Signal sending or receiving method and device

Abstract

The embodiment of the invention provides a signal sending or receiving method and device. The waveform of a first signal can be determined. The method comprises: a first node determines a waveform of a first signal, the waveform of the first signal being determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal being used for sensing or ranging; the first node sends the first signal according to the waveform of the first signal.

Description

Technical Field

[0001] The present application relates to the field of positioning perception, and more specifically, to a method and device for sending or receiving a signal. Background Art

[0002] Positioning has become one of the indispensable native capabilities of the network, and many application scenarios have put forward high-precision and low-latency requirements for the positioning capabilities of the network. For example, simultaneous positioning and map construction require centimeter-level positioning accuracy and a refresh rate of about 10 milliseconds. Applications with higher safety requirements such as remote surgery and medical diagnosis require millimeter-level positioning accuracy and millisecond-level refresh rates. In addition to the positioning of terminal devices, the 3rd Generation Partnership Project (3GPP) version-19Rel-19 also proposed the concept of radio frequency sensing, which involves the positioning of sensing targets.

[0003] At present, the reference signals used for ranging all have fixed time-frequency patterns, such as comb-based, and the design freedom is relatively low. The traditional ranging method that uses baseband signals for ranging has a ranging accuracy that is roughly proportional to the bandwidth of the ranging signal, but when the bandwidth is low, the ranging accuracy is not high. The carrier phase ranging method that uses carrier signals for ranging occupies fewer time-frequency resources, but in scenarios with low signal-to-noise ratio, the ranging accuracy is not high. Summary of the invention

[0004] The embodiments of the present application provide a method and device for sending or receiving a signal, which can determine the waveform of a first signal.

[0005] In order to achieve the above purpose, this application adopts the following technical solutions:

[0006] In a first aspect, a signal sending method is provided, which can be executed by a first node, or by a component of the first node, such as a processor, a chip, or a chip system of the first node, or by a logic module or software that can implement all or part of the functions of the first node. Taking the method being executed by the first node as an example, the method includes: the first node determines a waveform of a first signal, the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging; the first node sends the first signal according to the waveform of the first signal.

[0007] In the signal sending method provided in the embodiment of the present application, the first node determines the waveform of the first signal and sends the first signal according to the waveform of the first signal, wherein the waveform of the first signal is determined according to the first signal-to-noise ratio and the frequency range of the first signal, so that the waveform of the first signal is the optimal waveform determined by the first signal-to-noise ratio and the frequency range of the first signal. That is, the waveform of the first signal is compatible with the first signal-to-noise ratio and the frequency range of the first signal, and therefore, the first signal corresponding to the waveform of the first signal is used for ranging, so that the ranging accuracy can be higher.

[0008] In a second aspect, a signal receiving method is provided, which can be executed by a second node, or by a component of the second node, such as a processor, a chip, or a chip system of the second node, or by a logic module or software that can implement all or part of the functions of the second node. Taking the method being executed by the second node as an example, the method includes: the second node receives a first signal, the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging.

[0009] In the signal receiving method provided by the embodiment of the present application, the first node determines the waveform of the first signal and sends the first signal according to the waveform of the first signal, wherein the waveform of the first signal is determined according to the first signal-to-noise ratio and the frequency range of the first signal, so that the waveform of the first signal is the optimal waveform determined by the first signal-to-noise ratio and the frequency range of the first signal. That is, the waveform of the first signal is compatible with the first signal-to-noise ratio and the frequency range of the first signal, and therefore, the first signal corresponding to the waveform of the first signal is used for ranging, so that the ranging accuracy can be higher.

[0010] In combination with the first or second aspect above:

[0011] In a possible implementation, the power spectrum of the first signal is non-uniform. Using the first signal corresponding to such a power spectrum for ranging can save bandwidth and reduce the time-frequency resource overhead of the signal used for ranging, compared with distributing the signal energy in the entire bandwidth.

[0012] In a possible implementation, the lower the first signal-to-noise ratio, the higher the power of the low-frequency position point in the power spectrum of the first signal; the higher the first signal-to-noise ratio, the higher the power of the high-frequency position point in the power spectrum of the first signal. A feature of the power spectrum of a first signal-to-noise ratio is provided.

