Beam focusing parameter determination method and device

Abstract

The present disclosure proposes a beam focusing parameter determination method and device, which belongs to the data transmission technology in the communication field. The method reads the initial node information of the first system node and the initial state information of the target device. Since the initial state information includes the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter and the initial tangential angular velocity parameter, the accuracy of the position of the target device is improved to a certain extent; further, based on the initial distance parameter, the initial radial velocity parameter and the initial tangential angular velocity parameter, the perception mode is selected; then the predicted state parameters of the target device are predicted according to the perception mode; finally, according to the initial node information, the perception parameters corresponding to the perception mode and the predicted state parameters, the system-perceived collaborative communication mode is selected, and the beam focusing parameters are determined based on the collaborative communication mode. The steering vector corresponding to the terahertz mobile system in the communication process is corrected in real time, thereby improving the communication quality.

Description

Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to a method and device for determining beam focusing parameters. Background Art

[0002] During the communication process, the signal propagation of terahertz communication is easily affected by free space loss and macromolecular absorption. A high-gain ultra-large-scale antenna array can be used to reduce the impact. However, in near-field communication, ultra-large-scale antenna arrays will lead to inaccurate predictions of electromagnetic wave propagation behavior. In related technologies, beam focusing technology is used to solve the problem of near-field communication.

[0003] However, in near-field communications in mobile scenarios, due to the inaccurate position of the receiver, traditional beam focusing technology cannot correct the steering vector of the corresponding terahertz mobile system during the communication process in real time, which leads to poor communication quality. Summary of the invention

[0004] The present disclosure provides a method and device for determining beam focusing parameters.

[0005] In a first aspect of the present disclosure, an embodiment provides a method for determining a beam focusing parameter, which is executed by a first system node, where the first system node is any system node in a communication system. The method includes:

[0006] Reading initial node information of the first system node, and acquiring initial state information of the target device; the initial state information includes initial state parameters, and the initial state parameters include initial distance parameters, initial azimuth parameters, initial radial velocity parameters, and initial tangential angular velocity parameters;

[0007] Selecting a sensing mode based on the initial distance parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter;

[0008] generating an initial steering vector based on the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter;

[0009] predicting a predicted state parameter of the target device based on an echo signal, wherein the echo signal is a signal reflected by the target device after a signal is sent to the target device based on the sensing mode and the initial steering vector;

[0010] Based on the initial node information, the perception parameters corresponding to the perception mode and the predicted state parameters, a cooperative communication mode perceived by the system is selected, and a beam focusing parameter is determined based on the cooperative communication mode.

[0011] In an embodiment of the present disclosure, selecting a sensing mode based on the initial distance parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter includes:

[0012] generating a mobility parameter based on a square root of a sum of a first movement parameter and a second movement parameter, wherein the first movement parameter is the square of the initial radial velocity parameter, the second movement parameter is the product of a first sub-parameter and a second sub-parameter, the first sub-parameter is the square of an initial distance parameter, and the second sub-parameter is the product of the square of the initial distance parameter;

[0013] The sensing mode is determined based on a relationship between the mobility parameter and a first threshold and a second threshold, where the second threshold is greater than the first threshold.

[0014] In the embodiment of the present disclosure, determining the sensing mode based on the relationship between the mobility parameter and the first threshold and the second threshold includes:

[0015] If the mobility parameter is less than the first threshold, the sensing mode is a time-division integrated mode;

[0016] If the mobility parameter is greater than or equal to the second threshold, the sensing mode is a frequency division integrated mode;

[0017] If the mobility parameter is greater than or equal to the first threshold and less than or equal to the second threshold, the sensing mode is a space division integrated mode.

[0018] In an embodiment of the present disclosure, generating an initial steering vector based on the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter includes:

[0019] Generate initial distance domain information corresponding to the current moment based on the initial radial velocity parameter and the initial distance parameter; and generate initial angle domain information corresponding to the current moment based on the initial azimuth parameter and the initial tangential angular velocity parameter;

[0020] The initial steering vector of each antenna unit in the first system node is determined and generated according to the initial angle domain information, the initial distance domain information, the number of antenna units in the first system node, and the frequency.

[0021] In an embodiment of the present disclosure, predicting the predicted state parameter of the target device based on the echo signal includes:

[0022] extracting channel parameters from the echo signal;

[0023] A predicted state parameter of the target device is predicted based on the channel parameter.

[0024] In an embodiment of the present disclosure, the initial state information further includes an initial state variance, and the selecting the system-perceived collaborative communication mode based on the initial node information, the perception parameter corresponding to the perception mode, and the predicted state parameter includes:

[0025] generating the prediction variance information according to the initial node information, the perception parameter corresponding to the perception mode, and the prediction state parameter;

[0026] Based on the relationship between the prediction variance information and the initial state variance, a collaborative communication mode is determined.

[0027] In the embodiment of the present disclosure, the prediction variance information includes the distance prediction variance, the azimuth prediction variance, the radial velocity prediction variance, and the tangential angular velocity prediction variance; the initial state variance includes the initial distance variance, the initial azimuth variance, the initial radial velocity variance, and the initial tangential angular velocity variance;

[0028] The determining of the cooperative communication mode based on the relationship between the prediction variance information and the initial state variance includes:

[0029] If the square of the initial distance variance is less than or equal to the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is less than or equal to the square of the tangential angular velocity prediction variance, a predictive focusing collaborative mode is adopted, wherein the predictive focusing collaborative mode characterizes using the distance prediction variance, the azimuth prediction variance, the radial velocity prediction variance, and the tangential angular velocity prediction variance as a correction steering vector;

[0030] If the square of the initial distance variance is less than or equal to the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is greater than the square of the tangential angular velocity prediction variance, a fixed focus coordination mode is adopted, and the fixed focus coordination mode is used to characterize that the distance prediction variance, the azimuth prediction variance, the initial radial velocity variance, and the initial tangential angular velocity variance are used as the initial radial velocity variance and the initial tangential angular velocity variance is used as the correction steering vector;

[0031] If the square of the initial distance variance is greater than the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is less than or equal to the square of the tangential angular velocity prediction variance, a prediction alignment coordination mode is adopted, wherein the prediction alignment coordination mode represents taking the azimuth prediction variance, the tangential angular velocity prediction variance, the initial distance variance, and the initial radial velocity variance as the correction steering vector;

[0032] If the square of the initial distance variance is greater than the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is greater than the square of the tangential angular velocity prediction variance, a fixed alignment coordination mode is adopted. The fixed alignment coordination mode represents the use of the azimuth prediction variance, the initial distance variance, the initial radial velocity variance, and the initial tangential angular velocity variance as the correction steering vector.

