Carrier allocation and information transmission methods and devices, equipment and medium

Abstract

The invention provides a carrier distribution and information transmission method and device, equipment and a medium, and relates to the technical field of communication transmission, a ZC sequence set and a constant-amplitude self-correlation sequence pair are used, and a Kronecker product is adopted to construct a spectrum constraint sequence pair set; and taking the occupied carrier or the reserved carrier as the carrier used by the primary user and distributing the carrier to a radar module of the unmanned aerial vehicle, and taking the idle carrier as the carrier used by the secondary user and distributing the carrier to a communication module of the unmanned aerial vehicle. According to the invention, the concept of the spectrum constraint sequence even set is proposed for the first time, the spectrum constraint sequence even set is constructed, and the spectrum constraint sequence even set is applied to the discontinuous spectrum carrier communication, so that the radar and the communication share the spectrum, and the spectrum utilization rate is improved. By adopting the sequence pairs, hardware implementation is more facilitated, the existence forms and the number of signal sets are increased, the sequence pairs used by the base station and the unmanned aerial vehicle are different characters, the anti-interference capability is higher, and the confidentiality and the safety of the method are enhanced.

Description

Technical Field

[0001] This application relates to the field of communication transmission technologies, and particularly to carrier allocation, information transmission methods, devices, equipment, and media. Background Art

[0002] In today's communication field, especially in the telecommunications field, unmanned services such as drones are an important new development direction for telecommunications. Among the communication resource allocation methods proposed for drone-assisted networks, deep learning algorithms are usually used to allocate resources between users and drones. This method requires training of the deep learning model, increasing the complexity of model storage and time cost, and the trained deep learning model has poor universality. There are also methods that optimize and update the channel utilization rate of drones by jointly considering the time-frequency domain, but this method will increase the loss of drones jumping between different channels and increase resource consumption.

[0003] Based on this, this application proposes a new carrier allocation method for drone services. Summary of the Invention

[0004] This application provides a carrier allocation, information transmission method, device, equipment, and medium to solve the above problems.

[0005] In the first aspect of the embodiments of this application, a carrier allocation method is provided, which is applied to a base station. The method includes:

[0006] Using a ZC sequence set and an equal-amplitude autocorrelation sequence pair, constructing a spectral constraint sequence pair set by using the Kronecker product;

[0007] Regarding the occupied carriers or the reserved carriers as the carriers used by the primary users and allocating them to the radar module of the drone, and regarding the idle carriers as the carriers used by the secondary users and allocating them to the communication module of the drone.

[0008] In an optional embodiment of this application, using a ZC sequence set and an equal-amplitude autocorrelation sequence pair to construct a spectral constraint sequence pair set includes:

[0009] Obtaining an equal-amplitude autocorrelation sequence pair (c, d) with a length of L, c = (c(0), c(1)..., c(N - 1)), d = (d(0), d(1)..., d(N - 1)), c(t) = ±1, d(t) = ±1, t = 0,..., N - 1;

[0010] Obtaining a ZC sequence set S = {s i , 0 ≤ i < M}, s i = (s i (n), 0 ≤ n < N), where M is the number of ZC sequences;

[0011] Keep the transmitted sequence c in the constant-amplitude autocorrelation sequence pair unchanged, and use the received sequence d in the constant-amplitude autocorrelation sequence pair (c, d) as the local sequence for replacement operation to obtain the constant-amplitude autocorrelation sequence pair (c, d'), where the replacement operation includes: replacing -1 in the original received sequence d with the Gaussian integer x, and +1 with the Gaussian integer y to obtain the new received sequence d', where c = (c(t)|0 ≤ t < N), d' = (d'(t)|0 ≤ t < N);

[0012] For the constant-amplitude autocorrelation sequence pair (c, d') and the ZC sequence set, perform the Kronecker product according to the following formula to obtain the spectral constraint sequence pair set ψ = {(g i ,h i ), 0 ≤ i < M};

[0013] In an alternative embodiment of the present application, the length of the spectral constraint sequence pair set is NL, there are M subsequence pair sets, the zero correlation interval length is N, and the autocorrelation function The cross-correlation function is The spectral null position set of the spectral constraint sequence pair set is 0 ≤ n < N, where, Ω c and Ω d' represent the spectral null position set of the constant-amplitude autocorrelation sequence pair (c, d'), and the periodic correlation function of the constant-amplitude autocorrelation sequence pair (c, d') is R (c,d') (·);

[0014] Determine the points with a spectrum of 0 as the primary user, indicating the occupied carrier or the reserved carrier, and the points with a non-zero spectrum as the secondary user, indicating the idle carrier.

[0015] In an alternative embodiment of the present application, the periodic correlation function of the constant-amplitude autocorrelation sequence pair (c, d') is

[0016]

[0017] In the formula, [·] * represents the conjugate operation, where, U = {u i |0 ≤ i < k}, V = {v i |0 ≤ i < k} are respectively the transmitted sequence c and the received sequence d in the constant-amplitude autocorrelation sequence pair (c, d) with a length of L.

[0018] In an alternative embodiment of the present application, the method further includes:

[0019] Receiving radar signals through the carrier assigned to the radar module of the drone;

[0020] The radar signal is analyzed to obtain the driving information of the UAV, wherein the driving information includes information of speed, acceleration and flight direction.

[0021] In an optional embodiment of the present application, the method further includes:

[0022] receiving a communication signal via a carrier wave assigned to a communication module of the drone;

[0023] Analyzing the communication signal to obtain information about changes in terrain, obstacles, and environment around the drone;

[0024] Based on the changing information of the terrain, obstacles and environment around the drone and the driving information of the drone, a control instruction for the drone is generated, and the control instruction is sent to the drone through a carrier assigned to the communication module of the drone.