[0013] In a possible implementation, the higher the first signal-to-noise ratio, the narrower the main lobe and the higher the side lobe of the autocorrelation function corresponding to the first signal; the lower the first signal-to-noise ratio, the wider the main lobe and the lower the side lobe of the autocorrelation function corresponding to the first signal. A power spectrum characteristic of a first signal-to-noise ratio is provided.

[0014] In a possible implementation, the waveform of the first signal is designed with minimizing the Ziv-Zakai Bound (ZZB) as an optimization goal. The waveform of the first signal is determined with minimizing the ZZB as an optimization design goal, which can further improve the accuracy of ranging.

[0015] In the embodiment of the present application, ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. ZZB is:

[0016]

[0017] Where r1=1,r≤1,Cr≥0,[Cr] a =0, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i and n are all less than or equal to N.

[0018] In a possible implementation, the autocorrelation function of the first signal is obtained by solving ZZB. The waveform of the first signal corresponding to the autocorrelation function of the first signal is obtained by solving ZZB, and the ranging is performed using the waveform, which has a higher ranging accuracy.

[0019] In a possible implementation, the waveform of the first signal is determined from a first set according to a mapping relationship between a first signal-to-noise ratio and each of a plurality of signal-to-noise ratios and a waveform, and the first set includes a plurality of waveforms. When performing ranging, a required waveform can be adaptively found from the first set according to the mapping relationship between the signal-to-noise ratio and the waveform.

[0020] In a possible implementation, each of the multiple waveforms is determined according to its corresponding signal-to-noise ratio and the frequency range of its corresponding signal. Since each waveform is determined according to its corresponding signal-to-noise ratio and the frequency range of the signal, the signal corresponding to each waveform is used for ranging, and its ranging accuracy can reach a high level.

[0021] In the embodiment of the present application, the frequency range of the first signal is determined according to the positioning type of the first signal; wherein, in B1 / f c When the frequency of the first signal is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is a low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; or, when B2 / f cWhen the signal-to-noise ratio is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is the passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; wherein the first threshold is determined according to the first signal-to-noise ratio, and f c After the positioning type of the first signal is determined, the frequency range of the first signal to be selected can be determined according to the positioning type of the first signal, thereby further improving the ranging accuracy corresponding to the waveform of the first signal determined for ranging.

[0022] In a third aspect, a communication device is provided for implementing the above-mentioned various methods. The communication device may be the first node in the above-mentioned first aspect, or a device including the above-mentioned first node, or a device included in the above-mentioned first node, such as a chip; or the communication device may be the second node in the above-mentioned second aspect, or a device including the above-mentioned second node, or a device included in the above-mentioned second node, such as a chip; the communication device includes a module, unit, or means corresponding to the implementation of the above-mentioned method, and the module, unit, or means may be implemented by hardware, software, or by executing the corresponding software implementation by hardware. The hardware or software includes one or more modules or units corresponding to the above-mentioned functions.

[0023] In some possible designs, the communication device may include a processing module and a transceiver module. The transceiver module, which may also be referred to as a transceiver unit, is used to implement the sending and / or receiving functions in any of the above aspects and any possible implementations thereof. The transceiver module may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface. The processing module may be used to implement the processing functions in any of the above aspects and any possible implementations thereof.

[0024] In some possible designs, the transceiver module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in any of the above aspects and any possible implementation methods thereof.

[0025] In a fourth aspect, a communication device is provided, comprising: at least one processor; the processor is used to execute a computer program or instruction so that the communication device executes the method described in any one of the above aspects.

[0026] In a possible implementation, the communication device further includes the memory. Optionally, the memory is coupled to the processor, the memory may be integrated with the processor, or the memory may be independent of the processor. Optionally, the processor is used to execute a computer program or instruction stored in the memory.

[0027] In a possible implementation, the memory is independent of the communication device.

[0028] In a possible implementation, the communication device further includes a communication interface, and the communication interface is used to communicate with a module outside the communication device.

[0029] The communication device may be the first node in any of the above aspects, or a device including the first node, or a device included in the first node, such as a chip; or, the communication device may be the second node in any of the above aspects, or a device including the second node, or a device included in the second node, such as a chip.

[0030] In a fifth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer-readable storage medium is run on a communication device, the communication device can execute the method described in any one of the above aspects or any one of its implementation methods.

[0031] In a sixth aspect, a computer program product comprising instructions is provided, which, when executed on a communication device, enables the communication device to execute the method described in any one of the above aspects or any one of its implementations.