[0033] In an embodiment of the present disclosure, determining a beam focusing parameter based on the cooperative communication mode includes:

[0034] Calculating correction domain information according to the type of the collaborative communication mode;

[0035] Based on the correction domain information, the correction steering vector is generated.

[0036] In the embodiment of the present disclosure, the step of calculating the correction domain information according to the type of the collaborative communication mode includes:

[0037] If the cooperative communication mode is the predictive focusing cooperative mode, the corrected distance domain information at the time is generated according to the distance prediction parameter and the radial velocity prediction parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the tangential angular velocity prediction parameter;

[0038] If the cooperative communication mode is the fixed focus cooperative mode, the corrected distance domain information at the time is generated according to the distance prediction parameter and the initial radial velocity parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the initial tangential angular velocity parameter;

[0039] If the cooperative communication mode is a prediction alignment cooperative mode, the corrected distance domain information at the time is generated according to the initial distance parameter and the initial radial velocity parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the tangential angular velocity prediction parameter;

[0040] If the cooperative communication mode is a fixed alignment cooperative mode, the corrected distance domain information at the time is generated according to the initial distance parameter and the initial radial velocity parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the initial tangential angular velocity parameter.

[0041] The technical solution provided in the embodiments of the present disclosure has at least the following technical effects or advantages:

[0042] Read the initial node information of the first system node, and obtain the initial state information of the target device; the initial state information includes initial state parameters, and the initial state parameters include initial distance parameters, initial azimuth parameters, initial radial velocity parameters and initial tangential angular velocity parameters; select a perception mode based on the initial distance parameters, the initial radial velocity parameters and the initial tangential angular velocity parameters; generate an initial steering vector based on the initial distance parameters, the initial azimuth parameters, the initial radial velocity parameters and the initial tangential angular velocity parameters; predict the predicted state parameters of the target device based on the echo signal, and the echo signal is a signal reflected by the target device after a signal is sent to the target device based on the perception mode and the initial steering vector; select a system-perceived collaborative communication mode based on the initial node information, the perception parameters corresponding to the perception mode and the predicted state parameters, and determine beam focusing parameters based on the collaborative communication mode.

[0043] Through the above implementation, the initial node information of the first system node and the initial state information of the target device are read. Since the initial state information includes the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter and the initial tangential angular velocity parameter, the accuracy of the position of the target device is improved to a certain extent; further, based on the initial distance parameter, the initial radial velocity parameter and the initial tangential angular velocity parameter, the perception mode is selected; then the predicted state parameters of the target device are predicted according to the perception mode; finally, according to the initial node information, the perception parameters corresponding to the perception mode and the predicted state parameters, the system-perceived cooperative communication mode is selected, and the beam focusing parameters are determined based on the cooperative communication mode. The steering vector corresponding to the terahertz mobile system in the communication process is corrected in real time, thereby improving the communication quality.

[0044] Additional aspects and advantages of the present disclosure will be given in part in the following description and in part will become apparent from the following description or be learned through practice of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present disclosure. Also, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0046] Figure 1 A schematic diagram showing a method for determining beam focusing parameters provided by an embodiment of the present disclosure is shown;

[0047] Figure 2A schematic diagram of system nodes applicable to a beam focusing parameter determination method provided by an embodiment of the present disclosure is shown;

[0048] Figure 3 A schematic diagram of various types of integrated modes of a beam focusing parameter determination method provided by an embodiment of the present disclosure is shown;

[0049] Figure 4 A schematic diagram of a selection process of various types of integrated modes of a beam focusing parameter determination method provided by an embodiment of the present disclosure is shown;

[0050] Figure 5 A schematic diagram of a selection process of various types of cooperative modes of another method for determining beam focusing parameters provided by an embodiment of the present disclosure is shown;

[0051] Figure 6 A schematic diagram of communication capacity corresponding to time division integration of a beam focusing parameter determination method provided by an embodiment of the present disclosure is shown;

[0052] Figure 7 A schematic diagram of communication capacity corresponding to frequency division integration of a beam focusing parameter determination method provided by an embodiment of the present disclosure is shown;

[0053] Figure 8 A schematic diagram of communication capacity corresponding to space division integration of a beam focusing parameter determination method provided by an embodiment of the present disclosure is shown;

[0054] Fig. 9 A structural block diagram of a beam focusing parameter determination device provided by an embodiment of the present disclosure is shown;

[0055] Fig.10 A schematic diagram of the structure of an electronic device provided by an embodiment of the present disclosure is shown;

[0056] Fig.11 A schematic diagram of a storage medium provided by an embodiment of the present disclosure is shown. DETAILED DESCRIPTION

[0057] The exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0058] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in the present disclosure should have the common meanings understood by those skilled in the art to which the present disclosure belongs.

[0059] The present disclosure provides a method for determining beam focusing parameters, such as Figure 1 FIG. 1 is a method for determining beam focusing parameters provided by an embodiment of the present disclosure. The method for determining beam focusing parameters can be applied to Figure 2 Any system node among the transmitting nodes in the terahertz communication system shown in the figure further determines the beam focusing parameters of the antenna array in the transmitting node.

