Design method for long-distance high-precision general-inductance integrated detection waveform

Abstract

The invention discloses a long-distance high-precision sensing integrated detection waveform design method, which comprises the following steps of: 1, determining the number Ncomb of transmission combs according to the number requirement of sensing waveforms required to be supported by a system at the same time; step 2, generating an expandable wide-range sensing signal according to the sensed distance demand, the expandable wide-range sensing signal lasting for L symbols; 3, determining a short period Tps, a short period repeated transmission frequency Lp, a long period Tpl and a long period repeated transmission frequency Np according to the speed detection requirement of the moving target and typical communication time slot configuration; step 4, completing frequency domain signal mapping in a pre-detection stage, and completing subcarrier mapping of adjacent L OFDM symbols according to a frequency domain continuous mode; step 5, completing time domain signal mapping in a pre-detection stage, and repeatedly transmitting the frequency domain mapping signal in the step 4 for Lp times according to a configured Tps period; step 6, completing frequency domain signal mapping in the detection stage, and completing subcarrier mapping of L adjacent OFDM symbols according to the selected combing mode; and step 7, completing time domain signal mapping in the detection stage, and repeatedly transmitting the frequency domain mapping signal in the step 5 for Np times according to the configured long period Tpl. According to the invention, the problems of limited sensing distance and ambiguity of the communication waveform for sensing can be solved, and high-precision sensing of distance and speed of far and near targets in a wide range can be met.

Description

Technical Field

[0001] The present invention relates to the field of wireless communication technology, and in particular to a long-distance high-precision synaesthesia integrated detection waveform design method. Background Art

[0002] Synaesthesia integration is one of the six major application scenarios of 6G, which aims to realize two independent functions of wireless communication and wireless perception in the same system. Detection waveform design is the key technology of synaesthesia integration. There are three technical routes, namely, integrated waveform based on communication waveform, integrated waveform based on radar waveform, and integrated waveform based on new synaesthesia fusion. The radar waveform has poor data carrying capacity and needs to add hardware units to process frequency modulated waves. The new synaesthesia fusion waveforms such as OTFS have relatively high peak-to-average ratio, limited long-distance perception capabilities, and need to modify the communication modulation and demodulation algorithms. Therefore, modifying the OFDM communication waveform to meet perception needs has broad application prospects.

[0003] In the design of OFDM sensing waveform, multiplexing or enhancing existing reference signals can both reduce overhead and provide sensing capabilities. The uplink detection reference signal uses the ZC sequence as the base sequence, which has low peak-to-average bit characteristics and good autocorrelation characteristics, and can meet performance indicators such as perception distance and perception accuracy. However, due to the limited cyclic prefix length of the OFDM symbol and the combing design of the detection signal, if the traditional detection signal is used directly for base station-side perception, there will be problems of limited perception distance and distance ambiguity. In addition, the single-beat detection signal cannot accurately perceive the target's movement speed, and a certain perception frame structure needs to be designed to meet the needs of moving target speed perception. To this end, it is necessary to propose a synaesthesia integrated detection signal design scheme to achieve long-distance perception and meet the needs of high-precision perception of the distance and speed of moving targets. Summary of the invention

[0004] Purpose of the invention: The present invention provides a long-distance, high-precision, synaesthesia integrated detection waveform design method, which can solve the problems of limited perception distance and distance ambiguity when communication waveforms are used for perception, and meet the requirements of high-precision perception of distance and speed of near and far targets within a wide range.

[0005] Technical solution: The invention discloses a long-distance high-precision synaesthesia integrated detection waveform design method, comprising the following steps:

[0006] Step 1: Determine the number of transmission combs N according to the number of sensing waveforms that the system needs to support simultaneously. comb ;

[0007] Step 2: Generate an expandable wide-range synaesthesia signal according to the perceived distance requirement, and the expandable wide-range synaesthesia signal continues the L symbol;

[0008] Step 3: Determine the short period T according to the speed detection requirements of the moving target and the typical communication time slot configuration. ps , short-period repeated transmission times L p , long period T pl , long period repetition number N p ;