[0032] In a seventh aspect, a communication device (for example, the communication device may be a chip or a chip system) is provided, wherein the communication device includes a processor for implementing the functions involved in any of the above aspects or any of its implementation methods.

[0033] In some possible designs, the communication device includes a memory for storing necessary program instructions and data.

[0034] In some possible designs, when the device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0035] It can be understood that when the communication device provided in any one of the third aspect to the seventh aspect is a chip, the above-mentioned sending action / function can be understood as output, and the above-mentioned receiving action / function can be understood as input.

[0036] Among them, the technical effects brought about by any design method in the third to seventh aspects can refer to the technical effects brought about by different design methods in the above-mentioned first or second aspects, and will not be repeated here.

[0037] In an eighth aspect, a communication system is provided, comprising: the first node in any one of the above aspects, and the second node in any one of the above aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a schematic diagram of the system architecture of an embodiment of the present application;

[0039] Figure 2is a schematic diagram of the structure of a communication device 200 provided in an embodiment of the present application;

[0040] Figure 3 is a schematic diagram of a signal sending or receiving method provided in an embodiment of the present application;

[0041] Figure 4 It is a schematic diagram of the relationship between signal-to-noise ratio and waveform mapping;

[0042] Figure 5 is a schematic diagram of a power spectrum of a first signal provided in an embodiment of the present application;

[0043] Figure 6 is a curve diagram of the corresponding relationship between the signal-to-noise ratio and the mean square error provided in the embodiment of the present application;

[0044] Figure 7 It is a schematic diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] In the description of this application, unless otherwise specified, " / " indicates that the objects associated with each other are in an "or" relationship, for example, A / B can represent A or B; "and / or" in this application is merely a description of the association relationship between associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0046] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b and / or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or plural.

[0047] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0048] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0049] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments in the entire specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0050] It can be understood that in the present application, "when" and "if" both mean that corresponding processing will be carried out under certain objective circumstances, and do not limit the time, nor do they require any judgment action when implementing, nor do they mean the existence of other limitations.

[0051] It can be understood that some optional features in the embodiments of the present application may be implemented independently in certain scenarios without relying on other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to needs in certain scenarios. Accordingly, the devices provided in the embodiments of the present application may also realize these features or functions accordingly, which will not be elaborated here.

[0052] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments of this application, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships. The following description of the implementation methods of this application does not constitute a limitation on the scope of protection of this application.

[0053] To facilitate understanding of the technical solutions provided by the embodiments of the present application, a brief introduction to the relevant technologies of the embodiments of the present application is first given. The brief introduction is as follows:

[0054] 1. Cramer-Rao Bound (CRB).

[0055] CRB is a lower bound on the variance of an estimate of a deterministic parameter in parameter estimation. The simplest form of CRB is that the variance of any unbiased estimator is at least greater than the inverse of the Fisher information. The CRB bound cannot accurately characterize the performance of parameter estimation when the true value is significantly different from the estimated value.

[0056] For the signal used for ranging, the corresponding CRB is expressed as follows:

[0057]

[0058]

[0059] Where J is the Fisher information, d is the distance, c is the signal propagation speed (such as the speed of light), SNR is the signal-to-noise ratio, and β is the root mean square bandwidth of the ranging signal. β satisfies the following relationship:

[0060]

[0061] Where S(f) is the Fourier transform of the ranging signal, f is the frequency, represents the integral from positive infinity to negative infinity, and |S(f)| represents the modulus of the Fourier transform.

[0062] CBR indicates that the higher the signal-to-noise ratio (SNR), the higher the positioning accuracy; the larger the root mean square bandwidth (β), the higher the positioning accuracy.

[0063] In the embodiment of the present application, the following problems exist in the design of positioning perception waveform based on CRB: First, in low SNR scenarios, CRB does not accurately describe the positioning accuracy; in addition, when the available bandwidth is constant, minimizing CRB corresponds to maximizing the root mean square bandwidth β, which means that the signal energy should be concentrated at the highest frequency point of the available bandwidth, corresponding to the scheme of using single-frequency signal ranging, which obviously has the problem of integer ambiguity, and the waveform design has nothing to do with SNR. Therefore, the waveform design method based on CRB is not suitable for ranging scenarios.

