Parameter association method and device for communication perception integration

Abstract

The invention discloses a communication perception integration-oriented parameter association method and device, and relates to the technical field of wireless communication, and the method comprises the steps: obtaining echo signals of a plurality of perception targets; based on the echo signals, adopting a parameter estimation algorithm to determine speed parameter values and / or distance parameter values of the plurality of sensing targets; based on the echo signals, adopting a DOA estimation algorithm to obtain DOA parameter values corresponding to the plurality of sensing targets; and for each sensing target, associating the speed parameter value and / or the distance parameter value corresponding to the sensing target with the DOA parameter value based on the parameter association scheme to obtain a parameter value set corresponding to the sensing target. The problems of low parameter association accuracy, complex deployment architecture and high association operation complexity in the prior art can be solved.

Description

Technical Field

[0001] The present application relates to the field of wireless communication technology, and in particular to a parameter association method and device for communication perception integration. Background Art

[0002] Communication and perception integration technology is an emerging technology with important application prospects in future wireless systems. By sharing communication functions and perception functions in terms of spectrum, hardware, signal waveform, etc., the wireless system can have both wireless communication and target perception capabilities. Compared with traditional systems, this technology has fusion and collaboration gains. The technology is divided into active and passive perception, among which passive perception involves multiple parameters, such as signal direction of arrival (DOA), speed and distance, but the correlation between parameters in multi-target positioning is not strong and requires accurate identification and association.

[0003] At present, there are few patent studies on parameter association schemes, and most schemes are part of the overall technology. Invention application number 202110556012.2 introduces a radar channel estimation method based on a set of transceiver antennas, using the same system to realize communication and radar functions. Among them, the DOA-channel parameter association scheme involves constructing a signal matrix, eigenvalue decomposition, and least squares method. However, the system architecture of this scheme is complex, the association operation is complex, and the channel parameter estimation and association are carried out simultaneously, resulting in limited applicability in specific scenarios. Therefore, there is an urgent need for an efficient and flexible parameter association method to overcome the shortcomings of the prior art. Summary of the invention

[0004] The purpose of this application is to provide a parameter association method and device for communication perception integration, aiming to solve the problems of weak parameter correlation, complex system architecture and high complexity of association operations in the prior art.

[0005] To achieve the above objectives, this application provides the following solutions:

[0006] In a first aspect, the present application provides a parameter association method for communication perception integration, the parameter association method comprising:

[0007] Acquire the echo signals of several sensing targets.

[0008] Based on the echo signal, a parameter estimation algorithm is used to determine perception parameter values ​​of the plurality of perception targets; the perception parameters include speed parameter values ​​and / or distance parameter values.

[0009] Based on the echo signal, a DOA estimation algorithm is used to obtain DOA parameter values ​​corresponding to the plurality of perception targets.

[0010] For each of the perceived targets, based on a parameter association scheme, a speed parameter value and / or a distance parameter value of the perceived target is associated with a DOA parameter value to obtain a parameter value set associated with the perceived target.

[0011] Optionally, after acquiring the echo signals of a plurality of sensing targets, the method further includes:

[0012] The acquired echo signal is demodulated to obtain a demodulated echo signal; the echo signal is an orthogonal frequency division multiplexing signal emitted by a plurality of sensing targets.

[0013] According to the demodulated echo signal, data compensation is performed on the echo signal.

[0014] Based on the echo signal after data compensation, a signal matrix after data compensation is constructed; the signal matrix after data compensation includes multiple signal sub-matrices, and each signal sub-matrix is ​​a signal matrix obtained after data compensation of the orthogonal frequency division multiplexing signal matrix emitted by each sensing target at each moment.

[0015] Optionally, based on the echo signal, using a parameter estimation algorithm to determine perception parameter values ​​of the plurality of perception targets specifically includes:

[0016] Based on the echo signal, a parameter estimation algorithm is used to obtain perception parameter values ​​of the plurality of perception targets; there is a correlation between the distance parameter value and the speed parameter value in the perception parameters, and the perception parameters are composed of a distance-speed correlation parameter value set.

[0017] Optionally, based on the echo signal, using a parameter estimation algorithm to determine perception parameter values ​​of the plurality of perception targets specifically also includes:

[0018] Based on the echo signal, a parameter estimation algorithm is used to obtain perception parameter values ​​of the plurality of perception targets; there is no correlation between the distance parameter value and the speed parameter value in the perception parameters, and the perception parameters are composed of mutually independent distance parameter values ​​and speed parameter values.

[0019] Optionally, based on the echo signal, using a parameter estimation algorithm to determine perception parameter values ​​of the plurality of perception targets specifically also includes:

[0020] Based on the echo signal, the perception parameter values ​​of the plurality of perception targets are obtained through a parameter estimation algorithm; the perception parameter is composed of a distance parameter value or a speed parameter value.