[0009] Step 4: Complete the frequency domain signal mapping in the pre-detection phase, and complete the subcarrier mapping of L adjacent OFDM symbols in a continuous frequency domain manner;

[0010] Step 5: Complete the time domain signal mapping of the pre-detection phase, and map the frequency domain mapping signal of step 4 to the configured T ps Repeated emission of L for a period p Second-rate;

[0011] Step 6: Complete the frequency domain signal mapping in the detection phase, and complete the subcarrier mapping of L adjacent OFDM symbols according to the selected combing method;

[0012] Step 7: Complete the time domain signal mapping in the detection phase, and map the frequency domain mapping signal in step 5 according to the configured long period T pl Repeat N p Second-rate.

[0013] Furthermore, in step 1, the number of transmission combs N is determined according to the number of sensing waveforms that the system needs to support simultaneously. comb ;

[0014]

[0015] Among them, N max-sense is the maximum number of sensing waveforms that need to be supported simultaneously, |{α,u,v}| represents the number of parameter sets that can be used for sensing, each pair of u and v can determine a root sequence, u is the group number of the uplink sounding reference signal, v is the base sequence number in the group, and α is the cyclic shift.

[0016] Furthermore, in step 2, according to the perceived distance requirement, the scalable wide-range synaesthesia signal is determined to continue the L symbol, and the scalable wide-range synaesthesia signal is generated;

[0017] Considering the uplink and downlink timing relationship of the TDD system, the maximum effective sensing distance is

[0018]

[0019] Where c is the speed of light, is the signal length, is the signal cyclic prefix CP length, T c It is the smallest time unit in the 3GPP protocol. TAIt is the uplink and downlink timing deviation. The table between the sensing distance and the continuous symbol is generated according to the maximum effective sensing distance formula. The table is looked up to obtain L according to the sensing distance requirement.

[0020] The scalable wide-range synaesthesia signal starts from the lth OFDM symbol in a subframe and lasts for L symbols. Then the sequence of the subsequent l'th OFDM symbol is:

[0021]

[0022] in, is the perceptual base sequence, δ is the logarithm of the number of transmission combs, is a ZC sequence, L cp is the length of the cyclic prefix of the communication system, N FFT is the number of FFT points in the communication system. The above formula represents the unfinished L of the l' signal. cp The signal is copied as a cyclic prefix to ensure the continuity of the splicing.

[0023] Furthermore, for RRUs using the Option 7-2 format, the RRU side has low-order physical layer processing functions, including FFT / IFFT, adding and removing cyclic prefixes, and phase compensation functions. At this time, the phase compensation in the 3GPP protocol will destroy the phase continuity of the scalable wide-range communication signal splicing. In order to ensure transparent support for RRU, it is necessary to perform phase anti-compensation on the designed scalable wide-range signal.

[0024]

[0025] Where μ is the protocol parameter set, f0 is the carrier frequency, is the position index of the l'th OFDM symbol in the subframe, T c It is the smallest time unit in the 3GPP protocol. The calculation method of the location index is consistent with the protocol. For a specific parameter set, the phase compensation table is pre-generated in an iterative manner. The location index is generated as follows:

[0026]

[0027] in, is the signal length, is the signal cyclic prefix CP length.

[0028] Further, in step 3, the short period T is determined according to the speed detection requirements of the moving target and the typical communication time slot configuration. ps , short-period repeated transmission times L p , long period T pl , long period repetition number N p ;

[0029] Tps and L p The determination method is as follows:

[0030]

[0031] in, Indicates rounding down. means round up, λ is the wavelength, T ofdm is the OFDM symbol duration including the cyclic prefix, v max is the maximum expected detection velocity, v sect is the speed length of the segmented interval of speed detection;

[0032] T pl and N p The determination method is as follows:

[0033] T pl =n pl T period

[0034]

[0035] Where Δv is the expected velocity detection accuracy of the moving target, T period is the time length of a typical communication time slot configuration commonly used on the base station side, n pl A configurable integer.

