characterized in that, The single-frame perception results of radial velocity, horizontal angular velocity, and pitch angular velocity, along with the single-frame perception results of pitch angle, horizontal angle, and distance, constitute the single-frame perception results of the motion parameters of the dynamic target under test in the target unit time slot; the step of obtaining the single-frame perception results of radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test based on the single-frame perception results of pitch angle, horizontal angle, and virtual velocity, further includes: The motion parameter single-frame perception result of the next unit time slot of the target unit time slot is calculated, and then the temporal result of the motion parameter single-frame perception result is obtained to realize multi-frame tracking of the dynamic target to be tested.

10. A dynamic target 6D sensing and tracking device based on a single base station, characterized in that, include: The echo unit is used to extract the dynamic target echo signal from the received echo signal of the transmitted beam and obtain the dynamic target echo signal tensor. The transmitted beam is emitted within the target unit time slot based on the single-frame sensing results of the historical motion parameters of the dynamic target under test; Matrix unit, used to obtain motion parameter estimation matrix based on the dynamic target echo signal tensor; The first estimation unit is used to obtain the spatial values ​​of motion parameters by using an array signal estimation method based on the motion parameter estimation matrix, and to calculate the single-frame perception results of pitch angle, horizontal angle, distance and virtual velocity based on the single-frame perception results using a preset single-frame perception result calculation formula. The second estimation unit is used to obtain the radial velocity, horizontal angular velocity, and pitch angular velocity of the dynamic target under test based on the pitch angle single-frame perception result, the horizontal angle single-frame perception result, and the virtual velocity single-frame perception result, and thus obtain the motion parameter single-frame perception result.

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