[0064] Figure 1 Schematic diagram of the system architecture of the embodiment of the present application. Figure 1 The communication system shown mainly includes: a first node and a second node, wherein the first node can be a network device or a terminal device, and the second node can be a network device or a terminal device.

[0065] In an embodiment of the present application, the network device may be an entity that transmits or receives signals, and is used to receive an uplink signal from a terminal device, or to send a downlink signal to a terminal device.

[0066] In the embodiment of the present application, the terminal device may be used to send an uplink signal to a network device, or receive a downlink signal from a network device.

[0067] Optionally, the embodiments of the present application can be applied to 5G systems or to other communication systems, such as the future sixth generation mobile communication technology (6th generation, 6G), etc., and the embodiments of the present application do not make specific limitations on this.

[0068] Optionally, the terminal device involved in the present application can be a user equipment (UE), access terminal, terminal unit, user station, terminal station, mobile station, mobile station, remote station, remote terminal, user terminal terminal equipment, TE), mobile device, wireless communication device, terminal agent, tablet computer (pad), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, vehicle-mounted device, vehicle-mounted transceiver unit, wearable device, or terminal device in a 5G network or a public land mobile network (PLMN) evolved after 5G. The access terminal can be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a drone, a robot, a smart point of sale (POS) machine, a customer-premises equipment (CPE) or a wearable device, virtual reality (virtual The terminal may be a wireless terminal in a smart grid, a wireless terminal in a smart city, a wireless terminal in a smart home, etc. Alternatively, the terminal may be a terminal with a communication function in the Internet of Things (IoT), such as a terminal in V2X (such as a vehicle networking device), a terminal in D2D communication, or a terminal in M2M communication. The terminal may be mobile or fixed.

[0069] Optionally, the network device involved in the present application may be a device for communicating with a terminal device, for example, it may include an evolved base station (NodeB or eNB or e-NodeB, evolutionalNode B) in an LTE system or an LTE-A system, such as a traditional macro base station eNB and a micro base station eNB in ​​a heterogeneous network scenario. Alternatively, it may include a next generation node B (next generation node B, gNB) in an NR system. Alternatively, it may include a transmission reception point (TRP), a home base station (e.g., home evolved NodeB, or home Node B, HNB), a base band unit (BBU), a base band pool (BBU pool), or a wireless fidelity (WiFi) access point (AP), etc. Alternatively, it may include a base station in a non-terrestrial network (NTN), that is, it may be deployed on a flying platform or a satellite. In the NTN, the network device may be used as a layer 1 (L1) relay, or as a base station, or as an integrated access and backhaul (IAB) node. Alternatively, the network device may be a device that implements the base station function in IoT, such as a device that implements the base station function in drone communications, V2X, D2D, or machine to machine (M2M).

[0070] In some possible scenarios, the network device may also be a module or unit that can implement some functions of the base station. For example, the access network device may be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU may be separately configured or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or radio unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0071] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, the access network device may be a network device or a module of a network device in an open radio access network (open RAN, ORAN) system. In the ORAN system, CU may also be referred to as open (open, O)-CU, DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. Any of the CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0072] Optionally, the base station in the embodiment of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), relay stations, access points, home base stations, TRPs, transmitting points (TP), mobile switching centers, etc., and the embodiments of the present application do not make specific limitations on this.

[0073] It should be noted that the communication system described in the embodiment of the present application is for the purpose of more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. A person of ordinary skill in the art can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0074] Optionally, the relevant functions of the first node and the second node involved in the present application can be implemented by one device, or by multiple devices together, or by one or more functional modules within a device, or can be one or more chips, or a system on chip (system on chip, SOC) or a chip system. The chip system can be composed of chips, or can include chips and other discrete devices. The embodiments of the present application do not specifically limit this.

[0075] It is understandable that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, or a combination of hardware and software, or virtualized functions instantiated on a platform (e.g., a cloud platform).

[0076] For example, the related functions of the first node and the second node involved in this application can be Figure 2 The communication device 200 is implemented. Figure 2 200 is a schematic diagram of the structure of a communication device 200 provided in an embodiment of the present application. The communication device 200 includes one or more processors 201, a communication line 202, and at least one communication interface ( Figure 2 The example in which the communication interface 204 and a processor 201 are included is merely exemplary), and a memory 203 may also be included optionally.

[0077] The processor 201 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0078] The communication line 202 may include a path for connecting different components.