[0060] Figure 2 FIG. 1 schematically shows a model diagram of beam focusing of a terahertz sensing cooperative communication system according to an embodiment of the present disclosure. Figure 2 The model shown includes: any system node has A period, that is: ;

[0061] Setting distance parameters The first antenna element (antenna unit) of the target device (receiver) relative to the system node Distance ,Right now: ; Set azimuth parameters The first node of the target device relative to the system node Azimuth ,Right now: ; Set radial velocity parameters The first node of the target device relative to the system node The radial velocity ,Right now: ; Set the tangential angular velocity parameters The first node of the target user relative to the system node The tangential angular velocity ,Right now: ; then the target user is the first node relative to the system node The tangential velocity for: ; Target user relative to system node The distance of a period for:

[0062] ;

[0063] in, represents the operating frequency of the system; c=3×108 m / s represents the speed of light.

[0064] The combined speed is the mobility parameter for:

[0065]

[0066] Target user relative to system node The radial velocity of By radial component With tangential component Decision, namely: ; where the radial component is: ,in represents the signal wavelength; the tangential component is: .

[0067] Specifically, if Figure 1 As shown, the beam focusing parameter determination method of the present disclosure is performed by a first system node, and the first system node is any system node in the communication system, and includes the following steps:

[0068] In step S11, initial node information of the first system node is read, and initial state information of the target device is acquired.

[0069] The initial state information includes initial state parameters, and the initial state parameters include initial distance parameters, initial azimuth parameters, initial radial velocity parameters, and initial tangential angular velocity parameters.

[0070] Exemplarily, the initial node information may include the target user equivalent reflection area , Target user receiving antenna gain , Total system power , system operating frequency , total system time slot , total system bandwidth 、Total number of antennas in the system , System perception interval , Ambient thermodynamic temperature .

[0071] The initial state information of the target device can be obtained in the following ways: First, directly obtain the initial distance parameters based on global information , initial azimuth parameters , initial radial velocity parameters , initial tangential angular velocity parameters The global information may be information directly obtained and generated from a macro base station, a satellite or other node, or information generated by feedback information sent by a target device to a node.

[0072] Second, obtain the previous distance prediction parameters of the previous perception cycle , the previous azimuth prediction parameters , the radial velocity prediction parameters at the previous time , the prediction parameters of the tangential angular velocity at the previous time , generate the initial distance parameters , where T represents the period, initial azimuth parameter , initial radial velocity parameters , initial tangential angular velocity parameters If the current cycle is the initial cycle, the global method in the first method can be used to obtain it directly.

[0073] In step S12, a sensing mode is selected based on the initial distance parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter.

[0074] Exemplarily, the mobility parameter is generated according to the initial distance parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter; the mobility parameter is compared with the preset low mobility threshold and the high mobility threshold, respectively, and the sensing mode is selected.

[0075] Specifically, in some embodiments, the above step S12 can also be implemented in the following way: generate a mobility parameter based on the square root of the sum of the first mobility parameter and the second mobility parameter, the first mobility parameter is the square of the initial radial velocity parameter, the second mobility parameter is the product of the first sub-parameter and the second sub-parameter, the first sub-parameter is the square of the initial distance parameter, and the second sub-parameter is the product of the square of the initial distance parameter; based on the relationship between the mobility parameter and the first threshold (preset low mobility threshold) and the second threshold (high mobility threshold), determine the perception mode, and the second threshold is greater than the first threshold.

[0076] Exemplarily, the target user mobility parameter is generated, namely .

[0077] Specifically, if the mobility parameter is less than the first threshold, the perception mode is the time division integrated mode; if the mobility parameter is greater than or equal to the second threshold, the perception mode is the frequency division integrated mode; if the mobility parameter is greater than or equal to the first threshold and less than or equal to the second threshold, the perception mode is the space division integrated mode.

[0078] Compare target user mobility Parameters and preset low mobility threshold , high mobility threshold The value size, ,Right now:

[0079] like , then select the time-division integration mode; or,

[0080] like , then select the frequency division integration mode; or,

[0081] like , then select the air separation integrated mode.

[0082] like Figure 3As shown, a model schematic diagram of the communication and perception integration mode of the terahertz perception cooperative communication system according to an embodiment of the implementation method of the present application is given.

[0083] Among them, in the time-division integration mode, according to the time-division coefficient The total system time slot Sensing Slots Communication time slot ,Right now:

[0084] ,

[0085] The total bandwidth of the system System Overview All are used for perception and communication, namely:

[0086] ;

[0087] In frequency division integrated mode, according to the frequency division coefficient The total system bandwidth Perceived Bandwidth Communication bandwidth ,Right now:

[0088] ,

[0089] At this time, the total system time slot System Overview All are used together for perception and communication, namely:

[0090] ;

[0091] In the air separation integrated mode, according to the air separation coefficient The system total array Perception Array With communication array ,Right now:

[0092] ,

[0093] At this time, the total system time slot Total system bandwidth All are used together for perception and communication, namely:

[0094] .

[0095] like Figure 4 As shown, a schematic diagram of the process of selecting the communication perception integrated mode of the terahertz perception cooperative communication system according to an embodiment of the present application is shown. Figure 4 As shown, the process includes:

[0096] S401: Generate target user mobility parameters , preset mobility threshold and ,in ; S402, judge Is it true: If yes, then S403, determine Is it established: If yes, then S405, adopt the frequency division integration mode; if not, then S406, adopt the space division integration mode; if not, then S404, adopt the time division integration mode.

[0097] In step S13, an initial steering vector is generated based on the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter and the initial tangential angular velocity parameter.

[0098] Exemplarily, the initial steering vector is the steering vector of the node corresponding to the array, and the steering vector may include position information and speed information. After the starting azimuth parameter, the initial radial speed parameter and the initial tangential angular speed parameter of the target device, the initial steering vector may be calculated.

[0099] Specifically, in some embodiments, the above step S13 can also be implemented in the following ways: generating initial distance domain information corresponding to the current moment based on the initial radial velocity parameters and the initial distance parameters; and generating initial angle domain information corresponding to the current moment based on the initial azimuth parameters and the initial tangential angular velocity parameters; determining and generating the initial steering vector of each antenna unit in the first system node according to the initial angle domain information, the initial distance domain information, the number of antenna units in the first system node, and the frequency.

