Sensing signal transmission method and device, sensing node and storage medium

Abstract

The invention provides a sensing signal transmission method and device, a sensing node and a storage medium. The method comprises the following steps: sending a sensing signal, and obtaining feedback information aiming at the sensing signal; determining environmental parameters of the to-be-measured area according to the feedback information; wherein the to-be-measured area is an area between a sending node and a receiving node of the sensing signal. According to the method, the sensing of the surrounding environment information is realized by sending the sensing signal.

Description

Technical Field

[0001] The present application relates to the field of perception technology, and in particular to a perception signal transmission method, device, perception node and storage medium. Background Art

[0002] Cellular mobile systems have powerful networking capabilities. Through large-scale deployment of cellular networks and the interaction between base stations and terminals, base stations and base stations, and base stations and core networks, building a mobile network system with inter-sensory integration has become the main technical route. Network collaborative perception based on cellular systems can make full use of the base station resources of cellular systems, which not only reduces the cost of integrated communication perception, but also realizes the networking capability of perception. By reasonably selecting perception base stations in the cellular system and sharing, supplementing or merging perception data, the problem of signal interference caused by too many nodes can be reduced while retaining the advantages of the cellular network. At the same time, network perception can avoid occlusion through collaboration between base stations without upgrading hardware, further improving perception performance.

[0003] In a narrow sense, a perception network refers to a system with the capabilities of target positioning (ranging, speed, angle measurement), target imaging, target detection, target tracking, and target identification; in a broad sense, a perception network refers to a system that can perceive the properties and states of all services, networks, users, and terminals, as well as environmental objects. In a mobile network with synaesthesia fusion, the perception methods can be divided into active and passive. Passive perception refers to the perception by the perceiver (network side or terminal) by acquiring the electromagnetic waves emitted by the target object or reflecting the electromagnetic waves from outside the perceiver and the target object. Active perception refers to the perception by the perceiver (network side or terminal) sending electromagnetic waves, which are reflected by the target object and then received by the perceiver for perception. Therefore, in a synaesthesia system, how to transmit the perception signal to obtain the corresponding perception information is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0004] Embodiments of the present application provide a perception signal transmission method, device, perception node, and storage medium.

[0005] In a first aspect, an embodiment of the present application provides a method for transmitting a perception signal, including:

[0006] Sending a perception signal and obtaining feedback information for the perception signal;

[0007] Determine the environmental parameters of the area to be measured according to the feedback information;

[0008] The area to be measured is an area between a sending node and a receiving node of the sensing signal.

[0009] In a second aspect, an embodiment of the present application provides a method for transmitting a perception signal, including:

[0010] sending a first perception signal;

[0011] Receiving first frequency information and first delay information of the first perception signal measured by the target node;

[0012] receiving a second perception signal sent by the target node, and measuring second frequency information and second delay information of the second perception signal;

[0013] A local oscillator frequency deviation with respect to the target node is determined according to the first frequency information and the second frequency information, and a timing deviation with respect to the target node is determined according to the first delay information and the second delay information.

[0014] In a third aspect, an embodiment of the present application provides a perception signal transmission device, including:

[0015] A sending module, used for sending a sensing signal;

[0016] An acquisition module, used to acquire feedback information for the perception signal;

[0017] A determination module, used to determine the environmental parameters of the area to be measured according to the feedback information;

[0018] The area to be measured is an area between a sending node and a receiving node of the sensing signal.

[0019] In a fourth aspect, an embodiment of the present application provides a perception signal transmission device, including:

[0020] A sending module, used for sending a first perception signal;

[0021] A receiving module, configured to receive first frequency information and first delay information of the first perception signal measured by a target node;

[0022] The receiving module is further used to receive a second perception signal sent by the target node;

[0023] A determination module is used to measure the second frequency information and the second delay information of the second perception signal, and determine the local oscillator frequency deviation between the target node and the first frequency information and the second frequency information, and determine the timing deviation between the target node and the first delay information and the second delay information.

[0024] In a fifth aspect, an embodiment of the present application provides a perception node, comprising: a memory and a processor, the memory storing a computer program, and the processor implementing the steps of the perception signal transmission method provided in the first and second aspects of the embodiments of the present application when executing the computer program.

[0025] In a sixth aspect, an embodiment of the present application provides a storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the perception signal transmission method provided in the first aspect and the second aspect of the embodiment of the present application are implemented.

[0026] The technical solution provided in the embodiment of the present application sends a perception signal and obtains feedback information for the perception signal, and determines the environmental parameters of the area to be measured based on the feedback information. For example, the measurement of the amount of rainfall in the area to be measured can be realized, thereby realizing the perception of the surrounding environmental information.