[0025] In a second aspect of an embodiment of the present application, there is provided an information transmission method, which is applied to a drone, wherein the drone has a communication module and a radar module, and the method comprises:

[0026] Receive carrier configuration information sent by a base station, the carrier configuration information including: a carrier allocated to a radar module of the drone and a carrier allocated to a communication module of the drone, wherein the base station performs carrier allocation according to any one of the methods described in the first aspect above;

[0027] Sending a radar signal to the base station through a carrier wave assigned to the radar module of the drone, wherein the radar signal is used to characterize the driving information of the drone, wherein the driving information includes information of speed, acceleration and flight direction;

[0028] Through the carrier allocated to the communication module of the drone, a communication signal is sent to the base station and a control instruction sent by the base station is received and executed. The communication signal is used to characterize the change information of the terrain, obstacles and environment around the drone.

[0029] In a third aspect of an embodiment of the present application, a carrier allocation device is provided, which is applied to a base station. The device includes:

[0030] A construction module, for constructing a spectral constraint sequence pair set using a ZC sequence set and an equal-amplitude autocorrelation sequence pair by using a Kronecker product;

[0031] The allocation module is used to allocate the occupied carrier or the reserved carrier as a carrier used by the primary user and allocate it to the radar module of the drone, and to allocate the idle carrier as a carrier used by the secondary user and allocate it to the communication module of the drone.

[0032] In a fourth aspect of an embodiment of the present application, an information transmission device is applied to a drone, wherein the drone has a communication module and a radar module, and the device includes:

[0033] An information receiving module, configured to receive carrier configuration information sent by a base station, the carrier configuration information comprising: a carrier allocated to a radar module of the drone and a carrier allocated to a communication module of the drone, wherein the base station performs carrier allocation according to any one of the methods described in the first aspect above;

[0034] A radar signal sending module, used to send a radar signal to the base station through a carrier assigned to the radar module of the drone, wherein the radar signal is used to characterize the driving information of the drone, and the driving information includes information on speed, acceleration and flight direction;

[0035] A communication signal sending module is used to send communication signals to the base station through a carrier assigned to the communication module of the drone and to receive and execute control instructions sent by the base station, wherein the communication signal is used to characterize the change information of the terrain, obstacles and environment around the drone.

[0036] In a fifth aspect of an embodiment of the present application, an electronic device is proposed, comprising a memory, a processor, and a computer program stored on the memory, wherein the processor executes the computer program to implement the carrier allocation method described in any one of the first aspects above, or to implement the information transmission method described in the second aspect above.

[0037] In a sixth aspect of an embodiment of the present application, a computer-readable storage medium is proposed, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the carrier allocation method described in any one of the first aspects above is implemented, or the information transmission method described in the second aspect above is implemented.

[0038] The present application includes the following advantages: a carrier allocation, information transmission method, device, equipment and medium proposed in the present application are applied to base stations, using ZC sequence sets and equal-amplitude autocorrelation sequence pairs, and using Kronecker products to construct spectrum-constrained sequence pair sets; the occupied carrier or the reserved carrier is used as the carrier used by the primary user and allocated to the radar module of the drone, and the idle carrier is used as the carrier used by the secondary user and allocated to the communication module of the drone. The present application first proposes the concept of spectrum-constrained sequence pair sets, and constructs spectrum-constrained sequence pair sets, which have spectrum-constrained zero points in the frequency domain and good correlation in the time domain, and the spectrum-constrained sequence pair sets are applied to non-continuous spectrum carrier communication, which can not only enable radar and communication to share spectrum, improve spectrum utilization, but also do not affect the time-domain correlation detection performance of the receiving end. The constructed sequence pair set has more flexible set parameters and spectrum-space constraint characteristics, and increases the number of users in the communication system. The use of sequence pairs is more conducive to hardware implementation, increases the existence form and number of signal sets, and the sequence pairs used by the base station and the drone are different characters, which have higher anti-interference ability, and enhance the confidentiality and security of the method. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application 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 any creative labor.

[0040] Figure 1 It is a schematic diagram of the steps of a carrier allocation method proposed in an embodiment of the present application;

[0041] Figure 2 It is a schematic diagram of the steps of an information transmission method proposed in an embodiment of the present application;

[0042] Figure 3 is an architecture diagram of a carrier allocation device proposed in an embodiment of the present application;

[0043] Figure 4 It is an architectural diagram of an information transmission device proposed in an embodiment of the present application;

[0044] Figure 5 It is a schematic diagram of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] 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 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.

[0046] In today's communications field, especially in the telecommunications field, unmanned services such as drones are an important new development direction for telecommunications. In the communication resource allocation methods currently proposed for drone-assisted networks, deep learning algorithms are usually used to achieve resource allocation between users and drones. This method requires training of deep learning models, which increases the complexity and time cost of model storage, and the trained deep learning models have poor universality. There are also methods that optimize and update the channel utilization of drones by combining the time and frequency domains, but this method will increase the loss of drones jumping between different channels and increase resource consumption.

[0047] Synaesthesia integration is one of the key technologies in the evolution of wireless communication networks. It refers to the deep integration of communication and perception functions through a series of devices and algorithms. Synaesthesia integration is conducive to enhancing low-altitude economic support and low-altitude security, as well as ground-to-air integrated control and sea surface monitoring, as well as smart city construction and smart home upgrades.

[0048] Based on this, the present application proposes a carrier allocation method for a telepathic UAV. After the communication carrier position and radar carrier position in the predetermined frequency band are determined, information is exchanged with the base station to avoid interference between the radar carrier and the communication carrier during the UAV driving process, so as to improve the utilization rate of the frequency band resources.