[0100] For example, according to the initial distance parameter With the initial radial velocity parameter , generation time Distance domain information ,Right now: ;

[0101] According to the initial azimuth parameters and the initial tangential angular velocity parameter , generating angle domain information at time ,Right now: .

[0102] According to the initial distance domain information With initial angle domain information , generation time The initial turning vector ,Right now: ,

[0103] Among them, The initial steering vector for this phase is:

[0104] .

[0105] in, represents the operating frequency of the system; c=3×108 m / s represents the speed of light.

[0106] In step S14, a predicted state parameter of the target device is predicted based on the echo signal.

[0107] The echo signal is a signal reflected by the target device after a signal is sent to the target device based on the sensing mode and the initial steering vector.

[0108] Specifically, sending a signal to the target device may be:

[0109] If the integration mode used is determined to be the time-division integration mode, the generated occupied bandwidth is Perception signal With occupied bandwidth communication signals ;or,

[0110] If the integrated mode used is determined to be the frequency division integrated mode, the generated occupied bandwidth is Perception signal With occupied bandwidth communication signals ;or,

[0111] If the integrated mode is determined to be the space-division integrated mode, the generated occupied bandwidth is Perception signal With occupied bandwidth communication signals .

[0112] Furthermore, a transmission signal may be generated based on the perception signal and the communication signal, as well as a corresponding integrated mode.

[0113] If it is determined that the integration mode adopted by the system is the time-division integration mode, an integration signal is generated and sent, that is: ;or,

[0114] If it is determined that the integrated mode adopted by the system is the frequency division integrated mode, an integrated signal is generated and sent, that is: ;or,

[0115] If it is determined that the integrated mode adopted by the system is the space separation integrated mode, an integrated signal is generated and sent, that is: .

[0116] After transmitting the signal to the target device, the target device receives the integrated downlink signal. The process in which the target device eliminates the sensed reception signal to obtain the communication reception signal according to the integrated mode may be:

[0117] Specifically, according to the target user's initial distance parameter , system operating frequency , generating the communication channel constant ,Right now ;

[0118] According to the total system power , total system time slot 、System Overview , total system bandwidth , Communication channel constant , generating the downlink signal-to-noise ratio of communication ;

[0119] make The covariance matrix is of ViGaussian white noise, is the one-way transmission delay, For time The lower Doppler frequency deviation is for The identity matrix of order;

[0120] If the system integration mode is determined to be time-division integration mode, then the time Integrated downlink signal reception for:

[0121] ;or,

[0122] If it is determined that the integration mode adopted by the system is the frequency division integration mode, then the time Integrated downlink signal reception for:

[0123] ;or,

[0124] If it is determined that the integrated mode adopted by the system is the air separation integrated mode, then the time Integrated downlink signal reception for:

[0125] .

[0126] Eliminating the perceived received signal to obtain the communication received signal, including but not limited to:

[0127] If it is determined that the system adopts a time-division integrated mode, the time domain windowing method is used to eliminate the sensed downlink signal and obtain the time Downlink communication signal for:

[0128] ;or,

[0129] If it is determined that the integrated mode adopted by the system is the frequency division integrated mode, the matched filtering method is used to eliminate the sensed downlink signal and obtain the time Downlink communication signal for:

[0130] ;or,

[0131] If it is determined that the integrated mode adopted by the system is the space division integrated mode, the serial interference elimination method is used to eliminate the sensed downlink signal and obtain the time Downlink communication signal for:

[0132] .

[0133] An integrated echo signal is received, and according to the integrated mode, the communication echo signal is eliminated to obtain a sensing echo signal.

[0134] In some embodiments, the above step S14 may also be implemented in the following manner: extracting channel parameters from the echo signal; and predicting predicted state parameters of the target device based on the channel parameters.

[0135] Specifically, an iterative estimation algorithm is used to estimate the echo signal Generate one-way transmission delay , Doppler frequency deviation , Steering vector ;or,

[0136] Using closed-form estimation method, according to the echo signal Generate one-way transmission delay , Doppler frequency deviation , Steering vector .

[0137] Adopt iterative estimation algorithm, according to one-way transmission delay , Doppler frequency deviation , Steering vector , generating distance estimation parameters , azimuth estimation parameters , radial velocity estimation parameters , Tangential angular velocity estimation parameters ;or,

[0138] According to the one-way transmission delay , generating distance estimation parameters ,Right now:

[0139] ;

[0140] According to the perception , Steering vector , generate the azimuth estimation parameters ,Right now:

[0141] ;

[0142] According to the system operating frequency , Doppler frequency deviation , generate radial velocity estimation parameters, namely:

[0143] ;

[0144] According to the perception , Doppler frequency deviation , azimuth estimation parameters , generate the tangential angular velocity estimation parameters, namely:

[0145] .

[0146] In step S15, based on the initial node information, the perception parameters corresponding to the perception mode, and the predicted state parameters, the cooperative communication mode perceived by the system is selected, and the beam focusing parameters are determined based on the cooperative communication mode.

[0147] For example, according to the perception mode and the predicted state parameters, the bandwidth, delay, reliability and other requirements of the communication are analyzed. The energy limit and communication distance constraint of the node are considered. According to the communication requirements, a suitable cooperative communication mode is selected, such as a fixed cooperative mode (such as AF, DF, etc.), a selection mode or an enhanced mode. When selecting a mode, factors such as the channel transmission characteristics between the source and relay nodes and the utilization rate of the system degree of freedom can be further considered.

[0148] According to the cooperative communication mode, the corresponding beamforming model is established. The model should include key elements such as transmitting nodes, receiving nodes, and channel fading coefficients. Based on the initial node information and channel fading coefficients, the beamforming coefficients of each transmitting node are calculated. The beamforming coefficients are used to adjust the amplitude and phase of the transmitted signal to achieve beam focusing. The beam focusing parameters are optimized based on the perception parameters and predicted state parameters. The optimization objectives may include maximizing the received signal strength, minimizing interference, etc. Iterative algorithms, machine learning and other methods can be used for optimization.