[0027] In addition, the technical solution provided in the embodiment of the present application improves the perception accuracy by having the transceiver nodes of the perception signals send and receive perception signals to each other, and determining the local oscillator frequency deviation between the transceiver nodes based on the first frequency information and the second frequency information obtained by the round-trip measurement of the perception signals, and determining the timing deviation between the transceiver nodes based on the first delay information and the second delay information obtained by the round-trip measurement of the perception signals. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A schematic diagram of a flow chart of a method for transmitting a perception signal provided in an embodiment of the present application;

[0029] Figure 2 Another schematic diagram of a flow chart of a method for transmitting a perception signal provided in an embodiment of the present application;

[0030] Figure 3 A schematic diagram of another flow chart of the method for transmitting a perception signal provided in an embodiment of the present application;

[0031] Figure 4 A schematic diagram of another flow chart of the method for transmitting a perception signal provided in an embodiment of the present application;

[0032] Figure 5 A schematic diagram of another flow chart of the method for transmitting a perception signal provided in an embodiment of the present application;

[0033] Figure 6 A schematic diagram of another flow chart of the method for transmitting a perception signal provided in an embodiment of the present application;

[0034] Figure 7 A schematic diagram of a principle of a method for transmitting a perception signal provided in an embodiment of the present application;

[0035] Figure 8 A schematic diagram of a structure of a perception signal transmission device provided in an embodiment of the present application;

[0036] Fig. 9 Another structural schematic diagram of the perception signal transmission device provided in an embodiment of the present application;

[0037] Fig.10 A schematic diagram of the structure of a perception node provided in an embodiment of the present application. DETAILED DESCRIPTION

[0038] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. The embodiments of the present application will be described in detail below in conjunction with the accompanying drawings.

[0039] In the synaesthesia integration system, the perception signal sending node can actively send a perception signal, which is received by one or more perception signal receiving nodes after being reflected by the perception target, and then further information processing and information interaction between nodes are performed to achieve the acquisition of corresponding perception information in the surrounding environment. Among them, the sending node and the receiving node of the above-mentioned perception signal can be a base station, a user terminal, an unmanned aerial vehicle, an aircraft or a radar transmitting device, etc., and the embodiments of the present application do not limit the specific technology and specific equipment form adopted by the perception node in the synaesthesia integration system. Of course, each node in the above-mentioned synaesthesia integration system has a transceiver function, that is, each node can be used as a perception signal sending node or a perception signal receiving node, and the embodiments of the present application do not limit this.

[0040] Figure 1 A schematic diagram of a flow chart of a method for transmitting a perception signal provided in an embodiment of the present application. Figure 1 As shown, the method may include:

[0041] S101: Send a perception signal and obtain feedback information for the perception signal.

[0042] S102: Determine environmental parameters of the area to be measured according to the feedback information.

[0043] Specifically, the sensing node may actively send a sensing signal or instruct a target node in the area to be measured to send a sensing signal, and actively obtain feedback information for the sensing signal or receive feedback information for the sensing signal sent by the target node in the area to be measured, and then determine the environmental parameters of the area to be measured based on the feedback information. The feedback information may be an echo signal after the sensing signal is reflected by the sensing target, or the feedback information may be a reference signal receiving power (RSRP) of the sensing signal, and the area to be measured is an area between a sending node and a receiving node of the sensing signal.

[0044] Exemplarily, the sensing node may send a sensing signal and use feedback information of the sensing signal to measure the amount of rain and snow in the area where the sensing node is located.

[0045] In one embodiment, the environmental parameters of the area to be measured in the first time period can be determined in the following manner. It should be noted that the following S201-S202 are an optional implementation of the above S101, and the following S203 is an optional implementation of the above S102. Figure 2 As shown, the method may include:

[0046] S201. Send a perception signal or a designated reference signal to a target node in an area to be measured at a first power within a first time period.

[0047] Specifically, the sensing node can determine a target node located in the area to be measured from other surrounding sensing nodes based on location information of other surrounding sensing nodes, and send one or more sensing signals or designated reference signals to the target node at a first power within a first time period.

[0048] S202: Receive the RSRP of the perception signal or the designated reference signal measured by the target node.

[0049] After receiving the perception signal or the designated reference signal, the target node measures the RSRP of the perception signal or the designated reference signal, and reports the measured RSRP of the perception signal or the designated reference signal to the perception node, and the perception node receives the RSRP of the perception signal or the designated reference signal reported by the target node.

[0050] S203: Determine an environmental parameter of the area to be measured in the first time period according to the transmit power of the perception signal or the designated reference signal and the RSRP of the perception signal or the designated reference signal.