[0049] In a first aspect of the embodiment of the present application, a carrier allocation method is proposed, referring to Figure 1 , Figure 1 1 is a flow chart of a carrier allocation method proposed in an embodiment of the present application, wherein the method comprises the following steps:

[0050] Step 101: Use the ZC sequence set and the equal-amplitude autocorrelation sequence pairs to construct a spectral constraint sequence pair set using the Kronecker product.

[0051] Step 102: The occupied carrier or the reserved carrier is used as a carrier for a primary user and is allocated to a radar module of the drone, and the idle carrier is used as a carrier for a secondary user and is allocated to a communication module of the drone.

[0052] In the specific implementation step 101, first obtain the ZC sequence set and the constant-amplitude autocorrelation sequence pair respectively. Here, the ZC sequence set refers to the Zadoff-Chu (ZC) sequence set, which is a linear frequency modulation pulse compression sequence and is widely used in aspects such as synchronization and channel estimation in communication systems. The constant-amplitude autocorrelation sequence pair refers to a pair of sequences with equal amplitudes, and the autocorrelation function between the sequences is zero at all points except zero delay.

[0053] To clearly understand the constant-amplitude autocorrelation sequence pair proposed in this application, this application first gives an exemplary description of the sequence pair: Let a = (a(0), a(1),..., a(N - 1)) and b = (b(0), b(1),..., b(N - 1)) be sequences with a period of N respectively. Then the sequences a and b form a sequence pair, denoted as the sequence pair (a, b). If a(t) = ±1, b(t) = ±1, t = 0,..., N - 1, then the sequence pair (a, b) is called a binary sequence pair. The sequences a and b are two complex sequences of length N, a(t) = (a(0), a(1),..., a(N - 1)), b(t) = (b(0), b(1),..., b(N - 1)), and their autocorrelation periodic function R (a,b) (τ) is defined as The perimeters of the sequences a and b are both N, and the autocorrelation function between the sequences a and b is zero at all points except zero delay. Then the sequence pair (a, b) is a constant-amplitude autocorrelation sequence pair.

[0054] Furthermore, based on the ZC sequence set and the constant-amplitude autocorrelation sequence pair, use the Kronecker product to construct a spectrum-constrained sequence pair set, and use the spectrum-constrained sequence pair set constructed by the Kronecker product as the basis for carrier allocation. Among them, the Kronecker product is an operation between two matrices of any size. The number of rows of the matrix is the product of the number of rows of the first matrix and the number of rows of the second matrix, and the number of columns is the product of the number of columns of the first matrix and the number of columns of the second matrix.

[0055] Exemplarily, let the sequence p of length N = (p(n), 0 ≤ n < N) and the sequence c of length L = (c(l), 0 ≤ l < L), then is the Kronecker product sequence of the sequences c and p, where represents the Kronecker product, k = lN + n, 0 ≤ l < L, 0 ≤ n < N.

[0056] Before explaining the spectrum constraint sequence pair set, it is necessary to first explain the sequence pair, spectrum constraint and spectrum space constraint sequence. The spectrum constraint sequence pair set is explained in combination with the description of sequence pair, spectrum constraint and spectrum space constraint sequence. In the above description, the sequence pair is used as an example. Next, the spectrum constraint and spectrum space constraint sequence are explained. The spectrum constraint means: Cognitive Radio (CR) is an effective way to improve the utilization of spectrum resources. As a spectrum access method, the CR system senses and searches for unused frequency bands (spectrum holes) for secondary users on the basis of ensuring that the normal communication of the primary user is not interfered with, thereby improving the utilization of frequency band resources. Traditional sequences often destroy the original good correlation in non-continuous communications. In the CR system, assuming that a frequency band is divided into L carriers, use κ=[k0,k1,...,k L-1 ] T Defined as a marker vector, marking the activity status of L carriers, represents the vector transpose. p =1, it means that the pth carrier is idle and can be used by the current user; when k p = 0, it means that the carrier is occupied or reserved by other users and is not allowed to be used by the current user. This is called a prohibited carrier. p =0,p∈Z L}, Ω represents the set of all prohibited carrier positions, i.e., the spectrum constraint position set. Spectral space constraint sequence: For a time domain sequence c = (c(0), c(1), ..., c(N-1)) with a length of N, the corresponding frequency domain sequence is C = (C0, C1, ..., C N-1 ). When |C i |≤ρ, i∈Ω, where ρ is a smaller value set, called the maximum power leakage on the prohibited carrier. i |=0, i∈Ω, then c is a spectral space constraint sequence. Through the description of sequence pairs, spectral constraints and spectral space constraint sequences, the set of spectral constraint sequence pairs can be considered as: a set of ordered pairs, each of which satisfies some spectrum-related constraints, which may involve the numerical relationship between the elements in the ordered pairs, their spectral characteristics, or some relationship between them and other ordered pairs.

[0057] When step 102 is specifically implemented, the occupied carrier or the reserved carrier is used as the carrier for the primary user and is allocated to the radar module of the drone, and the idle carrier is used as the carrier for the secondary user and is allocated to the communication module of the drone, so as to realize information interaction between the communication base station and the drone, thereby avoiding interference between the radar carrier and the communication carrier.

[0058] In an alternative embodiment of the present application, in step 101 above, a spectrum-constrained sequence pair set is constructed using a ZC sequence set and an equal-amplitude autocorrelation sequence pair by means of the Kronecker product, which specifically includes the following process: First, an equal-amplitude autocorrelation sequence pair (c, d) with length L is obtained, where c = (c(0), c(1),..., c(N - 1)), d = (d(0), d(1),..., d(N - 1)), c(t) = ±1, d(t) = ±1, t = 0,..., N - 1. Then, a ZC sequence set S = {s i , 0 ≤ i < M} is obtained, where s i = (s i (n), 0 ≤ n < N), and M is the number of ZC sequences.