[0079] The communication interface 204 may be a transceiver module for communicating with other devices or communication networks, such as Ethernet, RAN, wireless local area networks (WLAN), etc. For example, the transceiver module may be a device such as a transceiver or a transceiver. Optionally, the communication interface 204 may also be a transceiver circuit located in the processor 201 to implement signal input and signal output of the processor.

[0080] The memory 203 may be a device with a storage function. For example, it may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a communication line 202. The memory may also be integrated with the processor.

[0081] The memory 203 is used to store computer-executable instructions for executing the solution of the present application, and the execution is controlled by the processor 201. The processor 201 is used to execute the computer-executable instructions stored in the memory 203, thereby realizing a signal sending or receiving method provided in the embodiment of the present application.

[0082] Alternatively, optionally, in an embodiment of the present application, the processor 201 may also perform processing-related functions in the signal sending or receiving method provided in the following embodiments of the present application, and the communication interface 204 is responsible for communicating with other devices or communication networks, which is not specifically limited in the embodiments of the present application.

[0083] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0084] In a specific implementation, as an embodiment, the processor 201 may include one or more CPUs, such as Figure 2 CPU0 and CPU1 in.

[0085] In a specific implementation, as an embodiment, the communication device 200 may include multiple processors, such as Figure 2 The processor 201 and the processor 207 in the embodiment of the present invention are shown in FIG. Each of these processors may be a single-core processor or a multi-core processor. The processors here may include but are not limited to at least one of the following: a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a microcontroller unit (MCU), or an artificial intelligence processor, etc., and each computing device may include one or more cores for executing software instructions to perform calculations or processing.

[0086] In a specific implementation, as an embodiment, the communication device 200 may further include an output device 205 and an input device 206. The output device 205 communicates with the processor 201 and may display information in a variety of ways. For example, the output device 205 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 206 communicates with the processor 201 and may receive user input in a variety of ways. For example, the input device 206 may be a mouse, a keyboard, a touch screen device, or a sensor device.

[0087] The communication device 200 may also be referred to as a communication apparatus, which may be a general-purpose device or a dedicated device. For example, the communication device 200 may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, an embedded device, the above-mentioned terminal, the above-mentioned network device, or a Figure 2 The embodiment of the present application does not limit the type of the communication device 200.

[0088] also, Figure 2 The structure shown in the figure does not constitute a limitation on the communication device, except Figure 2 In addition to the components shown, the communication device may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0089] Combine the following Figure 1 The communication system shown describes the signal sending or receiving method provided in the embodiment of the present application.

[0090] It should be noted that in the following embodiments of the present application, the message names between network elements, the names of parameters, or the names of information are only examples. In other embodiments, they may also be other names, and the method provided in the present application does not make any specific limitations on this.

[0091] It is understandable that in the embodiment of the present application, each network element may perform some or all of the steps in the embodiment of the present application, and these steps or operations are only examples. The embodiment of the present application may also perform other operations or variations of various operations. In addition, each step may be performed in a different order presented in the embodiment of the present application, and it is possible that not all operations in the embodiment of the present application need to be performed.

[0092] Figure 3It is a schematic diagram of a signal sending or receiving method provided in an embodiment of the present application. The method is illustrated by taking the interaction between the first node and the second node as an example. Of course, the subject that executes the first node action in the method can also be a device / module in the first node, such as a chip, a processor, a processing unit, etc. in the first node; the subject that executes the second node action in the method can also be a device / module in the second node, such as a chip, a processor, a processing unit, etc. in the second node, and the embodiment of the present application does not specifically limit this. The processing performed by a single execution subject (for example, a first node or a second node) in the embodiment of the present application can also be divided into execution by multiple execution subjects, which can be logically and / or physically separated. For example, the processing performed by the network device can be divided into execution by at least one of CU, DU and RU. In the embodiment of the present application, the first node can be a network device or a terminal device, and the second node can be a network device or a terminal device.

[0093] For example, Figure 3 The method 300 includes:

[0094] S310: The first node determines a waveform of a first signal.

[0095] In the embodiment of the present application, the first signal is used for sensing, or the first signal is used for ranging, or the first signal is used for other functions, which is not limited in the embodiment of the present application.