[0051] Specifically, the sensing node determines the environmental parameters of the area to be measured in the first time period by comparing the transmit power of the sensing signal or the designated reference signal with the difference between the RSRP of the sensing signal or the designated reference signal. In other words, the sensing node determines the environmental parameters of the area to be measured in the first time period by measuring the downlink path loss.

[0052] Taking the base station as the above-mentioned perception node and measuring the rainfall amount in the measured area as an example, during the rain (i.e., the first time period mentioned above), the base station sends one or more dedicated reference signals (such as Rain-RS) or perception signals to the target UE in the measured area. The target UE measures the Rain-RS or perception signal, obtains the RSRP of the Rain-RS or perception signal, and reports it to the base station. The base station compares the difference between the transmit power of the Rain-RS or perception signal and the above-mentioned RSRP to determine the rainfall amount in the measured area.

[0053] In one embodiment, the environmental parameters of the area to be measured in the first time period may also be determined in the following manner. It should be noted that the following S301-S302 are an optional implementation of the above S101, and the following S303 is an optional implementation of the above S102. Figure 3 As shown, the method may include:

[0054] S301: Instruct a target node in the area to be measured to send a perception signal or a designated reference signal at a second power within a first time period.

[0055] Specifically, the sensing node can determine a target node located in the area to be measured from other surrounding sensing nodes based on location information of other surrounding sensing nodes, and signal the target node to send a sensing signal or a designated reference signal at a second power within a first time period.

[0056] S302: Receive a perception signal or a designated reference signal sent by a target node, and measure the RSRP of the perception signal or the designated reference signal.

[0057] The target node sends a perception signal or a designated reference signal to the perception node at a second power according to the signaling instruction, and the perception node receives the perception signal or the designated reference signal and measures the RSRP of the perception signal or the designated reference signal.

[0058] S303: Determine an environmental parameter of the area to be measured in the first time period according to the transmit power of the perception signal or the designated reference signal and the RSRP of the perception signal or the designated reference signal.

[0059] Specifically, the sensing node determines the environmental parameters of the area to be measured in the first time period by comparing the transmit power of the sensing signal or the designated reference signal with the difference between the RSRP of the sensing signal or the designated reference signal. In other words, the sensing node determines the environmental parameters of the area to be measured in the first time period by measuring the uplink path loss.

[0060] Taking the base station as the above-mentioned perception node and measuring the rainfall amount in the measured area as an example, during the rain, the base station signaling instructs the target UE in the measured area to send a sounding reference signal (such as Sounding Reference Signa l) or a perception signal multiple times with different transmit powers. The base station receives the sounding reference signal or the perception signal and measures the RSRP of the sounding reference signal or the perception signal. The base station compares the difference between the transmit power of the sounding reference signal or the perception signal and the above-mentioned RSRP to determine the rainfall amount in the measured area.

[0061] In one embodiment, the environmental parameters of the area to be measured in the first time period may also be determined in the following manner. It should be noted that the following S401-S402 are an optional implementation of the above S101, and the following S403 is an optional implementation of the above S102. Figure 4 As shown, the method may include:

[0062] S401: Instruct multiple target nodes in the area to be measured to send a perception signal or a designated reference signal at a third power between two nodes in a first time period.

[0063] Specifically, the sensing node can determine multiple target nodes located in the area to be measured from other surrounding sensing nodes according to the location information of other surrounding sensing nodes, wherein there is a line of sight (LOS) path between the multiple target nodes. The sensing node signaling indicates multiple target nodes, and sends a designated reference signal or a sensing signal between two nodes at a third power, or the signaling indicates multiple target nodes, and sends a designated reference signal or a sensing signal multiple times between two nodes at different powers.

[0064] S402: Receive the RSRP of the perception signal or the designated reference signal measured by the target node.

[0065] The target node receives the perception signal or the designated reference signal, measures the RSRP of the perception signal or the designated reference signal, and reports it to the perception node. The perception node receives the RSRP of the perception signal or the designated reference signal reported by the target node.

[0066] S403: Determine an environmental parameter of the area to be measured in the first time period according to the transmit power of the perception signal or the designated reference signal and the RSRP of the perception signal or the designated reference signal.

[0067] Specifically, the sensing node determines the environmental parameters of the area to be measured in the first time period by comparing the transmit power of the sensing signal or the designated reference signal with the difference between the RSRP of the sensing signal or the designated reference signal. In other words, the sensing node determines the environmental parameters of the area to be measured in the first time period by measuring the path loss between devices (Device to Device, D2D).

[0068] Taking the base station as the above-mentioned perception node and measuring the rainfall amount in the measured area as an example, during the rain, the base station signaling instructs multiple target UEs or target UE groups in the measured area to send designated reference signals or perception signals between each other at a certain power, or to send designated reference signals or perception signals multiple times between each other at different powers. One target UE in the multiple target UEs or target UE groups receives the designated reference signal or perception signal sent by another target UE, and measures the RSRP of the designated reference signal or perception signal, and reports the measured RSRP to the base station. The base station determines the rainfall amount in the measured area based on the RSRP reported by the target UE and the transmission power between the target UEs.