[0036] Further, in step 4, the frequency domain signal mapping in the pre-detection phase is completed, and the subcarrier mapping of adjacent L OFDM symbols is completed in a continuous subcarrier manner;

[0037] The mapping formula of the subcarrier continuous mapping method is as follows:

[0038]

[0039] Among them, s grid is the OFDM time-frequency domain grid, n comb is the comb index corresponding to the perception waveform, L OFDM signals are a perception signal block in the pre-detection stage, and l' is the index of the OFDM symbol in the perception signal block.

[0040] Further, in step 5, the time domain signal mapping of the pre-detection phase is completed, and the frequency domain mapping signal of step 4 is mapped according to the configured T ps Repeated emission of L for a period p Second-rate;

[0041] The time domain mapping formula in the pre-detection stage is as follows:

[0042]

[0043] Among them, s pred is the time-frequency domain grid in the pre-detection phase, l' is the index of the OFDM symbol in the sensing signal block, and l" is the index of the sensing signal block.

[0044] Furthermore, if the designed T ps If the length is equal to the OFDM symbol length, a continuous wave design is adopted. First, the scalable wide-range synaesthesia signal generation length in step 2 is extended from L symbols to L+L p -1, then use the frequency domain continuous mapping method in step 4, and then map the time domain to the adjacent L+L p -1 OFDM symbol, get L p The time domain mapping formula of the pre-detection phase is as follows:

[0045]

[0046] Furthermore, in step 6, the frequency domain signal mapping in the detection phase is completed, and the subcarrier mapping of adjacent L OFDM symbols is completed according to the selected combing method;

[0047] The mapping formula of the subcarrier combing method is as follows:

[0048]

[0049] Among them, s grid is the OFDM time-frequency domain grid, n comb is the comb index corresponding to the perception waveform, L OFDM signals are a perception signal block in the detection phase, l' is the index of the OFDM symbol in the perception signal block,.

[0050] Further, in step 7, the time domain signal mapping of the detection phase is completed, and the frequency domain mapping signal of the S05 phase is mapped according to the configured long period T pl Repeat N p Second-rate;

[0051] The time domain mapping formula in the detection phase is as follows:

[0052]

[0053] Among them, s detect is the time-frequency domain grid in the detection phase, l' is the index of the OFDM symbol in the sensing signal block, and l" is the index of the sensing signal block.

[0054] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: it can realize high-precision perception of the distance and speed of distant and near targets within a wide range; the detection signal design method includes an expandable wide-range synaesthesia signal design, a distance ambiguity elimination scheme and a high-speed resolution frame structure design; the expandable wide-range synaesthesia signal design realizes simultaneous perception of distant and near targets; the distance ambiguity elimination scheme eliminates the distance ambiguity within and between OFDM symbols; the high-speed resolution frame structure design improves the speed perception accuracy of moving targets; it can realize high-precision perception of the distance and speed of distant targets with relatively small resource overhead. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a schematic diagram of the design of the wide-range synaesthesia signal that can be expanded in the present invention.

[0056] Figure 2 This is a schematic diagram of the design of the intra-symbol distance ambiguity elimination solution of the present invention.

[0057] Figure 3 This is a schematic diagram of solving the fuzzy distance between symbols of the present invention.

[0058] Figure 4 This is a schematic diagram of the high-speed resolution frame structure design of the present invention.

[0059] Figure 5 It is a schematic diagram of the time-frequency domain configuration of the synaesthesia signal of the present invention. DETAILED DESCRIPTION

[0060] A long-distance high-precision synaesthesia integrated detection waveform design method includes the following steps:

[0061] Step 1: Determine the number of transmission combs N according to the number of sensing waveforms that the system needs to support simultaneously. comb ;

[0062] Step 2: Generate an expandable wide-range synaesthesia signal according to the perceived distance requirement, and the expandable wide-range synaesthesia signal continues the L symbol;

[0063] Step 3: Determine the short period T according to the speed detection requirements of the moving target and the typical communication time slot configuration. ps , short-period repeated transmission times L p , long period T pl , long period repetition number N p ;

[0064] Step 4: Complete the frequency domain signal mapping in the pre-detection phase, and complete the subcarrier mapping of L adjacent OFDM symbols in a continuous frequency domain manner;

[0065] Step 5: Complete the time domain signal mapping of the pre-detection phase, and map the frequency domain mapping signal of step 4 to the configured T ps Repeated emission of L for a period p Second-rate;

[0066] Step 6: Complete the frequency domain signal mapping in the detection phase, and complete the subcarrier mapping of L adjacent OFDM symbols according to the selected combing method;

[0067] Step 7: Complete the time domain signal mapping in the detection phase, and map the frequency domain mapping signal in step 5 according to the configured long period T pl Repeat N p Second-rate.