[0021] Optionally, for each of the perception targets, based on a parameter association scheme, a speed parameter value and / or a distance parameter value of the perception target is associated with a DOA parameter value to obtain a parameter value set associated with the perception target, specifically including:

[0022] When the perception parameter is composed of a distance-speed associated parameter value set, based on association scheme one, association scheme two or association scheme three, the distance-speed associated parameter value set is associated with the DOA parameter value to obtain the distance-speed-DOA associated parameter value set after the perception target is associated.

[0023] When the perception parameter is composed of mutually independent distance parameter values ​​and speed parameter values, based on association scheme two and association scheme three, the distance parameter value and the speed parameter value are respectively associated with the DOA parameter value to obtain a distance-DOA associated parameter value set and a speed-DOA associated parameter value set after the perception target is associated.

[0024] Based on the joint deployment of association scheme 2 and association scheme 3, the distance-DOA association parameter value set and the speed-DOA association parameter value set are associated to obtain the distance-speed-DOA association parameter value set corresponding to the perceived target.

[0025] When the perception parameter consists of a distance parameter value or a speed parameter value, based on association scheme two or association scheme three, the distance parameter value or the speed parameter value is associated with the DOA parameter value to obtain a parameter value set after the perception target is associated.

[0026] Optionally, the association scheme 1 specifically includes:

[0027] A first steering vector set is constructed according to the DOA parameter value; the first steering vector set is composed of the corresponding DOA parameter values ​​at a plurality of receiving antenna arrays. The steering vector composition when .

[0028] An association matrix corresponding to each steering vector set is established according to the first steering vector set.

[0029] The distance-speed association parameter value set is input into the association matrix for matching association to obtain updated association variables.

[0030] According to the updated association variable, the distance-speed association parameter value set is associated with the DOA parameter value to obtain the parameter value set after the perception target is associated.

[0031] Optionally, the second association scheme specifically includes:

[0032] A second steering vector set is constructed according to the DOA parameter value; the second steering vector set is composed of a receiving antenna array corresponding to the DOA parameter value The steering vector composition when .

[0033] An association matrix corresponding to each steering vector set is established according to the second steering vector set.

[0034] The distance parameter value is input into the association matrix for matching and association, and updated distance association variables are obtained respectively.

[0035] According to the updated distance association variable, the distance parameter value is associated with the DOA parameter value to obtain a distance-DOA association parameter value set of the perceived target.

[0036] Optionally, the association scheme three specifically includes:

[0037] A third steering vector set is constructed according to the DOA parameter value; the third steering vector set is composed of a receiving antenna array corresponding to a DOA parameter value The steering vector composition when .

[0038] An association matrix corresponding to each steering vector set is established according to the third steering vector set.

[0039] The speed parameter value is input into the association matrix for matching and association to obtain an updated speed association variable.

[0040] According to the updated speed association variable, the speed parameter value is associated with the DOA parameter value to obtain a final speed-DOA association parameter value set of the perceived target.

[0041] In a second aspect, the present application provides a parameter association device for communication perception integration, the parameter association device comprising:

[0042] The communication module is used to obtain the echo signals of several sensing targets.

[0043] The first perception module is used to determine the perception parameter values ​​of the plurality of perception targets based on the echo signal by adopting a parameter estimation algorithm; the perception parameters include speed parameter values ​​and / or distance parameter values.

[0044] The second perception module is used to obtain DOA parameter values ​​corresponding to the plurality of perception targets by using a DOA estimation algorithm based on the echo signal.

[0045] The associating module is used to associate the speed parameter value and / or the distance parameter value of each of the perception targets with the DOA parameter value based on the parameter association scheme to obtain a parameter value set associated with the perception target.

[0046] According to the specific embodiments provided in this application, this application discloses the following technical effects:

[0047] The present application provides a parameter association method and device for communication perception integration, the method comprising obtaining echo signals of several perception targets; based on the echo signals, using a parameter estimation algorithm to determine the speed parameter values ​​and / or distance parameter values ​​of several perception targets; based on the echo signals, using a DOA estimation algorithm to obtain DOA parameter values ​​corresponding to several perception targets; for each perception target, based on a parameter association scheme, associating one or more of the speed parameter values ​​and distance parameter values ​​corresponding to the perception target with the DOA parameter value to obtain a parameter value set associated with the perception target. The present application can solve the problems of weak parameter association, complex system architecture, and high complexity of association operations in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0049] Figure 1 A flowchart of a parameter association method for communication perception integration provided in one embodiment of the present application.

[0050] Figure 2 The overall solution framework and module schematic diagram provided for Example 1 of the present application.

[0051] Figure 3 A schematic diagram of associated variable updating and parameter matching provided in Example 1 of the present application.

[0052] Figure 4 This is a schematic diagram of the module interface relationship corresponding to the first situation provided in Example 1 of the present application.

[0053] Figure 5 This is a schematic diagram of the module interface relationship corresponding to the second situation provided in Example 1 of the present application.

[0054] Figure 6 This is a schematic diagram of the module interface relationship corresponding to the third situation provided in Example 1 of the present application.

[0055] Figure 7 The overall logical judgment and associated output diagram provided for Example 1 of the present application.