[0149] The effectiveness of the beam focusing parameters can also be verified through experiments or simulations. Adjustments can be made based on the verification results to ensure that the system-perceived requirements are met.

[0150] In some embodiments, the initial state information also includes an initial state variance, and the system-perceived collaborative communication mode is selected based on the initial node information, the perception parameters corresponding to the perception mode, and the predicted state parameters, including: generating predicted variance information based on the initial node information, the perception parameters corresponding to the perception mode, and the predicted state parameters; and determining the collaborative communication mode based on the relationship between the predicted variance information and the initial state variance.

[0151] For example, the initial state variance can also be directly used to obtain the initial distance variance based on the global information: , initial azimuth variance , initial radial velocity variance , initial tangential angular velocity variance

[0152] You can also get the variance of the previous distance estimate for the previous sensing cycle , the variance of the estimated azimuth angle at the previous time , the estimated variance of radial velocity in the previous time , the estimated variance of the tangential angular velocity in the previous time , generating the initial distance variance , initial azimuth variance , initial radial velocity variance , initial tangential angular velocity variance .

[0153] Corresponding to the initial state variance, the prediction variance information may include distance prediction variance, azimuth prediction variance, radial velocity prediction variance, and tangential angular velocity prediction variance. Specifically, this may be achieved in the following manner:

[0154] According to the perceived signal-to-noise ratio , Perception Array , sensing time slot and perceived bandwidth , generating the distance estimation variance, namely:

[0155] ;

[0156] According to the perceived signal-to-noise ratio , azimuth estimation parameters , Perception Array With perception time slot , generating the azimuth estimation variance, namely:

[0157] ;

[0158] According to the perceived signal-to-noise ratio , total system time slot , system operating frequency , perception interval , Perception Array With perception time slot , generating the radial velocity estimate variance, namely:

[0159] ;

[0160] According to the perceived signal-to-noise ratio , total system time slot , perception interval , azimuth estimation parameters , Perception Array With perception time slot , generating the tangential angular velocity estimate Variance, that is:

[0161] .

[0162] The cooperative communication mode can be determined in the following manner: if the square of the initial distance variance is less than or equal to the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is less than or equal to the square of the tangential angular velocity prediction variance, then the predictive focus cooperative mode is adopted, and the predictive focus cooperative mode represents the use of the distance prediction variance, the azimuth prediction variance, the radial velocity prediction variance, and the tangential angular velocity prediction variance as the correction steering vector;

[0163] If the square of the initial distance variance is less than or equal to the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is greater than the square of the tangential angular velocity prediction variance, the fixed focus coordination mode is adopted. The fixed focus coordination mode is used to characterize that the distance prediction variance, the azimuth prediction variance, the initial radial velocity variance, and the initial tangential angular velocity variance are used as the initial radial velocity variance and the initial tangential angular velocity variance is used as the correction steering vector;

[0164] If the square of the initial distance variance is greater than the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is less than or equal to the square of the tangential angular velocity prediction variance, the prediction alignment coordination mode is adopted. The prediction alignment coordination mode represents the use of the azimuth prediction variance, the tangential angular velocity prediction variance, the initial distance variance, and the initial radial velocity variance as the correction steering vector;

[0165] If the square of the initial range variance is greater than the square of the range prediction variance, and the square of the initial tangential angular velocity variance is greater than the square of the tangential angular velocity prediction variance, the fixed alignment coordination mode is adopted. The fixed alignment coordination mode represents the use of the azimuth prediction variance, the initial range variance, the initial radial velocity variance, and the initial tangential angular velocity variance as the correction steering vector.

[0166] Specifically, determine the initial distance variance Variance of distance estimate , initial tangential angular velocity variance Estimated variance of tangential angular velocity The size relationship between:

[0167] like and , then the predictive focus collaborative mode is adopted; or,

[0168] like and , then the fixed focus collaborative mode is adopted; or,

[0169] like and , then the prediction-to-collaboration mode is adopted; or,

[0170] like and , the fixed alignment coordination mode is adopted.

[0171] like Figure 5 The schematic diagram of the process of selecting the sensing cooperative communication mode of the terahertz sensing cooperative communication system according to an embodiment of the present application is shown. S501, obtaining initial distance variance information and initial tangential angular velocity variance information , generate distance estimation variance information Estimation variance information of tangential angular velocity ; S502, judge Is it true: If yes, then S503, determine Is it true: If yes, then S505, adopt the predictive focus coordination mode; if no, then S506, adopt the fixed focus coordination mode; if no, then S504, determine Is it established: If yes, then S507, adopt the predicted alignment cooperation mode; if not, then S508, adopt the fixed alignment cooperation mode.

[0172] After the cooperative sensing mode is determined, specific beam focusing parameters are determined according to the cooperative sensing mode. Specifically, the correction domain information may be calculated first according to the type of the cooperative communication mode, and then the correction steering vector may be generated based on the correction domain information.

[0173] In some embodiments, the correction domain information includes correction angle domain information and correction distance domain information, and the correction domain information is calculated according to the type of the cooperative communication mode, including:

[0174] If the cooperative communication mode is the predictive focusing cooperative mode, the corrected distance domain information at the time is generated according to the distance prediction parameter and the radial velocity prediction parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the tangential angular velocity prediction parameter;

[0175] If the cooperative communication mode is a fixed focus cooperative mode, the corrected distance domain information at the time is generated according to the distance prediction parameter and the initial radial velocity parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the initial tangential angular velocity parameter;

[0176] If the cooperative communication mode is the prediction-to-alignment cooperative mode, the correction distance domain information at the time is generated according to the initial distance parameter and the initial radial velocity parameter; and the correction angle domain information at the time is generated according to the azimuth prediction parameter and the tangential angular velocity prediction parameter;

[0177] If the cooperative communication mode is a fixed alignment cooperative mode, the corrected distance domain information at the time is generated according to the initial distance parameter and the initial radial velocity parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the initial tangential angular velocity parameter.