[0096] Exemplarily, the first signal may be a downlink positioning reference signal (PRS) for ranging, or an uplink sounding reference signal (SRS), or a more optimized alternative to a sidelink (SL) PRS. Of course, the first signal may also be other types of signals, which are not limited in the embodiments of the present application.

[0097] In the embodiment of the present application, the waveform of the first signal is determined according to the first signal-to-noise ratio and the frequency range of the first signal. Exemplarily, the frequency range of the first signal may be a low-pass frequency range, or the frequency range of the first signal may be a band-pass frequency range, or the frequency range of the first signal may be a frequency range of a non-continuous bandwidth, which is not limited in the embodiment of the present application.

[0098] In a possible implementation, the waveform of the first signal can be designed with minimizing the Ziv-Zackay bound ZZB as the optimization goal. It should be understood that ZZB is the lower bound of the variance of the estimate of a deterministic parameter in parameter estimation, and ZZB can more accurately characterize the accuracy of ranging in scenarios with high, medium and low signal-to-noise ratios.

[0099] In the embodiment of the present application, ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. ZZB can be expressed as:

[0100]

[0101] Where r1=1,r≤1,Cr≥0,[Cr] a =0, r i is the discretized autocorrelation function of the first signal, r represents the autocorrelation function of the first signal, SNR_D is the first signal-to-noise ratio, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform (DCT) matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i and n are all less than or equal to N.

[0102] In the embodiment of the present application, the waveform of the first signal designed with minimizing ZZB as the optimization goal corresponds to a first signal with higher ranging accuracy.

[0103] In a possible implementation, when determining the waveform of the first signal, N discrete sampling points of the autocorrelation function of the first waveform can be obtained; in the embodiment of the present application, the N sampling points are interpolated and normalized to obtain the continuous autocorrelation function of the first signal. It should be understood that the estimated value of the unsampled point can be obtained through the continuous autocorrelation function of the first signal. This solution does not constrain the process of obtaining the first waveform from the autocorrelation function of the first waveform.

[0104] In a possible implementation of the embodiment of the present application, the autocorrelation function of the first signal is obtained by solving the optimization problem of minimizing ZZB. Optionally, the autocorrelation function of the first signal can be obtained by solving ZZB by a gradient projection algorithm, or by solving ZZB by other algorithms, which is not limited in the embodiment of the present application. The following is an exemplary introduction to the specific algorithm for solving ZZB by a gradient projection algorithm:

[0105] Initialize r (0) ;

[0106]

[0107] Where L and M represent the number of outer and inner layer cycles, respectively. represents the gradient of ZZB. σ and α l-1 Represents the iteration step size. and They represent two projection operators respectively, and their definitions are given in the pseudo code.(l) ,u (l) , p m ,q m , x m , a m They are all intermediate quantities in the iterative solution process.

[0108] In the embodiment of the present application, the frequency range of the first signal is determined according to the positioning type of the first signal. In a possible implementation, in B1 / f c When f is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is a low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range, wherein B1 is determined according to the parameters of the communication system applied by the first signal for ranging, and f c is the carrier frequency; in another possible implementation, at B2 / f c When f is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is a passband frequency range, B2 is the bandwidth corresponding to the passband frequency range, and B2 is determined according to the parameters of the communication system applied by the first signal for ranging, and f c is the carrier frequency.

[0109] In the embodiment of the present application, the first threshold is determined according to the first signal-to-noise ratio. A method for determining the first threshold is given below:

[0110] 1. First, according to the first signal-to-noise ratio and the frequency range of the second signal, the waveform of the second signal is designed with minimizing ZZB as the optimization goal, wherein the frequency range of the second signal is selected as any low-pass frequency range with a bandwidth of B3.

[0111] 2. Next, determine a first bandwidth B4 corresponding to the power spectrum of the waveform of the second signal, wherein the first bandwidth may be a bandwidth corresponding to a frequency range in which power exceeds a certain threshold in the power spectrum of the second waveform.

[0112] Exemplarily, the first bandwidth may be a 3 dB bandwidth corresponding to the power spectrum of the second signal, which is not limited in the embodiments of the present application.

[0113] 3. Use B4 / B3 as the first threshold.

[0114] It should be understood that the first threshold value can be a value used for comparison to determine which positioning type to select, and the waveform of the second signal can be a waveform used for comparison. Further, after determining the positioning type of the first signal, a corresponding frequency range of the first signal can be selected, and then minimizing ZZB is used as the optimization goal to obtain the optimal ranging waveform determined by the first signal-to-noise ratio and the frequency range corresponding to the positioning type of the first signal, which can further improve the ranging accuracy of the first signal.