[0069] In one embodiment, the environmental parameters of the area to be measured in the first time period may also be determined in the following manner. It should be noted that the following S501-S502 are an optional implementation of the above S101, and the following S503 is an optional implementation of the above S102. Figure 5 As shown, the method may include:

[0070] S501: Send a perception signal within a second time period, and receive a first echo signal after the perception signal is reflected by a perception target.

[0071] The sensing target is a target in the area to be measured and has a line of sight with the sensing node. The second time period is different from the first time period. Taking the rainfall in the area to be measured as an example, the second time period may refer to a period when the weather is clear and not raining, and the first time period may refer to a period when it is raining.

[0072] S502: Send a perception signal within a first time period, and receive a second echo signal after the perception signal is reflected by a perception target.

[0073] S503: Determine environmental parameters of the area to be measured within a first time period according to the first echo signal and the second echo signal.

[0074] Optionally, after receiving the first echo signal, the signal strength of the first echo signal is measured; after receiving the second echo signal, the signal strength of the second echo signal is measured.

[0075] Correspondingly, the process of S503 may be: determining the environmental parameters of the area to be measured within the first time period according to the signal strength of the first echo signal and the signal strength of the second echo signal.

[0076] Taking the base station as the above-mentioned sensing node and measuring the rainfall amount in the measured area as an example, first, in the measured area, one or more fixed sensing targets are selected. When the weather is clear and there is no rain, the base station sends a sensing signal, and the fixed sensing target reflects the sensing signal. The base station receives the first echo signal after being reflected by the sensing target, and measures the signal strength of the first echo signal, which is recorded as R1. During the rainy period, the base station continues to send the sensing signal to the above-mentioned sensing target with the same power, and the sensing target reflects the sensing signal. The base station receives the second echo signal after being reflected by the sensing target, and measures the signal strength of the second echo signal, which is recorded as R2. The base station determines the rainfall amount in the measured area during the rainy period based on R1 and R2. For example, the rainfall amount in the measured area during the rainy period is proportional to the difference between R1 and R2, for example, the rainfall amount is equal to k*(R1-R2), or the rainfall amount is equal to k*(c*log 10 (R1)-c*log 10 (R2)). wherein k and c are numbers greater than 0, and optionally, c is equal to 10.

[0077] The perception signal transmission method provided in the embodiment of the present application sends a perception signal and obtains feedback information for the perception signal, and determines the environmental parameters of the area to be measured according to the feedback information. For example, the measurement of the amount of rainfall in the area to be measured can be realized, thereby realizing the perception of the surrounding environmental information.

[0078] In the synaesthesia integrated system, the timing deviation between the transceiver nodes of the perception signal will cause the ranging error and affect the perception accuracy. At the same time, the local oscillator frequency deviation between the transceiver nodes of the perception signal will also affect the measurement of the Doppler shift, causing the speed measurement error and affecting the perception accuracy. To this end, the timing deviation and the local oscillator frequency deviation between the transceiver nodes of the perception signal can be determined through the process of the following embodiment.

[0079] Figure 6 This is another flow chart of the method for transmitting a perception signal provided in an embodiment of the present application. Figure 6 As shown, the method may include:

[0080] S601. Send a first perception signal.

[0081] S602: Receive first frequency information and first delay information of a first perception signal measured by a target node.

[0082] S603: Receive a second perception signal sent by the target node, and measure second frequency information and second delay information of the second perception signal.

[0083] S604: Determine a local oscillator frequency deviation with respect to a target node according to the first frequency information and the second frequency information, and determine a timing deviation with respect to the target node according to the first delay information and the second delay information.

[0084] The basic idea of ​​measuring timing deviation and local oscillator frequency deviation is that the transmitting and receiving nodes of the sensing signals send and receive sensing signals to each other, and the signal propagation delay and Doppler frequency shift obtained by round-trip measurement are the same, while the absolute values ​​of the timing deviation and local oscillator frequency deviation are the same but have opposite signs. Based on this, the timing deviation and local oscillator frequency deviation between the transmitting and receiving nodes can be extracted.