[0056] Figure 8 A schematic diagram of the functional modules of a parameter association device for communication perception integration provided in Example 2 of the present application. DETAILED DESCRIPTION

[0057] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0058] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below with reference to the accompanying drawings and specific implementation methods.

[0059] Embodiment 1

[0060] like Figure 1 As shown, this embodiment provides a parameter association method for communication perception integration, including the following steps:

[0061] Step 101, obtaining echo signals of several sensing targets.

[0062] Step 102: Based on the echo signal, a parameter estimation algorithm is used to determine perception parameter values ​​of the plurality of perception targets; the perception parameters include speed parameter values ​​and / or distance parameter values.

[0063] Step 103: Based on the echo signal, a DOA estimation algorithm is used to obtain DOA parameter values ​​corresponding to the plurality of perception targets.

[0064] Step 104: for each of the perceived targets, based on a parameter association scheme, the speed parameter value and / or the distance parameter value of the perceived target is associated with the DOA parameter value to obtain a parameter value set associated with the perceived target.

[0065] In some implementations of this embodiment, before executing step 101, the following steps may also be included:

[0066] Setting up the system environment: In this implementation, an uplink orthogonal frequency division multiplexing (OFDM) communication system is considered, in which a multi-antenna array is deployed on the base station side, and the user terminals (UTs) in the system transmit G OFDM signals to the base station within the transmission time interval, where G is an integer greater than 1; the multi-antenna array on the base station side can be any multi-antenna array structure, such as the classic antenna array structure: uniform linear array (ULA), uniform planar array (UPA) and uniform circular array (UCA), etc.

[0067] Specifically, according to the different functional modules executed in this solution, such as Figure 2 As shown, this solution specifically divides the base station functional modules into a communication module, a perception module (a first perception module, a second perception module) and an association module.

[0068] After executing step 101, the method further includes:

[0069] The acquired echo signal is compensated for data, which can be specifically as follows:

[0070] The acquired echo signal is demodulated; the echo signal is an orthogonal frequency division multiplexing signal emitted by several sensing targets.

[0071] The echo signal is compensated according to the demodulated data.

[0072] Based on the echo signal after data compensation, a signal matrix after data compensation is constructed; the signal matrix after data compensation includes multiple signal sub-matrices, and each signal sub-matrix is ​​a signal matrix obtained after data compensation of the orthogonal frequency division multiplexing signal matrix emitted by each sensing target at each moment.

[0073] Specifically, the communication module at the base station side demodulates the echo signal, and shares the corresponding demodulated data and the echo signal to the perception module, and the perception module performs data compensation on the echo signal and constructs the matrix Ξ. The specific steps are as follows:

[0074] 1.1) The base station receives OFDM signal Y g The communication module demodulates it and then sends the corresponding demodulated data Shared to the perception module, where represents the OFDM sampling value received by all antennas of the base station during the duration of the g-th OFDM symbol; Represents the corresponding demodulated data, where The demodulated data corresponding to the u-th subcarrier in the g-th OFDM symbol; M R is the number of antennas at the receiving base station, N sub is the number of subcarriers in the OFDM system. The uplink communication process at the base station can be implemented using a demodulation reference signal (DMRS), a synchronization signal block (SSB) and a data payload defined in the current 3GPP standard.

[0075] 1.2) The perception module uses the demodulated data and echo signal Y shared by the communication module g Perform data compensation.

[0076] The data compensation process is specifically that the sensing module converts the demodulated communication data x shared by the communication module into g As the reference (or pilot) signal data, the sensing module detects the echo signal Y g Compensate the data to get Where F represents the Inverse Discrete Fourier Transform (IDFT) matrix,

[0077] 1.3) Further, the perception module constructs a matrix based on the received signal after data compensation in The signal matrix corresponding to the g-th OFDM symbol after data compensation.

[0078] In some implementations of this embodiment, when executing step 102, the specific steps may be as follows:

[0079] Based on the echo signal, a parameter estimation algorithm is used to obtain perception parameter values ​​of the plurality of perception targets; there is a correlation between the distance parameter value and the speed parameter value in the perception parameters, and the perception parameters are composed of a distance-speed correlation parameter value set.

[0080] Based on the echo signal, a parameter estimation algorithm is used to obtain perception parameter values ​​of the plurality of perception targets; there is no correlation between the distance parameter value and the speed parameter value in the perception parameters, and the perception parameters are composed of mutually independent distance parameter values ​​and speed parameter values.

[0081] Based on the echo signal, the perception parameter values ​​of the plurality of perception targets are obtained through a parameter estimation algorithm; the perception parameter is composed of a distance parameter value or a speed parameter value.

[0082] Specifically, the perception module estimates the distance and speed parameter values, and uses an arbitrary parameter estimation algorithm to estimate the corresponding L according to the data shared by the communication module. V The distance and / or speed parameter values ​​of the sensed target.