[0059] After obtaining the equal-amplitude autocorrelation sequence pair (c, d) and the ZC sequence set S, since the amplitude of the correlation function of the equal-amplitude autocorrelation sequence pair is relatively low and not easily detected, to improve the detection performance of the equal-amplitude autocorrelation sequence pair, the original sequence can be replaced with a Gaussian integer sequence as the local sequence at the receiving end to increase the amplitude of the correlation function of the sequence pair. Specifically: Keep the transmitted sequence c in the equal-amplitude autocorrelation sequence pair unchanged, and perform a replacement operation on the received sequence d in the equal-amplitude autocorrelation sequence pair (c, d) as the local sequence to obtain an equal-amplitude autocorrelation sequence pair (c, d'), where the above replacement operation includes: replacing -1 in the original received sequence d with a Gaussian integer x, and +1 with a Gaussian integer y to obtain a new received sequence d', where c = (c(t)|0 ≤ t < N), d' = (d'(t)|0 ≤ t < N).

[0060] Finally, for the above equal-amplitude autocorrelation sequence pair (c, d') after replacement and the above ZC sequence set, perform the Kronecker product according to the following formula to obtain an approximate zero-correlation sequence pair set (Sequence pair set with approximate ZCZ), which can be denoted as AZCZ-(N, M, Z, δ), as the above spectrum-constrained sequence pair set ψ = {(g i , h i ), 0 ≤ i < M};

[0061] In an alternative embodiment of the present application, the above spectrum-constrained sequence pair set ψ is a spectrum-constrained sequence pair set. The length of the above spectrum-constrained sequence pair set is NL, there are M subsequence pair sets, the zero-correlation interval length is N, the autocorrelation function and the cross-correlation function are 0 ≤ j < M; the spectrum null position set of the above spectrum-constrained sequence pair set is 0 ≤ n < N, where Ω c and Ω d'Denote the spectral null position set of the above equal-amplitude autocorrelation sequence pair (c, d'), and the periodic correlation function of the above equal-amplitude autocorrelation sequence pair (c, d') is R (c,d') (·); Based on the set of spectral constraint sequence pairs, the points with spectrum 0 are determined as the primary users, representing the occupied carriers or the reserved carriers, and the points with non-zero spectrum are the secondary users, representing the idle carriers. In addition, the secondary users cannot interfere with the communication of the primary users after accessing.

[0062] The base station applies the constructed set of spectral constraint sequence pairs to allocate carrier resources. The base station senses the spectrum of the transmitted sequences in the set of spectral constraint sequence pairs through the CR system, marks the occupied or reserved carriers and the idle carriers, defines the occupied or reserved carriers as the primary users, and the idle carriers as the secondary users. Define the radar transmission carrier as the primary user and the communication carrier as the secondary user, so that the communication carrier will not interfere with the transmission of the radar signal when accessing the system; the received sequence is used as the local sequence to match the transmitted sequence, improving the in-phase autocorrelation amplitude of the sequence pair set, enhancing the signal detection ability, and avoiding being submerged by noise.

[0063] In an alternative embodiment of the present application, the calculation formula of the periodic correlation function of the above equal-amplitude autocorrelation sequence pair (c, d') is expressed as follows:

[0064]

[0065] In the formula, [·] * represents the conjugate operation, where U = {u i |0 ≤ i < k}, V = {v i |0 ≤ i < k} are respectively the transmitted sequence c and the received sequence d in the equal-amplitude autocorrelation sequence pair (c, d) of length L.

[0066] In another alternative embodiment of the present application, given U = {u i |0 ≤ i < k} and V = {v j |0 ≤ i < k'} are two subsets on the integer ring Z N , Z N represents modulo N, k and k' are respectively the number of elements in sets U and V, then (U, V) is called a difference set pair, denoted as (N, k, k', e, λ)-DSP, where e = the number of elements in U ∩ V. The parameters of the difference set pair satisfy the following relationship kk' = λ(N - 1) + e. The characteristic sequence pair corresponding to the difference set pair (U, V) is (x, y). If for the equal-amplitude autocorrelation sequence pair (c, d) of period N generated by (N, k, k', e, e)-DSP (U, V), where U and V respectively define the sequences c and d of period N. After the above replacement operation, a new sequence d' is obtained, which is expressed as follows:

[0067]

[0068] The calculation formula of the periodic correlation function of the equal-amplitude autocorrelation sequence pair (c, d') can be expressed as follows:

[0069]

[0070] Finally, we get R (c,d') (τ) = (N - 2k - k' + 2e)y * + (k' - 2e)x * .

[0071] In an alternative embodiment of the present application, the spectral empty position sets Ω c and Ω d' of the equal-amplitude autocorrelation sequence pair (c, d') are the spectral constraint position sets of the characteristic sequence pairs generated by difference set pairs, which are the spectral empty position sets of the (L, me, me, e, e)-DSP characteristic sequence pair and the (pq, p, q, 1, 1)-DSP characteristic sequence pair, respectively.

[0072] The spectral empty position set of the (L, me, me, e, e)-DSP characteristic sequence pair (c, d) is expressed as follows:

[0073]

[0074] where 0 ≤ k c < L, α ∈ Z + , 0 ≤ k d < L, β ∈ Z.

[0075] The spectral empty position set of the (pq, p, q, 1, 1)-DSP characteristic sequence pair is:

[0076] D = {0, q, 2q,..., (p - 1)q} and D' = {0, p, 2p,..., (q - 1)p} form the difference set pair (pq, p, q, 1, 1)-DSP, where p and q are prime numbers and p ≠ q. The characteristic sequence pair of (D, D') is (c, d), and its spectral empty position sets are respectively Ω c = {k c} and Ω d = {k d}, k c ≠ αp, and k d ≠ αq, 0 ≤ k c , k d < L, α ∈ Z. Replacing the characteristic sequence pair (c, d) with (c, d'), we can obtain the spectral empty position sets Ω c and Ω d' .