[0068] The ZC sequence has constant mode characteristics, low peak-to-average characteristics and good autocorrelation characteristics. It is often used as a base sequence for communication uplink detection signals and can also be used as a perception base sequence. The uplink detection signal generation process is multiplexed to generate the perception base sequence.

[0069]

[0070] Where α is the cyclic shift, u is the group number, v is the base sequence number within the group, and δ is the logarithm of the number of transmission combs. is a ZC sequence, M ZC To avoid interference with the uplink detection signal, the group number and base sequence number used by the sensing base sequence must be different from the group number and base sequence number used by the communication uplink detection signal.

[0071] The communication signal supports the detection of target echoes within the cyclic prefix CP range. In order to support the detection of targets beyond the CP range and be compatible with commercial terminals, an extended CP solution is adopted to generate an expandable wide-range synaesthesia signal. The expandable wide-range synaesthesia signal requires the splicing of signals of adjacent OFDM symbols, and two special designs of cyclic shift and phase anti-compensation are required to ensure the integrity of the splicing.

[0072] Assuming that the scalable wide-range synaesthesia signal starts from the lth OFDM symbol in a subframe and lasts for L symbols, the sequence of the subsequent l'th OFDM symbol is:

[0073]

[0074] Among them, L cp is the length of the cyclic prefix of the communication system, N FFT is the number of FFT points in the communication system. The above formula represents the unfinished L of the l' signal. cp The signal is copied as a cyclic prefix to ensure the continuity of the splicing, such as Figure 1 shown.

[0075] For RRUs using the Option7-2 format, the RRU side has low-level physical layer processing functions, including FFT / IFFT, adding and removing cyclic prefixes, phase compensation, etc. At this time, the phase compensation in the 3GPP protocol will destroy the phase continuity of the scalable wide-range communication signal splicing. In order to ensure transparent support for RRU, it is necessary to perform phase anti-compensation on the designed scalable wide-range signal.

[0076]

[0077] Where μ is the protocol parameter set, f0 is the carrier frequency, is the position index of the l'th OFDM symbol in the subframe, T c It is the smallest time unit in the 5G protocol. The calculation method of the location index is consistent with the protocol. For a specific parameter set, the phase compensation table can be pre-generated in an iterative manner. The location index is generated as follows:

[0078]

[0079] in, is the signal length, is the signal cyclic prefix CP length.

[0080] The detection distance of the scalable wide-range synaesthesia signal depends on the number of splicing continuations L. Considering the uplink and downlink timing relationship of the TDD system, the effective sensing distance is

[0081]

[0082] Where c is the speed of light, is the signal cyclic prefix CP length.

[0083] When using the synaesthesia signal to complete channel estimation / environmental perception, it is necessary to use the equalization algorithm to estimate the air interface channel. To obtain the accurate air interface channel, it is necessary to perform TA compensation, reverse cyclic shift and phase compensation on the received wide-range synaesthesia signal. The frequency domain signal transmitted from RRU to BBU is: The received signal should be processed as

[0084]

[0085] Among them, T D Indicates the duration of an OFDM symbol excluding the cyclic prefix.

[0086] The synaesthesia signal after compensation can be compared with the base sequence Directly perform equalization to obtain the air interface channel, further supporting the implementation of subsequent synaesthesia algorithm.

[0087] When the synaesthesia signal is multiplexed in the comb structure of the uplink detection signal to form an orthogonal pilot, the equally spaced sampling in the frequency domain will cause the time domain signal to repeat periodically, resulting in aliasing of the delay estimation within the OFDM symbol and causing the distance ambiguity problem within the OFDM symbol.