[0083] The parameter estimation process here is not limited to a specific estimation algorithm. In this embodiment, an example of realizing joint distance and speed parameter value estimation by two-dimensional DFT transformation is provided: for several matrices obtained after data compensation at the perception module Extract the mth row in each matrix separately Constructing the Matrix By changing the matrix Γ m Perform a two-dimensional DFT transform to obtain , then locate Middle front L V The matrix coordinate values ​​corresponding to the peak values ​​from large to small are used to estimate the corresponding distance-speed parameter values ​​and obtain the corresponding L V A set of associated distance-speed parameter values ​​for a perceived target

[0084] Specifically, the parameter estimation process in this embodiment can be divided into three cases: obtaining a set of associated distance and speed parameter values ​​through parameter estimation, obtaining independent distance and speed parameter values ​​through parameter estimation, and a single estimation of a distance or speed parameter value.

[0085] The following is a detailed discussion of the output of different estimation algorithms. The following association relationship specifically refers to the matching relationship between parameters: Taking the distance and speed parameter values ​​as an example, the association parameter refers to the distance parameter value set Set with speed parameter value , can be written as In other words, for any κ l With ∈ l , we can find the same perception target to correspond to; while for the case of non-correlated parameters, it means that the parameters of the two outputs are independent of each other, and the result is only a set of two sets of parameter values, which cannot be corresponded to the same target.

[0086] 2.1) The first parameter output situation: At this time, the perception module performs parameter estimation to obtain distance and speed parameter values, and the estimated two parameters are associated, corresponding to the output distance-speed associated parameter value set

[0087]

[0088] 2.2) The second parameter output situation: At this time, the perception module estimates the distance and speed parameters, but the two estimated parameters have no correlation, and the corresponding output is LV The distance parameter value corresponding to the perceived target With speed parameter value And the two parameters are independent of each other.

[0089] 2.3) The third parameter output situation: In this case, the perception module estimates the parameters and obtains a single distance or speed parameter value, corresponding to the output L V The distance parameter value corresponding to the perceived target Or speed parameter value Among them, the perception module shares the construction matrix Ξ, the parameters to be associated (DOA parameter value, and at least one of the speed parameter value and the distance parameter value) and the association situation that can be established at this time to the association module. Corresponding to the above three parameter output situations, it can be specifically divided into the following three situations:

[0090] 1) When the perception parameter is composed of a distance-speed associated parameter value set, based on association scheme one, association scheme two or association scheme three, the distance-speed associated parameter value set is associated with the DOA parameter value to obtain the distance-speed-DOA associated parameter value set after the perception target is associated.

[0091] Specifically, corresponding to the first parameter output situation mentioned above, the perception module outputs two parameters to be associated: distance-speed associated parameter value set and DOA parameter value The perception module feeds back to the association module, and the association situation can be established at this time: through the association schemes 1, 2 and 3 in the association module, a complete parameter association relationship can be established, and finally the association parameter value set is output.

[0092] 2) When the perception parameter is composed of mutually independent distance parameter values ​​and speed parameter values, based on association scheme two or association scheme three, the distance parameter value and the speed parameter value are respectively associated with the DOA parameter value to obtain a distance-DOA associated parameter value set and a speed-DOA associated parameter value set after the perception target is associated.

[0093] Based on the joint deployment of association scheme 2 and association scheme 3, the distance-DOA association parameter value set and the speed-DOA association parameter value set are associated to obtain the distance-speed-DOA association parameter value set after the perceived target is associated.

[0094] Specifically, corresponding to the second parameter output situation mentioned above, the perception module outputs three parameters to be associated: DOA parameter value Independent distance parameter values With speed parameter value ; The perception module feeds back to the association module. At this time, the association can be established: 1) The distance-DOA association and speed-DOA association can be established separately through the association scheme 2 and scheme 3 at the association module, and the corresponding output association parameter value set and 2) The complete set of association parameter values ​​can be finally output by the joint implementation of association schemes 2 and 3 at the association module.

[0095] 3) When the perception parameter is composed of a distance parameter value or a speed parameter value, based on association scheme 2 or association scheme 3, the distance parameter value or the speed parameter value is associated with the DOA parameter value to obtain a parameter value set after the perception target is associated.

[0096] Specifically, corresponding to the third parameter output situation mentioned above, the perception module outputs two parameters to be associated: DOA set , distance parameter value set Or a set of speed parameter values ; The perception module feeds back to the association module, and the association can be established at this time: through the association scheme 2 or association scheme 3 at the association module, the distance-DOA association or speed-DOA association can be established separately, and the corresponding output association parameter value set or

[0097] In some implementations of this embodiment, when executing step 103, the specific steps may be as follows:

[0098] Perception parameter estimation and sharing: The perception module estimates the distance, speed and DOA parameters based on the data shared by the communication module. V The parameters to be associated corresponding to the perceived target are: speed and / or distance parameter value and DOA parameter value.

[0099] Furthermore, the perception module shares the constructed matrix Ξ, the parameters to be associated, and the association situation that can be established at this time to the association module.