[0077] In an optional embodiment of the present application, before constructing the spectral constraint sequence pair set using the Kronecker product, the method further includes: inducing the relationship between the spectral sequence U of the Kronecker product sequence u and the spectral sequence C of the component sequence c, and constructing an equal-amplitude autocorrelation sequence pair with arbitrary length and flexible spectral constraints. The relationship between the spectral sequence U of the Kronecker product sequence u and the spectral sequence C of the component sequence c is as follows:

[0078] The spectral sequence of the Kronecker product sequence u is U = (U(k), 0 ≤ k < NL),

[0079]

[0080] In the formula, t = lN + n, k = k p L + k c , 0 ≤ l < L, 0 ≤ n < N, 0 ≤ k c < L, 0 ≤ k p < N.

[0081] The construction method of the equal-amplitude autocorrelation sequence pair with flexible spectral constraints is as follows: Let the frequency-domain sequences C = (C(k), 0 ≤ k < L) and D = (D(k), 0 ≤ k < L) satisfy C(k)D * (k) = Qδ(k), where Q is a constant and δ(k) is an impulse function. Then, except for k = 0, the spectral empty positions of C(k) and D(k) can be flexibly set.

[0082] The embodiment of the present application successfully constructs an equal-amplitude autocorrelation sequence pair with arbitrary spectral empty constraints, and proves the characteristics of the spectral empty position set of the equal-amplitude autocorrelation sequence pair constructed by the difference set pair, thereby making the Kronecker product sequence have more flexible spectral empty constraints.

[0083] In an optional embodiment of the present application, the above-mentioned unmanned aerial vehicle includes a radar module and a communication module. The function of the radar module is to perform image processing and data analysis, and use a preset radar signal carrier for transmission. The function of the communication module is to establish a wireless communication connection with the base station, and send a large amount of information to the base station for information interaction at high speed and high efficiency. The information transmitted by the radar module is encapsulated and encrypted, and the signal is modulated and sent to the base station for processing, using a preset communication transmission carrier for transmission, avoiding interference with the radar signal.

[0084] In an optional embodiment of the present application, the radar module of the above-mentioned drone includes a laser radar, a millimeter wave radar, a camera, an ultrasonic sensor, an infrared sensor, a satellite positioning system and an inertial measurement unit. Among them, the laser radar is one of the main sensors in drone driving. By emitting and receiving laser beams, it can provide high-precision obstacle detection and positioning, and can be applied to various environments. Millimeter wave radar detects the distance, angle and speed of objects by emitting and receiving millimeter waves, and can perform well in bad weather. It is suitable for tasks such as adaptive cruise control, collision warning, and blind spot detection. The camera is used for visual perception of the drone. It captures and analyzes images to identify terrain, road signs and obstacles, assists drone flight, and predicts the movement behavior of surrounding objects to make judgments. Ultrasonic sensors are used for close-range detection and detect obstacles when the drone is landing or flying at low speed. Infrared sensors detect the temperature and distance of objects through infrared radiation emitted by objects, which helps drones drive at night or in low visibility. Satellite positioning in the satellite positioning system and inertial measurement unit provides global positioning information for drones, and the inertial measurement unit detects the acceleration and angle of drones for positioning and navigation.

[0085] In an optional embodiment of the present application, the communication module of the above-mentioned drone includes a 5G communication module, a satellite navigation signal, and a local area network communication. Among them, the 5G communication module includes a communication chip and a memory, which is combined with a radio frequency circuit and positioning, which is helpful for the data transmission and remote control of the drone, improves the communication efficiency of the drone, and can expand its application scenarios. The module has the advantages of low latency, high speed, and ultra-large capacity data transmission. The satellite navigation signal enables the drone to obtain global positioning and improve the accuracy of the positioning position through real-time interactive feedback with satellite navigation systems such as Beidou satellites. In certain specific scenarios of local area network communication, the drone needs to communicate with the ground or other equipment in the same local area network. Through technologies such as intranet penetration, the drone can communicate directly with the ground receiving terminal, improve the execution efficiency of the task, and save time.

[0086] In an optional embodiment of the present application, after determining the carrier allocation, the method further includes: receiving a radar signal through a carrier allocated to the radar module of the above-mentioned UAV; parsing the received radar signal to obtain driving information of the UAV, the driving information of the UAV including information on speed, acceleration and flight direction, and after knowing the above-mentioned driving information, the radar module aggregates all the driving information and transmits it to the communication module.

[0087] In another optional embodiment of the present application, after determining the carrier allocation, the method further includes: receiving a communication signal through a carrier allocated to the communication module of the above-mentioned drone; parsing the above-mentioned communication signal to obtain information on changes in the terrain, obstacles and environment around the drone; further, based on the information on changes in the terrain, obstacles and environment around the above-mentioned drone and the driving information of the drone, generating control instructions for the drone, and sending control instructions to the drone through the carrier allocated to the communication module of the drone. The communication module establishes a wireless communication connection with the base station, and sends massive amounts of information at high speed and efficiency to interact with the base station. The information transmitted by the radar module is encapsulated and encrypted, the signal is modulated and sent to the base station for processing, and the preset communication transmission carrier is used for transmission to avoid interference with the radar signal.