[0085] Specifically, the sensing node A sends a first sensing signal, the target node B receives the first sensing signal after being reflected by the sensing target, and measures the first frequency information f of the first sensing signal. AB and the first delay information τ AB The first frequency information can be expressed by the following formula (1), and the first delay information can be expressed by the following formula (2):

[0086] f AB =f d +f offset (1)

[0087] τ AB =τ+τ offset (2)

[0088] Next, the target node B sends a second sensing signal, and the sensing node A receives the second sensing signal after being reflected by the sensing target, and measures the second frequency information f of the second sensing signal. BA and the second delay information τ BA The second frequency information can be expressed by the following formula (3), and the second delay information can be expressed by the following formula (4):

[0089] f BA =f d -f offset (3)

[0090] τ BA =τ-τ offset (4)

[0091] Furthermore, the local oscillator frequency deviation f between the sensing node and the target node can be determined by the first frequency information and the second frequency information. offset , that is, by performing corresponding operations on formula (1) and formula (3), the local oscillator frequency deviation f between the sensing node and the target node can be obtained offset Furthermore, the timing deviation τ between the sensing node and the target node can be determined by the first delay information and the second delay information. offset, that is, by performing corresponding operations on formula (2) and formula (4), the timing deviation τ between the sensing node and the target node can be obtained offset Among them, f d is the real Doppler frequency shift, and τ is the real signal propagation delay.

[0092] Optionally, the target node may use the maximum transmission power to send the second perception signal, thereby improving the success rate of the perception node receiving the perception signal.

[0093] The perception signal transmission method provided in the embodiment of the present application is achieved by sending and receiving perception signals between the transceiver nodes of the perception signals, and determining the local oscillator frequency deviation between the transceiver nodes based on the first frequency information and the second frequency information obtained by the round-trip measurement of the perception signal, and determining the timing deviation between the transceiver nodes based on the first delay information and the second delay information obtained by the round-trip measurement of the perception signal, thereby improving the perception accuracy.

[0094] Optionally, in order to improve the accuracy of timing deviation and local oscillator frequency deviation estimation, the power-normalized signal of the first perception signal is the same as the power-normalized signal of the second perception signal.

[0095] Alternatively, if Figure 7 As shown, the perception node may also send signaling indication information to the target node, where the signaling indication information is used to instruct the target node to receive the first perception signal and send the second perception signal.

[0096] In one embodiment, the sensing node may send signaling indication information through downlink control information (DCI) for physical downlink shared channel (PDSCH) scheduling. Specifically, the process of sending signaling indication information through DCI for PDSCH scheduling may be: instructing the target node through n-bit signaling of downlink control information DCI for PDSCH scheduling, receiving a first sensing signal on a downlink time slot or symbol indicated by the DCI, and sending a second sensing signal on the mth uplink time slot or symbol after the first sensing signal is sent; wherein n and m are natural numbers greater than 0, for example, m is 1 or a natural number predefined by both the sensing node and the target node.

[0097] In one embodiment, the sensing node may send signaling indication information through a DCI for physical uplink shared channel (PUSCH) scheduling. Specifically, the process of sending signaling indication information through a DCI for PUSCH scheduling may be: instructing the target node through n-bit signaling of the DCI for PUSCH scheduling to receive the first sensing signal in the last downlink time slot or symbol after receiving the DCI and before sending the second sensing signal, and to send the second sensing signal in the sending time slot or symbol indicated by the DCI; wherein n is a natural number greater than 0.

[0098] That is to say, the perception node can jointly instruct the target node to receive the first perception signal and send the second perception signal through the n-bit signaling in the DCI used for PDSCH / PUSCH scheduling, thereby realizing the measurement of the timing deviation and local oscillator frequency deviation between the perception node and the target node by sending perception signals to each other between the perception node and the target node.

[0099] Optionally, the signaling indication information is also used to indicate the type and / or transmission mode of the first perception signal, that is, the n bits of the DCI used for PDSCH / PUSCH scheduling can also indicate the type and / or transmission mode of the first perception signal. In this way, the target node can receive the first perception signal in a corresponding manner to improve the success rate of perception signal reception.

[0100] Optionally, the type of the first perception signal may include at least one of the following: a continuous linear frequency modulation signal, a pulse signal, a Gray complementary sequence, a fully complementary sequence, a PN sequence, and a ZC sequence. Optionally, the transmission mode of the first perception signal includes at least one of the following: single transmission, multiple transmissions of a complementary sequence, transmission at a transmission frequency higher than a preset frequency value, and transmission at a transmission frequency lower than the preset frequency value. The above-mentioned preset frequency value may be 6 GHz.

[0101] Figure 8 A schematic diagram of a structure of a perception signal transmission device provided in an embodiment of the present application. Figure 8 As shown, the device may include: a sending module 801, an acquiring module 802 and a determining module 803.

[0102] Specifically, the sending module 801 is used to send a perception signal;

[0103] The acquisition module 802 is used to acquire feedback information for the perception signal;

[0104] The determination module 803 is used to determine the environmental parameters of the area to be measured according to the feedback information;

[0105] The area to be measured is an area between a sending node and a receiving node of the sensing signal.