[0100] The perception module uses any DOA estimation algorithm to estimate DOA based on the data shared by the communication module, and obtains the same DOA as L V The DOA set corresponding to the sensing target

[0101] Among them, the estimation algorithm used in the DOA estimation process can be any DOA estimation algorithm, such as the classic Multiple Signal Classification (MUSIC) algorithm and the Estimating Signal Parameter via Rotational Invariance Techniques (ESPRIT) algorithm. Taking the MUSIC algorithm as an example, the perception module first calculates the corresponding covariance matrix based on the echo signal, and then further performs eigenvalue decomposition on the obtained covariance matrix to obtain the corresponding eigenvalues ​​and eigenvectors, and then takes the first L eigenvalues ​​in descending order. V The eigenvalues ​​and their corresponding eigenvectors are constructed as the signal subspace, and the eigenvectors corresponding to the remaining eigenvalues ​​are constructed as the noise subspace. The MUSIC spectrum function is further constructed based on the obtained noise subspace. The peak position of the MUSIC spectrum function is found within the scanning angle range. The first L V The angle value corresponding to the peak is taken as L V The DOA estimation value corresponds to each perceived target.

[0102] In this embodiment, it is assumed that the above DOA estimation process is independent of other parameter estimation processes of the perception module, so that the final output result of the DOA estimation process, L V The DOA set corresponding to the sensing target There is no matching relationship with the parameter sets obtained by other parameter estimation processes of the perception module.

[0103] In some implementations of this embodiment, when executing step 104, the specific steps may be as follows:

[0104] The association module performs association matching through three parameter association schemes based on the construction matrix shared by the perception module, the parameters to be associated, and the association situation that can be established at this time, and finally outputs the associated parameter value set.

[0105] Specifically, Figure 3 As shown, the associated module initializes and defines the associated variable b l ∈{1,…,L V}, as the DOA estimation set The best correlation index between the estimated parameters to be correlated corresponding to the lth path.

[0106] The association variable provides an association matching relationship, which is then realized through the following association scheme: Update. Specifically, b lIndicates the speed and / or distance parameter value to be associated obtained for the lth path estimation, and its corresponding matching DOA parameter value in the DOA parameter value set The index value in , thus achieving the final matching parameter value set output. Figure 3 As shown, the output of the association module , for the associated variable b n =m, where n,m∈[1,L V ], indicating the nth parameter to be associated (·) n The corresponding associated variable b n , after passing through the association module, is assigned a value of m, which means that the DOA parameter value matched by the nth parameter to be associated is The mth element in .

[0107] The three parameter association schemes are explained in detail as follows:

[0108] 3.1) Association scheme 1: Input the associated speed-distance parameter value set DOA parameter values Associated variables Outputs a collection of associated parameter values

[0109] For association scheme 1, the association module first calculates the DOA parameter value. Build as follows:

[0110]

[0111] in Indicates that the corresponding DOA at the receiving antenna array is The steering vector at this time is:

[0112]

[0113] For association scheme 1, the perception module establishes i The corresponding correlation matrix Π i as follows:

[0114]

[0115] where F N represents the N-dimensional IDFT matrix, (·) H Re(·) stands for conjugate transpose and Re(·) represents the real part operation.

[0116] For the distance-speed correlation parameters to be correlated Substitute into the incidence matrix Perform matching association to obtain updated association variables

[0117]

[0118] The associated parameter value set {κ l ,∈ l} as an example, its corresponding associated variable b l The updating process is as follows: set the parameter value set {κ l ,∈ l} as row and column indices into the incidence matrix Get L V Matrix elements b l Update to this L V The correlation matrix Π corresponding to the element with the largest absolute value among the matrix elements i Index of: b l =i.

[0119] The parameter association process here can be explained as: With parameter value set {κ l ,∈ l} association, and because Π i The DOA parameter value Constructed, thus completing the associated parameters {κ l ,∈ l} and DOA parameter value association.

[0120] According to the updated associated variables Set the distance-speed correlation parameter and DOA parameter value set Associating; thus associating scheme 1 finally outputs a set of speed-distance-DOA associated parameter values

[0121] 3.2) Association scheme 2: Input distance parameter value ,DOA parameter value Associated variables Outputs a collection of associated parameter values

[0122] For association scheme 2, the association module first sets the DOA parameter value. Build as follows:

[0123]

[0124] Furthermore, the association module shares the Processing is performed to extract the component corresponding to the g-th OFDM symbol and update it to To ensure that the construction matrix used has a higher SNR, the OFDM symbol index g should be appropriately selected here.

[0125] For association scheme 2, the association module further establishes i The corresponding correlation matrix Π i :

[0126]

[0127] Then the distance parameter value to be associated Substitute the correlation matrix established at this time Perform matching association to obtain updated association variables

[0128]

[0129] To be associated with parameter ∈ l For example, corresponding to the associated variable b l The updating process is as follows: the parameter to be associated ∈ l Substitute as index into different incidence matrices In the V Elements . l Update to this L V The correlation matrix Π corresponding to the element with the largest absolute value among the matrix elements i The index of .