[0115] In a possible implementation, the first node determines the waveform of the first signal by: the first node determines the waveform of the first signal from a first set according to a first signal-to-noise ratio and a mapping relationship between each signal-to-noise ratio and a waveform in a plurality of signal-to-noise ratios, wherein the first set includes a plurality of waveforms. Exemplarily, each of the plurality of waveforms is determined according to its corresponding signal-to-noise ratio and a frequency range of its corresponding signal. Figure 4 This is a schematic diagram of the relationship between signal-to-noise ratio and waveform mapping. Figure 4 As shown, the first set includes 3 waveforms. Corresponding to the first set, the signal-to-noise ratios of each waveform are 10dB, 13dB, and 25dB respectively. The first waveform can be determined from the three waveforms based on the signal-to-noise ratio, for example, if the signal-to-noise ratio is 10dB.

[0116] In the embodiment of the present application, the power spectrum of the first signal is non-uniform. In the embodiment of the present application, the power spectrum of the first signal is obtained by performing DCT transformation on the autocorrelation function of the first signal. Figure 5 ), the lower the first signal-to-noise ratio, the higher the power of the low-frequency position point in the power spectrum of the first signal; the higher the first signal-to-noise ratio, the higher the power of the high-frequency position point in the power spectrum of the first signal; when the first signal-to-noise ratio is in the middle, the power spectrum of the first signal is relatively flat. Or, for example, (see above Figure 4 )The higher the first signal-to-noise ratio is, the narrower the main lobe of the autocorrelation function corresponding to the first signal is, and the higher the side lobe is; the lower the first signal-to-noise ratio is, the wider the main lobe of the autocorrelation function corresponding to the first signal is, and the lower the side lobe is.

[0117] Figure 5 is a schematic diagram of the power spectrum of the first signal provided in the embodiment of the present application. Figure 5 As shown, the relationship between the signal-to-noise ratio and the power can be displayed more clearly. When the first signal-to-noise ratio is 10dB, the power of the low-frequency position points of the power spectrum of the first signal is higher; when the first signal-to-noise ratio is 13dB and 15dB, the power spectrum of the first signal is relatively flat; when the first signal-to-noise ratio is 18dB, 25dB, and 30dB, the power of the high-frequency position points in the power spectrum of the first signal is higher, and as the signal-to-noise ratio increases, the power spectrum becomes sharper, that is, the bandwidth corresponding to the high-frequency position points of the power spectrum becomes narrower and narrower, and the power corresponding to the frequency points of the high-frequency position points becomes larger and larger.

[0118] Figure 6 is a curve diagram showing the corresponding relationship between the signal-to-noise ratio and the mean square error provided in the embodiment of the present application. Figure 6 As shown, curve 1 represents the mean square error corresponding to the waveform with uniform power spectrum, and curve 2 represents the mean square error corresponding to the ZZB waveform (waveform with uneven power spectrum). Figure 6It can be seen that the waveform of the first signal provided in the embodiment of the present application and its corresponding non-uniform power spectrum can effectively reduce the mean square error compared with the uniform power spectrum, that is, can effectively improve the ranging accuracy.

[0119] S320, the first node sends the first signal according to the waveform of the first signal. Correspondingly, the second node receives the first signal.

[0120] In the embodiment of the present application, the first node may send the first signal according to the waveform of the first signal, and the second node may receive the first signal.

[0121] Optionally, the second node may perform ranging or perception according to the first signal, which is not limited in the embodiment of the present application.

[0122] In the signal sending or receiving method provided in the embodiment of the present application, the first node determines the waveform of the first signal and sends the first signal according to the waveform of the first signal, wherein the waveform of the first signal is determined according to the first signal-to-noise ratio and the frequency range of the first signal, so that the waveform of the first signal is the optimal waveform determined by the first signal-to-noise ratio and the frequency range of the first signal. That is, the waveform of the first signal is compatible with the first signal-to-noise ratio and the frequency range of the first signal. Therefore, using the first signal corresponding to the waveform of the first signal for ranging can make the ranging accuracy higher; further, the waveform of the first signal is determined by minimizing ZZB as an optimization design goal, which can further improve the ranging accuracy; and after the positioning type of the first signal is determined, the frequency range of the first signal to be selected can be determined according to the positioning type of the first signal, thereby further improving the ranging accuracy corresponding to the waveform of the first signal determined for ranging; finally, the frequency range of the first signal determined according to the first signal-to-noise ratio, the positioning type of the first signal, and the waveform of the first signal determined by minimizing ZZB as an optimization design goal, the power spectrum of the corresponding first signal is non-uniform, so using the first signal corresponding to this power spectrum for ranging can save bandwidth and reduce the time-frequency resource overhead of the signal used for ranging compared to distributing the signal energy in the entire bandwidth.