[0106] On the basis of the above embodiment, optionally, the sending module 801 is specifically configured to send a perception signal or a designated reference signal to a target node in the area to be measured at a first power within a first time period;

[0107] The acquisition module 802 is specifically configured to receive a reference signal received power RSRP of the perception signal or the designated reference signal measured by the target node;

[0108] Alternatively, the sending module 801 is specifically used to instruct the target node in the to-be-measured area to send a sensing signal or a designated reference signal at a second power within a first time period;

[0109] The acquisition module 802 is specifically configured to receive the perception signal or the designated reference signal sent by the target node, and measure the RSRP of the perception signal or the designated reference signal;

[0110] Alternatively, the sending module 801 is specifically used to instruct multiple target nodes in the area to be measured to send a perception signal or a designated reference signal at a third power between two nodes in the first time period;

[0111] The acquisition module 802 is specifically configured to receive the RSRP of the perception signal or the designated reference signal measured by the target node;

[0112] Correspondingly, the determination module 803 is specifically configured to determine the environmental parameters of the area to be measured within the first time period according to the transmit power of the perception signal or the designated reference signal and the RSRP of the perception signal or the designated reference signal.

[0113] Based on the above embodiment, optionally, the sending module 801 is specifically configured to send the perception signal within the second time period;

[0114] The acquisition module 802 is specifically configured to receive a first echo signal after the sensing signal is reflected by the sensing target;

[0115] The sending module 801 is further specifically configured to send the perception signal within a first time period;

[0116] The acquisition module 802 is further specifically configured to receive a second echo signal after the sensing signal is reflected by the sensing target;

[0117] Correspondingly, the determination module 803 is specifically configured to determine the environmental parameters of the area to be measured within the first time period according to the first echo signal and the second echo signal.

[0118] Based on the above embodiment, optionally, the device further includes: a processing module.

[0119] Specifically, the processing module is used to measure the signal strength of the first echo signal;

[0120] The processing module is also used to measure the signal strength of the second echo signal;

[0121] Correspondingly, the determination module 803 is further specifically configured to determine the environmental parameters of the area to be measured within the first time period according to the signal strength of the first echo signal and the signal strength of the second echo signal.

[0122] Fig. 9 Another structural diagram of the perception signal transmission device provided in the embodiment of the present application. Fig. 9 As shown, the device may include: a sending module 901, a receiving module 902 and a determining module 903.

[0123] Specifically, the sending module 901 is used to send a first perception signal;

[0124] The receiving module 902 is used to receive first frequency information and first delay information of the first perception signal measured by the target node;

[0125] The receiving module 902 is also used to receive a second perception signal sent by the target node;

[0126] The determination module 903 is used to measure the second frequency information and the second delay information of the second perception signal, and determine the local oscillator frequency deviation between the target node and the first frequency information and the second frequency information, and determine the timing deviation between the target node and the first delay information and the second delay information.

[0127] Optionally, the power-normalized signal of the first perception signal is the same as the power-normalized signal of the second perception signal.

[0128] Based on the above embodiment, optionally, the sending module 901 is further used to send signaling indication information, where the signaling indication information is used to instruct the target node to receive the first perception signal and send the second perception signal.

[0129] On the basis of the above embodiment, optionally, the sending module 901 is specifically used to send the signaling indication information through the DCI used for PDSCH scheduling; or, the sending module 901 is specifically used to send the signaling indication information through the DCI used for PUSCH scheduling.

[0130] Based on the above embodiment, optionally, the sending module 901 is specifically used to indicate the target node through the n-bit signaling of the DCI for PDSCH scheduling, receive the first perception signal on the downlink time slot or symbol indicated by this DCI, and send the second perception signal on the mth uplink time slot or symbol after the first perception signal is sent; wherein n and m are natural numbers greater than 0.

[0131] On the basis of the above embodiment, optionally, the sending module 901 is specifically used to indicate the target node through n-bit signaling of the DCI for PUSCH scheduling, receive the first perception signal in the last downlink time slot or symbol after receiving the DCI and before sending the second perception signal, and send the second perception signal in the sending time slot or symbol indicated by the DCI; wherein n is a natural number greater than 0.

[0132] Based on the above embodiment, optionally, the signaling indication information is also used to indicate a type and / or a sending mode of the first perception signal.

[0133] Based on the above embodiment, optionally, the type of the first perception signal includes at least one of the following: a continuous linear frequency modulation signal, a pulse signal, a Gray complementary sequence, a fully complementary sequence, a PN sequence, and a ZC sequence.

[0134] Based on the above embodiment, optionally, the sending mode of the first perception signal includes at least one of the following: single sending, multiple sending of complementary sequences, sending at a sending frequency higher than a preset frequency value, and sending at a sending frequency lower than the preset frequency value.