[0130] According to the updated associated variables , the distance parameter value and DOA parameter value Association; thus association scheme 2 outputs the final distance-DOA association parameter value set

[0131] 3.3) Association scheme 3: Input speed parameter value ,DOA parameter value Associated variables Outputs a collection of associated parameter values

[0132] For association scheme 3, the association module first calculates the DOA parameter value set. Build as follows:

[0133]

[0134] Furthermore, the association module is used to input the original perception module Process it and update it to To ensure that the construction matrix used has a higher signal-to-noise ratio, the index n should be appropriately selected here.

[0135] Then, for association scheme 3, the perception module establishes i The corresponding correlation matrix Π i as follows:

[0136]

[0137] Further, the speed parameter value to be associated Substitute the correlation matrix established at this time Perform matching association to obtain updated association variables as follows:

[0138]

[0139] To wait for the associated parameter κ l For example, corresponding to the associated variable b l The updating process is as follows: the parameter to be associated κ l Substitute as index into different incidence matrices In the V Elements b l Update to this L V The correlation matrix Π corresponding to the element with the largest absolute value among the matrix elements i The index of .

[0140] According to the updated associated variables Set the speed parameter value and DOA parameter value set Association; thus the association scheme 3 outputs the final velocity-DOA association parameter value set

[0141] Therefore, the association module realizes parameter association through three association schemes according to the association situation that can be established at this time shared by the perception module and the construction matrix Ξ and the parameters to be associated:

[0142] 4.1) Figure 4 As shown, corresponding to the first parameter output situation, the association module obtains the following association situation: any of the three association schemes in the association module can establish a complete parameter association relationship, and finally outputs the association parameter value set

[0143] (1) Application parameter association scheme 1: At this time, the distance and speed parameter values ​​output by the perception module are matched and corresponding, so they can be directly substituted into the solution to complete the association with the corresponding DOA parameter value.

[0144] (2) Applying association scheme 2 or association scheme 3: Association scheme 2 or association scheme 3 does not require that both of the distance-speed parameter values ​​that have been associated at this time be substituted into the solution, but rather that any of the distance or speed parameter values ​​be substituted into the solution. However, because the distance parameter value and the speed parameter value are already associated, the DOA parameter value to be associated is matched with any of the associated parameters through association scheme 2 or association scheme 3, thereby completing the final association output.

[0145] That is, at this time, in the corresponding association module, any of the three association schemes can be selected to achieve the output of association parameters.

[0146] 4.2) If Figure 5 As shown in FIG. 1 , corresponding to the second parameter output situation, the association module obtains the following association situations: (1) through association scheme 2 or association scheme 3 alone, the association matching of the DOA parameter value and a single distance parameter value or speed parameter value can be achieved; (2) through the joint deployment of association scheme 2 and association scheme 3, the complete association of the three parameters of distance, speed and DOA can be achieved.

[0147] (1) Association scheme 1 requires the substitution of a set of distance-speed parameter values ​​for association matching, which is not met at this time.

[0148] (2) Association schemes 2 and 3 only require the substitution of any one of the distance and speed parameter values ​​for solution. In this case, the association between the DOA parameter value and the substituted distance or speed parameter value can be achieved.

[0149] (3) It is worth noting that in this case, DOA can be used to achieve a complete correlation output for the bridge. For example, first, the correlation between DOA and speed parameter value is achieved through correlation scheme 2, and then the correlation between DOA and distance parameter value is achieved through correlation scheme 3, thereby completing the final correlation output. There is no restriction on the order of scheme 2 and scheme 3.

[0150] 4.3) If Figure 6 As shown, corresponding to the third parameter output situation in 2.3 above, the association module obtains the association situation that can be established: the association matching of the DOA parameter value and the distance parameter value or the speed parameter value can be achieved through the association scheme 2 or the association scheme 3.

[0151] 1) Association scheme 1 requires the substitution of a set of distance-speed parameter values ​​for association matching, so it is not applicable to this case.

[0152] 2) Association scheme 2 or 3 only requires the substitution of any one of the distance and speed parameter values ​​for solution. At this time, the association of the DOA parameter value with the distance parameter value or the speed parameter value can be achieved through association scheme 2 or association scheme 3.

[0153] According to the above three situations, it can be seen that the overall logical judgment of the final associated data pair output by the association module is as follows: Figure 7 shown.

[0154] It can be seen that the specific design and implementation process of the three parameter association schemes in this embodiment are as follows: for the multi-target perception scenario in the communication perception integration technology, it is necessary to associate different parameters belonging to the same perception target to establish a complete parameter set. For the parameters to be associated: speed and / or distance parameter value, DOA parameter value, this application design proposes three parameter association schemes for selection:

[0155] 1) Association scheme 1: A complete association scheme with high complexity. Applicable parameter input situations: associated speed-distance parameter value set and DOA parameter value.

[0156] 2) Association scheme 2: A simplified association scheme with lower complexity, applicable to parameter input situations: a single distance parameter value or a set of associated speed-distance parameter values, and a DOA parameter value.