[0088] In an optional embodiment of the present application, a base station module is also constructed at the base station to demodulate the received signal and recover the modulated signal, that is, the information transmitted by the drone is integrated and processed, and sent to the system terminal for research and judgment, and instructions are issued to the drone to make rapid responses and adjustments. The above-mentioned base station module includes base station enhanced image transmission technology, a transceiver and a controller, and a 5G base station. Among them, the base station enhanced image transmission technology is transmitted and forwarded between base stations, and the drone and the ground receiving terminal are no longer restricted by point-to-point communication. It is suitable for scenes with obstacles and can improve obstacle detection efficiency and flight safety. The transceiver in the transceiver and controller belongs to a wireless signal modem, which is responsible for receiving, processing and retransmitting drone signals. In an area, multiple sub-base stations and transceivers form a cellular network, and the transmission of drone communication signals is realized by controlling the signal reception and transmission between transceivers. The controller includes an antenna transceiver, an antenna, and a signal processing circuit, which is responsible for the interface management of wireless communication and is used for the allocation, release and management of wireless channels. The 5G base station is divided into a 5G baseband unit and a 5G radio frequency unit. The baseband unit is responsible for baseband protocol processing and provides a return interface with the core network and an interconnection interface between base stations. The radio frequency unit completes the conversion between baseband signals and radio frequency signals and completes the radio frequency signal processing functions.

[0089] The present application proposes a carrier allocation method, which is applied to a base station, using a ZC sequence set and an equal-amplitude autocorrelation sequence pair, and using the Kronecker product to construct a spectrum-constrained sequence pair set; the occupied carrier or the reserved carrier is used as a carrier for the primary user and is allocated to the radar module of the drone, and the idle carrier is used as a carrier for the secondary user and is allocated to the communication module of the drone. The present application proposes the concept of a spectrum-constrained sequence pair set for the first time, and constructs a spectrum-constrained sequence pair set. The spectrum-constrained sequence pair set has spectrum-constrained zero points in the frequency domain and good correlation in the time domain. Applying the spectrum-constrained sequence pair set to non-continuous spectrum carrier communication can not only enable radar and communication to share spectrum and improve spectrum utilization, but also does not affect the time-domain correlation detection performance of the receiving end. The constructed sequence pair set has more flexible set parameters and spectrum-space constraint characteristics, which increases the number of users in the communication system. The use of sequence pairs is more conducive to hardware implementation, increases the existence form and number of signal sets, and the sequence pairs used by base stations and drones are different characters, which have higher anti-interference ability and enhance the confidentiality and security of the method. This method is implemented through mathematical analysis, without the need to set additional conditions manually, and does not require complex iterative processes to consume resources, and is more rigorous and accurate.

[0090] In a second aspect of the embodiment of the present application, an information transmission method is provided, which is applied to a drone, wherein the drone has a communication module and a radar module. Figure 2 , Figure 2 1 is a schematic diagram of a method for transmitting information according to an embodiment of the present invention, wherein the method comprises the following steps:

[0091] Step 201: receiving carrier configuration information sent by a base station, the carrier configuration information including: a carrier allocated to a radar module of the drone and a carrier allocated to a communication module of the drone, wherein the base station performs carrier allocation according to any one of the methods described in the first aspect above;

[0092] Step 202: Sending a radar signal to the base station via a carrier wave assigned to the radar module of the drone, wherein the radar signal is used to characterize the driving information of the drone, wherein the driving information includes information of speed, acceleration and flight direction;

[0093] Step 203: Send a communication signal to the base station and receive and execute a control instruction sent by the base station through a carrier assigned to the communication module of the drone, wherein the communication signal is used to characterize the change information of the terrain, obstacles and environment around the drone.

[0094] After the base station receives the driving information and change information sent by the drone, it studies and judges these information, and then issues control instructions for the driving of the drone, so that the drone responds to the control instructions and completes the corresponding tasks. Specifically, the drone first receives the carrier configuration information sent by the base station, and the configuration information includes the carrier assigned to the radar module of the drone and the carrier assigned to the communication module of the drone. The base station allocates the carrier according to the carrier allocation method proposed in the first aspect of the embodiment of the present application. Then, a radar signal is sent to the base station through the carrier assigned to the radar module of the drone. The radar signal is used to characterize the driving information of the drone, and the driving information includes information about speed, acceleration and flight direction. Through the carrier assigned to the communication module of the drone, a communication signal is sent to the base station and the control instructions sent by the base station are received and executed. The communication signal is used to characterize the terrain, obstacles and environmental change information around the drone, and the drone performs the corresponding task according to the received control instructions.

[0095] An embodiment of the present application proposes an information transmission method, which is applied to the communication between a drone and a base station. The carrier used by the radar equipment is defined as the primary user, and the carrier used by the communication equipment is defined as the secondary user, so that the radar and the communication equipment can reasonably share the spectrum, avoiding interference between carriers, and facilitating good information interaction with the base station.

[0096] In a third aspect of the embodiment of the present application, a carrier allocation device is provided, which is applied to a base station. Figure 3 , Figure 3 : is an architecture diagram of a carrier allocation device proposed in an embodiment of the present application, the device comprising:

[0097] A construction module 301 is used to construct a spectral constraint sequence pair set using a ZC sequence set and a constant amplitude autocorrelation sequence pair by adopting a Kronecker product;

[0098] The allocation module 302 is used to allocate the occupied carrier or the reserved carrier as a carrier used by the primary user and allocate it to the radar module of the drone, and allocate the idle carrier as a carrier used by the secondary user and allocate it to the communication module of the drone.