[0178] For example, if it is determined that the collaborative mode adopted by the system is the predictive focus collaborative mode, then according to the distance estimation parameter and radial velocity estimation parameters Generation time Corrected distance domain information under ,Right now:

[0179] ;

[0180] Estimation of parameters based on azimuth and the tangential angular velocity estimation parameters Generation time Correction angle domain information ,Right now:

[0181] ;or,

[0182] If it is determined that the collaborative mode adopted by the system is the fixed focus collaborative mode, the distance estimation parameter With the initial radial velocity parameter Generation time Corrected distance domain information under ,Right now:

[0183] ;

[0184] Estimation of parameters based on azimuth and the initial tangential angular velocity parameter Generation time Correction angle domain information ,Right now:

[0185] ;or,

[0186] If it is determined that the cooperative mode adopted by the system is the prediction-to-alignment cooperative mode, then according to the initial distance parameter With the initial radial velocity parameter Generation time Corrected distance domain information under ,Right now:

[0187] ;

[0188] Estimation of parameters based on azimuth and the tangential angular velocity estimation parameters Generation time Correction angle domain information ,Right now:

[0189] ;or,

[0190] If the coordination mode adopted by the system is determined to be the fixed alignment coordination mode, then according to the initial distance parameter With the initial radial velocity parameter Generation time Corrected distance domain information under ,Right now:

[0191] ;

[0192] Estimation of parameters based on azimuth and the initial tangential angular velocity parameter Generation time Correction angle domain information ,Right now:

[0193] .

[0194] According to the correction distance domain information and correction angle domain information , generation time The N-dimensional corrected steering vector ,Right now:

[0195] ,

[0196] Among them, The corrected steering vector for each phase is

[0197] .

[0198] Next, examples of communication capacity corresponding to time division integration, frequency division integration, and space division integration are given respectively.

[0199] like Figure 6 The figure shows the corresponding numerical results of beam focusing performance in the time-division integrated mode. In the predicted focusing cooperative mode, the communication capacity Time-division coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0200] ;

[0201] In fixed focus collaborative mode, communication capacity Time-division coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0202] ;

[0203] Prediction of communication capacity in quasi-cooperative mode Time-division coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0204] ;

[0205] In the fixed alignment cooperation mode, the communication capacity Time-division coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0206] ;

[0207] The above results show that in the time-division integrated mode, the beam focusing parameter determination method of the present application can make the communication capacity almost reach the ideal focusing situation, effectively compensate for the influence of mobile scenes and near-field effects, and the obtained performance can reach 85.0% of the ideal optimal.

[0208] like Figure 7 The figure shows the numerical results of the corresponding beam focusing performance in the frequency division integration mode. Among them, the communication capacity in the predicted focusing cooperative mode is Frequency coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0209] ;

[0210] In fixed focus collaborative mode, communication capacity Frequency coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0211] ;

[0212] Prediction of communication capacity in quasi-cooperative mode Frequency coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0213] ;

[0214] In the fixed alignment cooperation mode, the communication capacity Frequency coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0215] ;

[0216] The above results show that in the frequency division integrated mode, the beam focusing parameter determination method of the present application can make the communication capacity approach the ideal focusing situation, effectively compensate for the influence of mobile scenes and near-field effects, and the obtained performance can reach 99.7% of the ideal optimal.

[0217] like Figure 8 The figure shows the corresponding numerical results of beam focusing performance under the space division integration mode. Among them, the communication capacity under the predicted focusing cooperative mode is Space fraction coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0218] ;

[0219] Prediction focus on the communication capacity of the collaborative mode Space fraction coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0220] ;

[0221] Prediction focus on the communication capacity of the collaborative mode Space fraction coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0222] ;

[0223] Prediction focus on the communication capacity of the collaborative mode Space fraction coefficient The changing curve and The performance obtained when the communication capacity is expressed as:

[0224] ;

[0225] The above results show that in the space-division integrated mode, the beam focusing parameter determination method of the present application can make the communication capacity close to the ideal focusing situation, effectively compensate for the influence of mobile scenes and near-field effects, and the obtained performance can reach 78.9% of the ideal optimal.

[0226] Through the beam focusing method of the embodiment of the present application, the initial node information of the first system node and the initial state information of the target device are read. Since the initial state information includes the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter and the initial tangential angular velocity parameter, the accuracy of the position of the target device is improved to a certain extent; further, based on the initial distance parameter, the initial radial velocity parameter and the initial tangential angular velocity parameter, the perception mode is selected; and then the predicted state parameters of the target device are predicted according to the perception mode; finally, according to the initial node information, the perception parameters corresponding to the perception mode and the predicted state parameters, the system-perceived cooperative communication mode is selected, and the beam focusing parameters are determined based on the cooperative communication mode. The steering vector corresponding to the terahertz mobile system in the communication process is corrected in real time, thereby improving the communication quality.

[0227] Corresponding to the implementation of the above beam focusing parameter determination method, the embodiment of the present disclosure also provides a beam focusing parameter determination device for performing the above Figure 1 The medical record generation method of any of the illustrated embodiments is executed by a first system node, which is any system node in a communication system, such as Fig. 9 As shown, the beam focusing parameter determination device includes:

[0228] The reading module 901 is used to read the initial node information of the first system node and obtain the initial state information of the target device; the initial state information includes initial state parameters, and the initial state parameters include initial distance parameters, initial azimuth parameters, initial radial velocity parameters and initial tangential angular velocity parameters;

[0229] A sensing mode selection module 902, configured to select a sensing mode based on the initial distance parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter;

[0230] An initial vector determination module 903 is configured to generate an initial steering vector based on the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter;

[0231] A prediction parameter module 904, configured to predict a predicted state parameter of the target device based on an echo signal, wherein the echo signal is a signal reflected by the target device after a signal is sent to the target device based on the sensing mode and the initial steering vector;

[0232] The beam focusing parameter determination module 905 is used to select a system-perceived cooperative communication mode based on the initial node information, the perception parameters corresponding to the perception mode, and the predicted state parameters, and determine the beam focusing parameters based on the cooperative communication mode.