[0088] The pre-detection scheme is used to eliminate the ambiguity within the OFDM symbol. That is, the continuous bandwidth is first occupied for pre-detection to determine the distance interval to solve the ambiguity problem within the OFDM symbol, and then the comb structure is used to improve the distance resolution and increase the number of orthogonal pilots. Figure 2 shown.

[0089] Assume that the number of system FFT points is N FFT , the subcarrier spacing is Δf, and the number of subcarriers occupied by each pilot is The number of transmission combs is N comb , in the pre-detection phase, using the continuously occupied subcarriers, and use the equalized channel to do distance estimation to determine the echo distance belonging interval:

[0090]

[0091] After confirming the distance interval in the detection phase, the combed and expandable wide-range synaesthesia signals are used to complete subsequent perception tasks.

[0092] When L=2, the effective perception distance of the wide-range synaesthesia signal can be extended to,

[0093]

[0094] When the effective perception distance of the scalable wide-range synaesthesia signal to be designed exceeds d thd When the number of continuous splicing L≥3, the inter-symbol distance ambiguity problem needs to be solved, that is, the actual delay value experienced by each OFDM delay peak needs to be determined. For echo signals within a wide range, the channel in the l'th OFDM symbol obtained by the equalization algorithm can be modeled as:

[0095]

[0096] Among them, τ i is the actual delay corresponding to the ith path, is the i-th path delay observed by the channel within the OFDM symbol, T D Indicates the length of the OFDM symbol excluding the cyclic prefix, T CP is the cyclic prefix time length, T ofdm is the OFDM symbol time length including the cyclic prefix, Γ i,l' Indicates the existence of a scalar, defined as follows:

[0097]

[0098] The channel estimates within L OFDM symbols can be jointly used to eliminate the distance ambiguity between distance symbols, that is, using Γ i,l' There is a scalar property. For the observed delay peaks within L OFDM symbols, similarity matching is performed to form delay groups. The delay corresponding to each delay group first appears at the The OFDM position is the actual delay experienced by the delay, and the delay that appears on the subsequent OFDM is the fuzzy solution, thereby eliminating the distance ambiguity between OFDM symbols, and the actual delay corresponding to each delay observation can be determined, thereby obtaining the actual distance.

[0099]

[0100] Taking the millimeter wave system as an example, the system uplink and downlink advance amount T TA =13792T c =7.015μs, the subcarrier spacing is 120kHz, the system FFT points are 2048, and the designed maximum detection distance is 3.4km. According to the effective perception distance formula of wide-range synaesthesia signal, L=3 is configured. Assume that there are two echo paths in the echo, which are 50m and 3.2km respectively. Figure 3 As shown in the figure, due to the influence of the system uplink and downlink advance, the l'=0th OFDM symbol has symbol truncation, which causes ISI and makes the channel unavailable. Therefore, this channel needs to be discarded during similarity matching. The remaining two channels are combined and matched by similarity to obtain two delay groups, marked with circles and triangles respectively. The echo distances that can be solved are:

[0101]

[0102] It can be seen that the use of similarity matching algorithm to determine the delay group can determine the actual delay position of the path and eliminate the distance ambiguity between OFDM symbols.

[0103] The single-beat scalable wide-range synaesthesia signal can be used to detect the distance. According to the TDD system frame structure, the periodic T p The transmission can further detect the speed. Its maximum unambiguous speed and speed resolution depend on the repetition period and observation time of the scalable wide-range synaesthesia signal. Extending the observation time is the key to improving the speed resolution, but it takes up a lot of time for the communication signal. Therefore, a pre-detection scheme can be used to eliminate speed ambiguity, that is, first transmit a short period T ps The continuous signal determines the speed range, and then uses the long periodicity configuration T pl Improve velocity resolution, such as Figure 4 shown.