[0099] Wherein, the construction module includes:

[0100] The equal-amplitude autocorrelation sequence pair acquisition submodule is used to acquire an equal-amplitude autocorrelation sequence pair (c, d) of length L, c = (c(0), c(1) ..., c(N-1)), d = (d(0), d(1) ..., d(N-1)), c(t) = ±1, d(t) = ±1, t = 0, ..., N-1;

[0101] The ZC sequence set acquisition submodule is used to acquire the ZC sequence set S = {s i, 0 ≤ i < M}, s i = (s i (n), 0 ≤ n < N), where M is the number of ZC sequences;

[0102] Replacement sub-module, used to keep the transmitted sequence c in the constant-amplitude autocorrelation sequence pair unchanged, and use the received sequence d in the constant-amplitude autocorrelation sequence pair (c, d) as the local sequence for replacement operation to obtain the constant-amplitude autocorrelation sequence pair (c, d'), and the replacement operation includes: replacing -1 in the original received sequence d with the Gaussian integer x, and +1 with the Gaussian integer y to obtain the new received sequence d', where c = (c(t)|0 ≤ t < N), d' = (d'(t)|0 ≤ t < N);

[0103] Kronecker product sub-module, used to perform Kronecker product on the constant-amplitude autocorrelation sequence pair (c, d') and the ZC sequence set according to the following formula to obtain the spectral constraint sequence pair set ψ = {(g i , h i ), 0 ≤ i < M};

[0104] Among them, the length of the spectral constraint sequence pair set in the Kronecker product sub-module is NL, there are M subsequence pair sets, the zero correlation interval length is N, the autocorrelation function The cross-correlation function is The spectral empty position set of the spectral constraint sequence pair set is 0 ≤ n < N, where, Ω c and Ω d' represent the spectral empty position set of the constant-amplitude autocorrelation sequence pair (c, d'), and the periodic correlation function of the constant-amplitude autocorrelation sequence pair (c, d') is R (c,d') (·); The device further includes:

[0105] Determination module, used to determine the points with spectrum 0 as the primary user, representing the occupied carrier or the reserved carrier, and the points with non-zero spectrum as the secondary user, representing the idle carrier.

[0106] Among them, the periodic correlation function of the constant-amplitude autocorrelation sequence pair (c, d') in the Kronecker product sub-module is

[0107]

[0108] In the formula, [·] * represents the conjugate operation, where, U = {u i |0 ≤ i < k}, V = {v i |0 ≤ i < k} are respectively the transmitted sequence c and the received sequence d in the constant-amplitude autocorrelation sequence pair (c, d) with length L.

[0109] Wherein, the device further comprises:

[0110] a radar signal receiving submodule, configured to receive a radar signal via a carrier wave assigned to the radar module of the UAV;

[0111] The radar signal analysis submodule is used to analyze the radar signal to obtain the driving information of the UAV, wherein the driving information includes information of speed, acceleration and flight direction.

[0112] Wherein, the device further comprises:

[0113] A communication signal receiving submodule, used to receive a communication signal via a carrier assigned to the communication module of the drone;

[0114] A communication signal analysis submodule, used to analyze the communication signal to obtain information about changes in the terrain, obstacles and environment around the UAV;

[0115] The control instruction generation and sending submodule is used to generate control instructions for the drone based on the change information of the terrain, obstacles and environment around the drone and the driving information of the drone, and send the control instructions to the drone through the carrier assigned to the communication module of the drone.

[0116] In a fourth aspect of the embodiment of the present application, an information transmission device is provided, which is applied to a drone, wherein the drone has a communication module and a radar module. Figure 4 , Figure 4 : is an architecture diagram of an information transmission device proposed in an embodiment of the present application, the device comprising:

[0117] A carrier configuration information receiving module 401 is used to receive carrier configuration information sent by a base station, wherein the carrier configuration information includes: a carrier allocated to the radar module of the drone and a carrier allocated to the communication module of the drone, wherein the base station performs carrier allocation according to any one of the methods described in the first aspect above;

[0118] A radar signal sending module 402, configured to send a radar signal to the base station through a carrier wave assigned to the radar module of the drone, wherein the radar signal is used to characterize the driving information of the drone, and the driving information includes information on speed, acceleration and flight direction;

[0119] The communication signal sending module 403 is used to send communication signals to the base station and receive and execute control instructions sent by the base station through the carrier assigned to the communication module of the drone, and the communication signal is used to characterize the change information of the terrain, obstacles and environment around the drone.

[0120] Based on the same application concept, the present application embodiment discloses an electronic device in a fifth aspect. Figure 5 A schematic diagram of an electronic device disclosed in an embodiment of the present application is shown. Figure 5 As shown, the electronic device 100 includes: a memory 110 and a processor 120, the memory of the electronic device is not less than 12G, the main frequency of the processor is not less than 2.4GHz, the memory 110 and the processor 120 are connected via a bus communication, and a computer program is stored in the memory 110. The computer program can be run on the processor 120 to implement a carrier allocation method disclosed in an embodiment of the present application, or an information transmission method.

[0121] Based on the same application concept, the sixth aspect of the embodiment of the present application discloses a computer-readable storage medium, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, a carrier allocation method or an information transmission method disclosed in the embodiment of the present application is implemented.

[0122] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0123] The embodiments of the present application are described with reference to the flowcharts and / or block diagrams of the methods, apparatuses, electronic devices, and computer program products according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0124] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0125] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0126] Although the preferred embodiments of the present application have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present application.

[0127] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0128] The above is a detailed introduction to a carrier allocation, information transmission method, device, equipment and medium provided by the present application. Specific examples are used in this article to illustrate the principles and implementation methods of the present application. The description of the above embodiments is only used to help understand the method of the present application and its core idea; at the same time, for general technical personnel in this field, according to the idea of ​​the present application, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present application.

Claims

1. A carrier allocation method, characterized in that: Applied to a base station, the method comprises: Using the ZC sequence set and the equal-amplitude autocorrelation sequence pairs, the spectral constraint sequence pair set is constructed by using the Kronecker product; The occupied carrier or the reserved carrier is used as a carrier for a primary user and is allocated to a radar module of the drone, and the idle carrier is used as a carrier for a secondary user and is allocated to a communication module of the drone.