[0135] Based on the above embodiment, optionally, the second perception signal is sent based on the maximum transmit power.

[0136] In one embodiment, a sensing node is also provided. The internal structure diagram of the sensing node can be as follows: Fig.10 As shown. The perception node includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the perception node is used to provide computing and control capabilities. The memory of the perception node includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the perception node is used to store data generated during the transmission of perception signals. The network interface of the perception node is used to communicate with external terminals and nodes through a network connection. When the computer program is executed by the processor, a perception signal transmission method is implemented.

[0137] Those skilled in the art will understand that Fig.10 The structure shown in the figure is only a block diagram of a partial structure related to the scheme of the present application, and does not constitute a limitation on the perception node to which the scheme of the present application is applied. The specific perception node may include more or fewer components than shown in the figure, or combine certain components, or have a different arrangement of components.

[0138] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0139] Sending a perception signal and obtaining feedback information for the perception signal;

[0140] Determine the environmental parameters of the area to be measured according to the feedback information;

[0141] The area to be measured is an area between a sending node and a receiving node of the sensing signal.

[0142] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0143] sending a first perception signal;

[0144] Receiving first frequency information and first delay information of the first perception signal measured by the target node;

[0145] receiving a second perception signal sent by the target node, and measuring second frequency information and second delay information of the second perception signal;

[0146] A local oscillator frequency deviation with respect to the target node is determined according to the first frequency information and the second frequency information, and a timing deviation with respect to the target node is determined according to the first delay information and the second delay information.

[0147] The computer storage medium of the embodiment of the present application may adopt any combination of one or more computer-readable media. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to: an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. The computer-readable storage medium includes (a non-exhaustive list): an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (Random Access Memory, RAM), a read-only memory (Read-Only Memory, ROM), an erasable programmable read-only memory (electrically erasable, programmable Read-Only Memory, EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (Compact Disc Read-Only Memory, CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present application, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by an instruction execution system, device or device or used in combination with it.

[0148] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, the data signal carrying a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0149] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0150] Computer program code for performing the disclosed operations may be written in one or more programming languages ​​or a combination of multiple programming languages, including object-oriented programming languages ​​(such as Java, Smalltalk, C++, Ruby, Go), and conventional procedural programming languages ​​(such as "C" language or similar programming languages). The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer via any type of network (including a network (Local Area Network, LAN) or a wide area network (Wide Area Network, WAN)), or may be connected to an external computer (e.g., using an Internet service provider to connect via the Internet).

[0151] It will be appreciated by those skilled in the art that the term user terminal covers any suitable type of wireless user equipment, such as a mobile phone, a portable data processing device, a portable web browser or a vehicle-mounted mobile station.

[0152] In general, various embodiments of the present application can be implemented in hardware or dedicated circuits, software, logic or any combination thereof. For example, some aspects can be implemented in hardware, while other aspects can be implemented in firmware or software that can be executed by a controller, microprocessor or other computing device, although the present application is not limited thereto.

[0153] Embodiments of the present application may be implemented by executing computer program instructions by a data processor of a mobile device, for example in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

[0154] The block diagram of any logic flow in the drawings of the present application may represent program steps, or may represent interconnected logic circuits, modules and functions, or may represent a combination of program steps and logic circuits, modules and functions. The computer program may be stored in a memory. The memory may be of any type suitable for the local technical environment and may be implemented using any suitable data storage technology, such as but not limited to read-only memory (ROM), random access memory (RAM), optical memory devices and systems (digital versatile discs DVD or CD discs), etc. Computer-readable media may include non-transient storage media. The data processor may be of any type suitable for the local technical environment, such as but not limited to a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (Digital Signal Processing, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a programmable logic device (Field-Programmable Gate Array, FGPA) and a processor based on a multi-core processor architecture.

Claims

1. A method for transmitting a perception signal, characterized in that: include: Sending a perception signal and obtaining feedback information for the perception signal; Determine the environmental parameters of the area to be measured according to the feedback information; The area to be measured is an area between a sending node and a receiving node of the sensing signal.

2. The method according to claim 1, characterized in that The sending of the perception signal and obtaining feedback information for the perception signal includes: Sending a perception signal or a designated reference signal to a target node in a to-be-measured area at a first power within a first time period, and receiving a reference signal received power RSRP of the perception signal or the designated reference signal measured by the target node; Alternatively, instructing a target node in the area to be measured to send a perception signal or a designated reference signal at a second power within a first time period, receiving the perception signal or the designated reference signal sent by the target node, and measuring the RSRP of the perception signal or the designated reference signal; Alternatively, instructing multiple target nodes in the area to be measured to send a perception signal or a designated reference signal at a third power between two of them within a first time period, and receiving RSRP of the perception signal or the designated reference signal measured by the target node; Correspondingly, determining the environmental parameters of the area to be measured according to the feedback information includes: Determine the environmental parameters of the area to be measured within the first time period according to the transmit power of the perception signal or the designated reference signal and the RSRP of the perception signal or the designated reference signal.