[0233] The beam focusing parameter determination device provided in the above-mentioned embodiment of the present disclosure and the beam focusing parameter determination method provided in the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0234] The present disclosure also provides an electronic device for executing the above-mentioned beam focusing parameter determination method. Fig.10 , which shows a schematic diagram of an electronic device provided by some embodiments of the present disclosure. Fig.10 As shown, the electronic device includes: a processor 1000, a memory 1001, a bus 1002 and a communication interface 1003, wherein the processor 1000, the communication interface 1003 and the memory 1001 are connected via the bus 1002; the memory 1001 stores a computer program that can be run on the processor 1000, and the processor 1000 executes the aforementioned Figure 1 A method for determining beam focusing parameters is provided in any of the illustrated embodiments.

[0235] The memory 1001 may include a high-speed random access memory (RAM), and may also include a non-volatile memory, such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 1003 (which may be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. may be used.

[0236] The bus 1002 may be an ISA bus, a PCI bus, or an EISA bus. The bus may be divided into an address bus, a data bus, a control bus, etc. The memory 1001 is used to store programs. After receiving the execution instruction, the processor 1000 executes the program. Figure 1 Any of the illustrated embodiments discloses that the beam focusing parameter determination method may be applied to the processor 1000 or implemented by the processor 1000 .

[0237] The processor 1000 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 1000. The above processor 1000 may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present disclosure can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in conjunction with the embodiments of the present disclosure can be directly embodied as a hardware decoding processor to be executed, or a combination of hardware and software modules in the decoding processor can be executed. The software module can be located in a mature storage medium in the field such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 1001, and the processor 1000 reads the information in the memory 1001 and completes the steps of the above method in combination with its hardware.

[0238] The electronic device provided by the embodiment of the present disclosure and the beam focusing parameter determination method provided by the embodiment of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, operated or implemented by them.

[0239] The present disclosure also provides a computer-readable storage medium corresponding to the beam focusing parameter determination method provided in the above embodiment. Fig.11 The computer-readable storage medium shown is a CD 30 on which a computer program (ie, a program product) is stored. When the computer program is run by a processor, the method for determining beam focusing parameters provided in any of the aforementioned embodiments will be executed.

[0240] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.

[0241] The computer-readable storage medium provided by the above-mentioned embodiments of the present disclosure and the beam focusing parameter determination method provided by the embodiments of the present disclosure are based on the same inventive concept and have the same beneficial effects as the methods adopted, run or implemented by the application programs stored therein.

[0242] It should be noted that:

[0243] In the description provided herein, a large number of specific details are described. However, it is understood that the embodiments of the present disclosure can be practiced without these specific details. In some instances, well-known structures and technologies are not shown in detail so as not to obscure the understanding of this description.

[0244] Similarly, it should be understood that in order to streamline the present disclosure and help understand one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present disclosure, the various features of the present disclosure are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be interpreted as reflecting the following schematic diagram: the claimed disclosure requires more features than the features explicitly recorded in each embodiment. Inventive aspects are less than all the features of the single embodiment disclosed above. Therefore, the implementation method that follows the specific embodiment is explicitly incorporated into the specific embodiment, wherein each embodiment itself serves as a separate embodiment of the present disclosure.

[0245] Furthermore, those skilled in the art will appreciate that although some embodiments described herein include certain features included in other embodiments but not other features, the combination of features from different embodiments is meant to be within the scope of the present disclosure and to form different embodiments.

[0246] The above description is only a preferred specific implementation manner of the present disclosure, but the protection scope of the present disclosure is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present disclosure should be covered by the protection scope of the present disclosure.

Claims

1. A method for determining beam focusing parameters, characterized in that: The method is performed by a first system node, where the first system node is any system node in a communication system, and includes: Reading initial node information of the first system node, and acquiring initial state information of the target device; the initial state information includes initial state parameters, and the initial state parameters include initial distance parameters, initial azimuth parameters, initial radial velocity parameters, and initial tangential angular velocity parameters; Selecting a sensing mode based on the initial distance parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter; generating an initial steering vector based on the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter; predicting a predicted state parameter of the target device based on an echo signal, wherein the echo signal is a signal reflected by the target device after a signal is sent to the target device based on the sensing mode and the initial steering vector; Selecting a system-perceived cooperative communication mode based on the initial node information, the perception parameters corresponding to the perception mode, and the predicted state parameters, and determining a beam focusing parameter based on the cooperative communication mode; The selecting a sensing mode based on the initial distance parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter comprises: generating a mobility parameter based on a square root of a sum of a first movement parameter and a second movement parameter, the first movement parameter being the square of the initial radial velocity parameter, the second movement parameter being the product of a first sub-parameter and a second sub-parameter, the first sub-parameter being the square of an initial distance parameter, and the second sub-parameter being the product of the square of the initial distance parameter; Determining the sensing mode based on a relationship between the mobility parameter and a first threshold and a second threshold, wherein the second threshold is greater than the first threshold; Generating an initial steering vector based on the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter includes: Generate initial distance domain information corresponding to the current moment based on the initial radial velocity parameter and the initial distance parameter; and generate initial angle domain information corresponding to the current moment based on the initial azimuth parameter and the initial tangential angular velocity parameter; An initial steering vector of each antenna unit in the first system node is generated according to the initial angle domain information, the initial distance domain information, the number of antenna units in the first system node, and the frequency determination.

2. The method according to claim 1, characterized in that The determining the sensing mode based on the relationship between the mobility parameter and the first threshold and the second threshold includes: If the mobility parameter is less than the first threshold, the sensing mode is a time-division integrated mode; If the mobility parameter is greater than or equal to the second threshold, the sensing mode is a frequency division integrated mode; If the mobility parameter is greater than or equal to the first threshold and less than or equal to the second threshold, the sensing mode is a space division integrated mode.