[0157] 3) Association scheme 3: A simplified association scheme with lower complexity, applicable to parameter input situations: a single speed parameter value or a set of associated speed-distance parameter values, and a DOA parameter value.

[0158] The key to the specific design of each parameter association scheme lies in: 1) the construction of the association matrix; 2) the specific association process.

[0159] Furthermore, a parameter association mechanism that adapts to multiple types of output situations is designed as follows: in the design of the above-mentioned association schemes, the three parameter association schemes are respectively applicable to different output situations of parameters to be associated at the perception module; based on the three parameter association schemes, the present application provides an association mechanism with a higher degree of freedom, which combines the three parameter association schemes to achieve different parameter association effects for different perception parameter output situations.

[0160] 1) The perception module outputs three parameters to be associated, which are the associated distance-speed parameter value set and the DOA parameter value set. At this time, the association situation can be established: a complete speed-distance-DOA parameter value association can be established through association schemes one, two and three.

[0161] 2) The perception module outputs three parameters to be associated, which are the independent DOA parameter values, distance parameter values ​​and speed parameter values. At this time, the association can be established: 1) The distance-DOA association and speed-DOA association are realized respectively through association scheme 2 and association scheme 3; 2) The complete speed-distance-DOA association is realized through the joint association of schemes 2 and 3.

[0162] 3) The perception module outputs two parameters to be associated, namely, the DOA parameter value, the distance parameter value or the speed parameter value. At this time, an association situation can be established: the distance-DOA association and the speed-DOA association can be established separately through association scheme 2 and association scheme 3 respectively.

[0163] The key to this parameter association mechanism is: 1) the association processing flow and the corresponding association parameter value set output applicable to different perception parameter output situations; 2) the perception parameters can be obtained through any parameter estimation algorithm.

[0164] Embodiment 2

[0165] like Figure 8 As shown, this embodiment provides a parameter association device for communication perception integration, and the parameter association device includes:

[0166] The communication module is used to obtain the echo signals of several sensing targets.

[0167] The first perception module is used to determine the perception parameter values ​​of the plurality of perception targets based on the echo signal by adopting a parameter estimation algorithm; the perception parameters include speed parameter values ​​and / or distance parameter values.

[0168] The second perception module is used to obtain DOA parameter values ​​corresponding to the plurality of perception targets by using a DOA estimation algorithm based on the echo signal.

[0169] The associating module is used to associate the speed parameter value and / or the distance parameter value of each of the perception targets with the DOA parameter value based on the parameter association scheme to obtain a parameter value set associated with the perception target.

[0170] In summary, this application has the following technical effects:

[0171] 1. Higher algorithm flexibility: In this application, there is no need to build an additional array structure on the base station side, and the proposed parameter association algorithm is applicable to a variety of antenna array structures; and in this application, the parameter association step is independent of the parameter estimation step, so this application does not limit any parameter estimation algorithm to obtain the corresponding parameter estimation value.

[0172] 2. Lower algorithm complexity: This application separates the parameter association step from the parameter estimation step, and provides three association scheme options corresponding to the estimated parameter output situations in different situations. Among them, Association Scheme 2 and Association Scheme 3 are simplified versions based on Association Scheme 1, which further reduces the computational complexity.

[0173] 3. Wider application scope: The parameter association step in this application is independent of the parameter estimation step. Therefore, this application does not limit the estimated parameter output obtained by any parameter estimation algorithm. This application considers a variety of estimated parameter output situations and designs different corresponding association schemes in different situations.

[0174] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0175] This article uses specific examples to illustrate the principles and implementation methods of this application. The description of the above embodiments is only used to help understand the method and core ideas of this application. At the same time, for those skilled in the art, according to the ideas of this application, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting this application.

Claims

1. A parameter association method for communication and perception integration, It is characterized in that The parameter association method comprises: Acquire the echo signals of several sensing targets; Based on the echo signal, a parameter estimation algorithm is used to determine the perception parameter values ​​of the plurality of perception targets; the perception parameters include speed parameter values ​​and / or distance parameter values; Based on the echo signal, a DOA estimation algorithm is used to obtain DOA parameter values ​​corresponding to the plurality of sensing targets; For each of the perceived targets, based on a parameter association scheme, a speed parameter value and / or a distance parameter value of the perceived target is associated with a DOA parameter value to obtain a parameter value set associated with the perceived target.

2. According to claim 1, a parameter association method for communication perception integration, It is characterized in that After acquiring the echo signals of several sensing targets, it also includes: Demodulating the acquired echo signal to obtain a demodulated echo signal; the echo signal is an orthogonal frequency division multiplexing signal emitted by a plurality of sensing targets; performing data compensation on the echo signal according to the demodulated echo signal; Based on the echo signal after data compensation, a signal matrix after data compensation is constructed; the signal matrix after data compensation includes multiple signal sub-matrices, and each signal sub-matrix is ​​a signal matrix obtained after data compensation of the orthogonal frequency division multiplexing signal matrix emitted by each sensing target at each moment.