[0104] Assume that the number of system FFT points is NFFT , the subcarrier spacing is Δf, and in the pre-detection stage, T ps Repeated emission of L for a period p The velocity attribution interval of the echo can be determined by using the OFDM symbol-dimensional Fourier transform peak value:

[0105]

[0106] Then, the TDD system frame structure is used to configure the periodic T pl , at the coherent observation time N p The speed resolution of the perceived target that can be calculated within a cycle is:

[0107]

[0108] Combined with the speed attribution interval of the perceived target determined in the pre-detection stage, the real speed of the perceived target can be obtained. Combined with the scalable wide-range synaesthesia signal design, the distance ambiguity elimination scheme and the high-resolution frame structure design, the synaesthesia integrated waveform time-frequency domain configuration is completed.

[0109] If the designed T ps If the length is equal to the OFDM symbol length, a continuous wave design is adopted. First, the scalable wide-range synaesthesia signal generation length in step 2 is extended from L symbols to L+L p -1, then use the frequency domain mapping method in step 4, and then map the time domain to the adjacent L+L p -1 OFDM symbol, you can get L p OFDM channels, thereby reducing overhead, such as Figure 5 shown.

Claims

1. A long-distance high-precision synaesthesia integrated detection waveform design method, characterized in that: The steps include: Step 1: Determine the number of transmission combs N according to the number of sensing waveforms that the system needs to support simultaneously. comb ; Step 2: Generate an expandable wide-range synaesthesia signal according to the perceived distance requirement, and the expandable wide-range synaesthesia signal continues the L symbol; Step 3: Determine the short period T according to the speed detection requirements of the moving target and the typical communication time slot configuration. ps , short-period repeated transmission times L p , long period T pl , long period repetition number N p ; Step 4: Complete the frequency domain signal mapping in the pre-detection phase, and complete the subcarrier mapping of L adjacent OFDM symbols in a continuous frequency domain manner; Step 5: Complete the time domain signal mapping of the pre-detection phase, and map the frequency domain mapping signal of step 4 to the configured T ps Repeated emission of L for a period p Second-rate; Step 6: Complete the frequency domain signal mapping in the detection phase, and complete the subcarrier mapping of L adjacent OFDM symbols according to the selected combing method; Step 7: Complete the time domain signal mapping in the detection phase, and map the frequency domain mapping signal in step 5 according to the configured long period T pl Repeat N p Second-rate.

2. The long-distance high-precision synaesthesia integrated detection waveform design method according to claim 1 is characterized in that: In step 1, the number of transmission combs N is determined according to the number of sensing waveforms that the system needs to support simultaneously. comb ; Among them, N max-sense is the maximum number of sensing waveforms that need to be supported simultaneously, |{α,u,v}| represents the number of parameter sets used for sensing, each pair of u and v determines a root sequence, u is the group number of the uplink sounding reference signal, v is the base sequence number in the group, and α is the cyclic shift.

3. The long-distance high-precision synaesthesia integrated detection waveform design method according to claim 1 is characterized in that: In step 2, according to the perceived distance requirement, the scalable wide-range synaesthesia signal continuous L symbol is determined to generate the scalable wide-range synaesthesia signal; Considering the uplink and downlink timing relationship of the TDD system, the maximum effective sensing distance is Where c is the speed of light, is the signal length, is the signal cyclic prefix CP length, T c It is the smallest time unit in the 3GPP protocol. TA It is the uplink and downlink timing deviation. The table between the sensing distance and the continuous symbol is generated according to the maximum effective sensing distance formula. The table is looked up to obtain L according to the sensing distance requirement. The scalable wide-range synaesthesia signal starts from the lth OFDM symbol in a subframe and lasts for L symbols. Then the sequence of the subsequent l'th OFDM symbol is: in, is the perceptual base sequence, δ is the logarithm of the number of transmission combs, is a ZC sequence, L cp is the length of the cyclic prefix of the communication system, N FFT is the number of FFT points in the communication system, M ZC is the sequence length, the above formula means that the tail L of the l' signal cp The signal is copied as a cyclic prefix to ensure the continuity of the splicing.