3. The method according to claim 1, characterized in that: The predicting the predicted state parameter of the target device based on the echo signal includes: extracting channel parameters from the echo signal; A predicted state parameter of the target device is predicted based on the channel parameter.

4. The method according to claim 1, characterized in that: The initial state information further includes an initial state variance, and the selecting the cooperative communication mode perceived by the system based on the initial node information, the perception parameter corresponding to the perception mode, and the predicted state parameter includes: Generate prediction variance information according to the initial node information, the perception parameter corresponding to the perception mode, and the prediction state parameter; Based on the relationship between the prediction variance information and the initial state variance, a collaborative communication mode is determined.

5. The method according to claim 4, characterized in that The prediction variance information includes distance prediction variance, azimuth prediction variance, radial velocity prediction variance, and tangential angular velocity prediction variance; the initial state variance includes initial distance variance, initial azimuth variance, initial radial velocity variance, and initial tangential angular velocity variance; The determining of the cooperative communication mode based on the relationship between the prediction variance information and the initial state variance includes: If the square of the initial distance variance is less than or equal to the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is less than or equal to the square of the tangential angular velocity prediction variance, a predictive focusing collaborative mode is adopted, wherein the predictive focusing collaborative mode characterizes using the distance prediction variance, the azimuth prediction variance, the radial velocity prediction variance, and the tangential angular velocity prediction variance as a correction steering vector; If the square of the initial distance variance is less than or equal to the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is greater than the square of the tangential angular velocity prediction variance, a fixed focus coordination mode is adopted, and the fixed focus coordination mode is used to characterize that the distance prediction variance, the azimuth prediction variance, the initial radial velocity variance, and the initial tangential angular velocity variance are used as the initial radial velocity variance, and the initial tangential angular velocity variance is used as the correction steering vector; If the square of the initial distance variance is greater than the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is less than or equal to the square of the tangential angular velocity prediction variance, a prediction alignment coordination mode is adopted, wherein the prediction alignment coordination mode represents taking the azimuth prediction variance, the tangential angular velocity prediction variance, the initial distance variance, and the initial radial velocity variance as the correction steering vector; If the square of the initial distance variance is greater than the square of the distance prediction variance, and the square of the initial tangential angular velocity variance is greater than the square of the tangential angular velocity prediction variance, a fixed alignment coordination mode is adopted. The fixed alignment coordination mode represents the use of the azimuth prediction variance, the initial distance variance, the initial radial velocity variance, and the initial tangential angular velocity variance as the correction steering vector.

6. The method according to claim 5, characterized in that The determining of beam focusing parameters based on the cooperative communication mode includes: Calculating correction domain information according to the type of the collaborative communication mode; Based on the correction domain information, a correction steering vector is generated.

7. The method according to claim 6, characterized in that The predicted state parameters include distance prediction parameters, radial velocity prediction parameters, azimuth prediction parameters and tangential angular velocity prediction parameters. The calculating the correction domain information according to the type of the collaborative communication mode includes: If the cooperative communication mode is the predictive focusing cooperative mode, the corrected distance domain information at the time is generated according to the distance prediction parameter and the radial velocity prediction parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the tangential angular velocity prediction parameter; If the cooperative communication mode is the fixed focus cooperative mode, the corrected distance domain information at the time is generated according to the distance prediction parameter and the initial radial velocity parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the initial tangential angular velocity parameter; If the cooperative communication mode is the predicted alignment cooperative mode, the corrected distance domain information at the time is generated according to the initial distance parameter and the initial radial velocity parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the tangential angular velocity prediction parameter; If the cooperative communication mode is the fixed alignment cooperative mode, the corrected distance domain information at the time is generated according to the initial distance parameter and the initial radial velocity parameter; and the corrected angle domain information at the time is generated according to the azimuth prediction parameter and the initial tangential angular velocity parameter.

8. A beam focusing parameter determination device, characterized in that: The method is executed by a first system node, where the first system node is any system node in a communication system, and the device includes: A reading module, used to read the initial node information of the first system node, and obtain the initial state information of the target device; the initial state information includes initial state parameters, and the initial state parameters include initial distance parameters, initial azimuth parameters, initial radial velocity parameters, and initial tangential angular velocity parameters; A sensing mode selection module, configured to select a sensing mode based on the initial distance parameter, the initial radial velocity parameter, and the initial tangential angular velocity parameter; An initial vector determination module is used to generate an initial steering vector based on the initial distance parameter, the initial azimuth parameter, the initial radial velocity parameter and the initial tangential angular velocity parameter; a prediction parameter module, configured to predict a predicted state parameter of the target device based on an echo signal, wherein the echo signal is a signal reflected by the target device after a signal is sent to the target device based on the sensing mode and the initial steering vector; A beam focusing parameter determination module is used to select a cooperative communication mode perceived by the system based on the initial node information, the perception parameters corresponding to the perception mode, and the predicted state parameters, and determine the beam focusing parameters based on the cooperative communication mode; The selection perception mode module is further used for: generating a mobility parameter based on a square root of a sum of a first movement parameter and a second movement parameter, the first movement parameter being the square of the initial radial velocity parameter, the second movement parameter being the product of a first sub-parameter and a second sub-parameter, the first sub-parameter being the square of an initial distance parameter, and the second sub-parameter being the product of the square of the initial distance parameter; Determining the sensing mode based on a relationship between the mobility parameter and a first threshold and a second threshold, wherein the second threshold is greater than the first threshold; The module for determining the initial vector is further used for: Generate initial distance domain information corresponding to the current moment based on the initial radial velocity parameter and the initial distance parameter; and generate initial angle domain information corresponding to the current moment based on the initial azimuth parameter and the initial tangential angular velocity parameter; An initial steering vector of each antenna unit in the first system node is generated according to the initial angle domain information, the initial distance domain information, the number of antenna units in the first system node, and the frequency determination.

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