3. According to claim 2, a parameter association method for communication perception integration, It is characterized in that Based on the echo signal, a parameter estimation algorithm is used to determine the perception parameter values ​​of the plurality of perception targets, specifically including: Based on the echo signal, a parameter estimation algorithm is used to obtain perception parameter values ​​of the plurality of perception targets; there is a correlation between the distance parameter value and the speed parameter value in the perception parameters, and the perception parameters are composed of a distance-speed correlation parameter value set.

4. According to claim 3, a parameter association method for communication perception integration, It is characterized in that Based on the echo signal, a parameter estimation algorithm is used to determine the perception parameter values ​​of the plurality of perception targets, which specifically also includes: Based on the echo signal, a parameter estimation algorithm is used to obtain perception parameter values ​​of the plurality of perception targets; there is no correlation between the distance parameter value and the speed parameter value in the perception parameters, and the perception parameters are composed of mutually independent distance parameter values ​​and speed parameter values.

5. According to claim 4, a parameter association method for communication perception integration, It is characterized in that Based on the echo signal, a parameter estimation algorithm is used to determine the perception parameter values ​​of the plurality of perception targets, which specifically also includes: Based on the echo signal, the perception parameter values ​​of the plurality of perception targets are obtained through a parameter estimation algorithm; the perception parameter is composed of a distance parameter value or a speed parameter value.

6. A parameter association method for communication perception integration according to claim 5, It is characterized in that For each of the perceived targets, based on a parameter association scheme, the speed parameter value and / or the distance parameter value of the perceived target is associated with the DOA parameter value to obtain a parameter value set associated with the perceived target, specifically including: When the perception parameter is composed of a distance-speed associated parameter value set, the distance-speed associated parameter value set is associated with the DOA parameter value based on association scheme one, association scheme two or association scheme three to obtain the distance-speed-DOA associated parameter value set after the perception target is associated; When the perception parameter is composed of a distance parameter value and a speed parameter value that are independent of each other, the distance parameter value and the speed parameter value are respectively associated with the DOA parameter value based on the second association scheme and the third association scheme to obtain a distance-DOA association parameter value set and a speed-DOA association parameter value set after the perception target is associated; Based on the joint deployment of association scheme 2 and association scheme 3, the distance-DOA association parameter value set and the speed-DOA association parameter value set are associated to obtain a distance-speed-DOA association parameter value set corresponding to the sensed target; When the perception parameter consists of a distance parameter value or a speed parameter value, based on association scheme two or association scheme three, the distance parameter value or the speed parameter value is associated with the DOA parameter value to obtain a parameter value set after the perception target is associated.

7. A parameter association method for communication perception integration according to claim 6, It is characterized in that The first association scheme specifically includes: A first steering vector set is constructed according to the DOA parameter value; the first steering vector set is composed of the corresponding DOA parameter values ​​at a plurality of receiving antenna arrays. The guiding vector composition when Establishing an association matrix corresponding to each set of steering vectors according to the first set of steering vectors; Inputting the distance-speed association parameter value set into the association matrix for matching association to obtain updated association variables; According to the updated association variable, the distance-speed association parameter value set is associated with the DOA parameter value to obtain the parameter value set after the perception target is associated.

8. A parameter association method for communication perception integration according to claim 7, It is characterized in that The second association scheme specifically includes: A second steering vector set is constructed according to the DOA parameter value; the second steering vector set is composed of a receiving antenna array corresponding to the DOA parameter value The guiding vector composition when establishing an association matrix corresponding to each set of steering vectors according to the second set of steering vectors; Inputting the distance parameter value into the association matrix for matching and association, and obtaining updated distance association variables respectively; According to the updated distance association variable, the distance parameter value is associated with the DOA parameter value to obtain a distance-DOA association parameter value set of the perceived target.

9. A parameter association method for communication perception integration according to claim 8, It is characterized in that The third association scheme specifically includes: A third steering vector set is constructed according to the DOA parameter value; the third steering vector set is composed of a receiving antenna array corresponding to a DOA parameter value The guiding vector composition when Establishing an association matrix corresponding to each steering vector set according to the third steering vector set; Inputting the speed parameter value into the association matrix for matching and association to obtain an updated speed association variable; According to the updated speed association variable, the speed parameter value is associated with the DOA parameter value to obtain a final speed-DOA association parameter value set of the perceived target.

10. A parameter association device for communication and perception integration, It is characterized in that The parameter association device comprises: A communication module, used to obtain echo signals of several sensing targets; A first perception module, configured to determine perception parameter values ​​of the plurality of perception targets by using a parameter estimation algorithm based on the echo signal; the perception parameters include a speed parameter value and / or a distance parameter value; A second perception module is used to obtain DOA parameter values ​​corresponding to the plurality of perception targets using a DOA estimation algorithm based on the echo signal; The associating module is used to associate the speed parameter value and / or the distance parameter value of each of the perception targets with the DOA parameter value based on the parameter association scheme to obtain a parameter value set associated with the perception target.

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