2. The carrier allocation method according to claim 1, characterized in that: Using the ZC sequence set and the equal-amplitude autocorrelation sequence pairs, the Kronecker product is used to construct the spectral constraint sequence pair set, including: Obtain an equal-amplitude autocorrelation sequence pair (c, d) of length L, c = (c(0), c(1) ..., c(N-1)), d = (d(0), d(1) ..., d(N-1)), c(t) = ±1, d(t) = ±1, t = 0, ..., N-1; Obtain the ZC sequence set \(S = \{s i , 0\leq i < M\}\), where \(s i =(s i (n), 0\leq n < N)\), and \(M\) is the number of ZC sequences; Keep the transmission sequence c in the equal amplitude autocorrelation sequence pair unchanged, and use the receiving sequence d in the equal amplitude autocorrelation sequence pair (c, d) as a local sequence to perform a replacement operation to obtain the equal amplitude autocorrelation sequence pair (c, d'), wherein the replacement operation includes: replacing -1 in the original receiving sequence d with a Gaussian integer x, and replacing +1 with a Gaussian integer y, to obtain a new receiving sequence d', where c = (c(t)|0≤t <N),d'=(d'(t)|0≤t<N); For the equal-amplitude autocorrelation sequence pair (c, d') and the ZC sequence set, the Kronecker product is performed according to the following formula to obtain the spectral constraint sequence pair set ψ = {(g i ,h i ),0≤i <M}; 3. The carrier allocation method according to claim 2, characterized in that: The length of the spectral constraint sequence pair set is NL, there are M sub-sequence pair sets, the length of the zero correlation zone is N, and the autocorrelation function The cross-correlation function is The spectral null position set of the spectral constraint sequence pair set is 0 ≤ n < N, where Ω c and Ω d' represent the spectral null position set of the constant amplitude autocorrelation sequence pair (c, d'), and the periodic correlation function of the constant amplitude autocorrelation sequence pair (c, d') is R (c,d') (·); The points where the spectrum is 0 are determined as primary users, indicating occupied carriers or reserved carriers, and the points where the spectrum is not 0 are determined as secondary users, indicating idle carriers.

4. The carrier allocation method according to claim 3, characterized in that: The periodic correlation function of the equal-amplitude autocorrelation sequence pair (c, d') is wherein, [·] * represents the conjugate operation, where U = {u i | 0 ≤ i < k}, V = {v i | 0 ≤ i < k} are respectively the transmitted sequence c and the received sequence d in the equal-amplitude autocorrelation sequence pair (c, d) of length L.

5. The carrier allocation method according to claim 1, characterized in that: The method further comprises: receiving a radar signal via a carrier wave assigned to a radar module of the drone; The radar signal is analyzed to obtain the driving information of the UAV, wherein the driving information includes information of speed, acceleration and flight direction.

6. The carrier allocation method according to claim 1, characterized in that: The method further comprises: receiving a communication signal via a carrier wave assigned to a communication module of the drone; Analyzing the communication signal to obtain information about changes in terrain, obstacles, and environment around the drone; Based on the changing information of the terrain, obstacles and environment around the drone and the driving information of the drone, a control instruction for the drone is generated, and the control instruction is sent to the drone through a carrier assigned to the communication module of the drone.

7. An information transmission method, characterized in that: Applied to a drone, the drone has a communication module and a radar module, the method comprises: Receive carrier configuration information sent by a base station, the carrier configuration information including: a carrier allocated to a radar module of the drone and a carrier allocated to a communication module of the drone, wherein the base station performs carrier allocation according to the method of any one of claims 1 to 6; Sending a radar signal to the base station through a carrier wave assigned to the radar module of the drone, wherein the radar signal is used to characterize the driving information of the drone, wherein the driving information includes information of speed, acceleration and flight direction; Through the carrier allocated to the communication module of the drone, a communication signal is sent to the base station and a control instruction sent by the base station is received and executed. The communication signal is used to characterize the change information of the terrain, obstacles and environment around the drone.

8. A carrier allocation device, characterized in that: Applied to a base station, the device comprises: A construction module, for constructing a spectral constraint sequence pair set using a ZC sequence set and an equal-amplitude autocorrelation sequence pair by using a Kronecker product; The allocation module is used to allocate the occupied carrier or the reserved carrier as a carrier used by the primary user and allocate it to the radar module of the drone, and to allocate the idle carrier as a carrier used by the secondary user and allocate it to the communication module of the drone.

9. An information transmission device, characterized in that: Applied to a drone, the drone has a communication module and a radar module, and the device includes: An information receiving module, configured to receive carrier configuration information sent by a base station, the carrier configuration information comprising: a carrier allocated to a radar module of the drone and a carrier allocated to a communication module of the drone, wherein the base station performs carrier allocation according to the method of any one of claims 1 to 6; A radar signal sending module, used to send a radar signal to the base station through a carrier assigned to the radar module of the drone, wherein the radar signal is used to characterize the driving information of the drone, and the driving information includes information on speed, acceleration and flight direction; A communication signal sending module is used to send communication signals to the base station through a carrier assigned to the communication module of the drone and to receive and execute control instructions sent by the base station, wherein the communication signal is used to characterize the change information of the terrain, obstacles and environment around the drone.

10. An electronic device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the carrier allocation method according to any one of claims 1 to 6, or to implement the information transmission method according to claim 7.

11. A computer-readable storage medium, characterized in that: A computer program / instruction is stored thereon, and when the computer program / instruction is executed by a processor, the carrier allocation method described in any one of claims 1 to 6 is implemented, or the information transmission method described in claim 7 is implemented.

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