3. The method according to claim 1, characterized in that The sending of the perception signal and obtaining feedback information for the perception signal includes: Sending a sensing signal within a second time period, and receiving a first echo signal after the sensing signal is reflected by the sensing target; Sending the sensing signal within a first time period, and receiving a second echo signal after the sensing signal is reflected by a sensing target; Correspondingly, determining the environmental parameters of the area to be measured according to the feedback information includes: The environmental parameters of the area to be measured within the first time period are determined according to the first echo signal and the second echo signal.

4. The method according to claim 3, characterized in that Also includes: measuring the signal strength of the first echo signal; measuring the signal strength of the second echo signal; Correspondingly, determining the environmental parameters of the area to be measured within the first time period according to the first echo signal and the second echo signal includes: The environmental parameters of the area to be measured within the first time period are determined according to the signal strength of the first echo signal and the signal strength of the second echo signal.

5. A method for transmitting a perception signal, characterized in that: include: sending a first perception signal; Receiving first frequency information and first delay information of the first perception signal measured by the target node; Receiving a second perception signal sent by the target node, and measuring second frequency information and second delay information of the second perception signal; A local oscillator frequency deviation with respect to the target node is determined according to the first frequency information and the second frequency information, and a timing deviation with respect to the target node is determined according to the first delay information and the second delay information.

6. The method according to claim 5, characterized in that The power-normalized signal of the first perception signal is the same as the power-normalized signal of the second perception signal.

7. The method according to claim 5, characterized in that Also includes: Send signaling indication information, where the signaling indication information is used to instruct the target node to receive the first perception signal and send the second perception signal.

8. The method according to claim 7, characterized in that The sending signaling indication information includes: Sending signaling indication information through downlink control information DCI for physical downlink shared channel PDSCH scheduling; Alternatively, the signaling indication information is sent through the DCI used for physical uplink shared channel PUSCH scheduling.

9. The method according to claim 8, characterized in that The sending of signaling indication information through downlink control information DCI for PDSCH scheduling includes: The target node is indicated by n-bit signaling of downlink control information DCI for PDSCH scheduling, the first perception signal is received on the downlink time slot or symbol indicated by the DCI, and the second perception signal is sent on the mth uplink time slot or symbol after the first perception signal is sent; wherein n and m are natural numbers greater than 0.

10. The method according to claim 8, characterized in that The signaling indication information is sent through the DCI for PUSCH scheduling, including: The target node is indicated by n-bit signaling of the DCI used for PUSCH scheduling, receiving the first perception signal in the last downlink time slot or symbol after receiving the DCI and before sending the second perception signal, and sending the second perception signal in the sending time slot or symbol indicated by the DCI; wherein n is a natural number greater than 0.

11. The method according to claim 7, characterized in that The signaling indication information is further used to indicate a type and / or a sending mode of the first perception signal.

12. The method according to claim 11, characterized in that The type of the first perception signal includes at least one of the following: a continuous linear frequency modulation signal, a pulse signal, a Gray complementary sequence, a fully complementary sequence, a PN sequence, and a ZC sequence.

13. The method according to claim 11, characterized in that The sending mode of the first perception signal includes at least one of the following: single sending, multiple sending of complementary sequences, sending at a sending frequency higher than a preset frequency value, and sending at a sending frequency lower than the preset frequency value.

14. The method according to claim 5, characterized in that The second perception signal is sent based on the maximum transmit power.

15. A perception signal transmission device, characterized in that: include: A sending module, used for sending a sensing signal; An acquisition module, used to acquire feedback information for the perception signal; A determination module, used to determine the environmental parameters of the area to be measured according to the feedback information; The area to be measured is an area between a sending node and a receiving node of the sensing signal.

16. A perception signal transmission device, characterized in that: include: A sending module, used for sending a first perception signal; A receiving module, configured to receive first frequency information and first delay information of the first perception signal measured by a target node; The receiving module is further used to receive a second perception signal sent by the target node; A determination module is used to measure the second frequency information and the second delay information of the second perception signal, and determine the local oscillator frequency deviation between the target node and the first frequency information and the second frequency information, and determine the timing deviation between the target node and the first delay information and the second delay information.

17. A sensing node, characterized in that: include: A memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to any one of claims 1 to 14 when executing the computer program.

18. A storage medium, characterized in that: The storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 14 are implemented.

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