4. The long-distance high-precision synaesthesia integrated detection waveform design method as claimed in claim 3 is characterized in that: For RRUs using the Option 7-2 format, the RRU side has low-order physical layer processing functions, including FFT / IFFT, adding and removing cyclic prefixes, and phase compensation functions. At this time, the phase compensation in the 3GPP protocol will destroy the phase continuity of the scalable wide-range communication signal splicing. In order to ensure transparent support for RRU, it is necessary to perform phase anti-compensation on the designed scalable wide-range signal. Where μ is the protocol parameter set, f0 is the carrier frequency, is the position index of the l'th OFDM symbol in the subframe, T c It is the smallest time unit in the 3GPP protocol. The calculation method of the location index is consistent with the protocol. For a specific parameter set, the phase compensation table is pre-generated in an iterative manner. The location index is generated as follows: in, is the OFDM signal length, It is the cyclic prefix CP length of OFDM signal.

5. The long-distance high-precision synaesthesia integrated detection waveform design method according to claim 1, characterized in that: In step 3, the short period T is determined according to the speed detection requirements of the moving target and the typical communication time slot configuration. ps , short-period repeated transmission times L p , long period T pl , long period repetition number N p ; T ps and L p The determination method is as follows: in, Indicates rounding down. means round up, λ is the wavelength, T ofdm is the OFDM symbol duration including the cyclic prefix, v max is the maximum expected detection velocity, v sect is the speed length of the segmented interval of speed detection; T pl and N p The determination method is as follows: T pl =n pl T period Where Δv is the expected velocity detection accuracy of the moving target, T period is the time length of a typical communication time slot configuration commonly used on the base station side, n pl A configurable integer.

6. The long-distance high-precision synaesthesia integrated detection waveform design method according to claim 1, characterized in that: In step 4, the frequency domain signal mapping of the pre-detection phase is completed, and the subcarrier mapping of adjacent L OFDM symbols is completed in a continuous subcarrier manner; The mapping formula of the subcarrier continuous mapping method is as follows: Among them, s grid is the OFDM time-frequency domain grid, n comb is the comb index corresponding to the perception waveform, L OFDM signals are a perception signal block in the pre-detection stage, and l' is the index of the OFDM symbol in the perception signal block.

7. The long-distance high-precision synaesthesia integrated detection waveform design method according to claim 1, characterized in that: In step 5, the time domain signal mapping of the pre-detection phase is completed, and the frequency domain mapping signal of step 4 is mapped according to the configured T ps Repeated emission of L for a period p Second-rate; The time domain mapping formula in the pre-detection stage is as follows: Among them, s pred is the time-frequency domain grid in the pre-detection phase, l' is the index of the OFDM symbol in the sensing signal block, and l" is the index of the sensing signal block.

8. The long-distance high-precision synaesthesia integrated detection waveform design method according to claim 7, characterized in that: If the designed T ps If the length is equal to the OFDM symbol length, a continuous wave design is adopted. First, the scalable wide-range synaesthesia signal generation length in step 2 is extended from L symbols to L+L p -1, then use the frequency domain mapping method in step 4, and then map the time domain to the adjacent L+L p -1 OFDM symbol, get L p The time domain mapping formula of the pre-detection phase is as follows:

9. The long-distance high-precision synaesthesia integrated detection waveform design method according to claim 1, characterized in that: In step 6, the frequency domain signal mapping of the detection phase is completed, and the subcarrier mapping of the adjacent L OFDM symbols is completed according to the selected combing method; The mapping formula of the subcarrier combing method is as follows: Among them, s grid is the OFDM time-frequency domain grid, n comb is the comb index corresponding to the perception waveform, L OFDM signals are a perception signal block in the detection phase, and l' is the index of the OFDM symbol in the perception signal block.

10. The long-distance high-precision synaesthesia integrated detection waveform design method according to claim 1, characterized in that: In step 7, the time domain signal mapping of the detection phase is completed, and the frequency domain mapping signal of the S05 phase is mapped according to the configured long period T pl Repeat N p Second-rate; The time domain mapping formula in the detection phase is as follows: Among them, s detect is the time-frequency domain grid in the detection phase, l' is the index of the OFDM symbol in the sensing signal block, and l" is the index of the sensing signal block.

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