[0123] The above mainly introduces the scheme provided by the embodiment of the present application from the perspective of the interaction between the first node and the second node. Accordingly, the embodiment of the present application also provides a communication device, which is used to implement the above various methods. The communication device can be the first node in the above method embodiment, or a device including the above first node, or a component that can be used for the first node; or, the communication device can be the second node in the above method embodiment, or a device including the above second node, or a component that can be used for the second node. It can be understood that the communication device includes a hardware structure and / or software module corresponding to each function in order to implement the above functions. It should be easy for those skilled in the art to realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0124] The embodiment of the present application can divide the functional modules of the communication device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be understood that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0125] for example, Figure 7 7 is a schematic diagram of a communication device provided in an embodiment of the present application. Taking the communication device as the first node in the above method embodiment (which may be a chip of the first node, or a module of the first node, or an internal device of the first node) as an example, the communication device 700 includes a transceiver module 710 and a processing module 720. The transceiver module 710, which may also be referred to as a transceiver unit, is used to implement the transceiver function, and may be, for example, a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0126] In one solution, the processing module 720 is used to determine the waveform of the first signal. In an embodiment of the present application, the waveform of the first signal is determined based on the first signal-to-noise ratio and the frequency range of the first signal. The first signal is used for sensing or ranging.

[0127] The transceiver module 710 is configured to send the first signal according to the waveform of the first signal.

[0128] In the embodiment of the present application, the power spectrum of the first signal is non-uniform.

[0129] In the embodiment of the present application, the lower the first signal-to-noise ratio, the higher the power of the low-frequency point in the power spectrum of the first signal; the higher the first signal-to-noise ratio, the higher the power of the high-frequency point in the power spectrum of the first signal.

[0130] In the embodiment of the present application, the higher the first signal-to-noise ratio, the narrower the main lobe and the higher the side lobe of the autocorrelation function corresponding to the first signal; the lower the first signal-to-noise ratio, the wider the main lobe and the lower the side lobe of the autocorrelation function corresponding to the first signal.

[0131] In the embodiment of the present application, the waveform of the first signal is designed with minimizing the Ziv-Zackay bound ZZB as the optimization goal.

[0132] In the embodiment of the present application, ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. ZZB is:

[0133]

[0134] Where r1=1,r≤1,Cr≥0,[Cr] a =0, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i and n are all less than or equal to N.

[0135] In the embodiment of the present application, the autocorrelation function of the first signal is obtained by solving ZZB.

[0136] In the embodiment of the present application, the waveform of the first signal is determined from a first set according to a mapping relationship between the first signal-to-noise ratio and each signal-to-noise ratio in a plurality of signal-to-noise ratios and the waveform, and the first set includes a plurality of waveforms.

[0137] In the embodiment of the present application, each waveform among the multiple waveforms is determined according to its corresponding signal-to-noise ratio and the frequency range of its corresponding signal.

[0138] In the embodiment of the present application, the frequency range of the first signal is determined according to the positioning type of the first signal; wherein, in B1 / f c When the frequency of the first signal is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is a low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; or, when B2 / f cWhen the signal-to-noise ratio is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is the passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; wherein the first threshold is determined according to the first signal-to-noise ratio, and f c is the carrier frequency.

[0139] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here. Optionally, the communication device 700 may also include a storage module 730, which can be used to store instructions and / or data, and the processing module 720 can read the instructions and / or data in the storage module 730.

[0140] In the embodiment of the present application, the communication device 700 is presented in the form of dividing various functional modules in an integrated manner. The "module" here may refer to a specific ASIC, a circuit, a processor and a memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions. In a simple embodiment, a person skilled in the art can imagine that the communication device 700 can be used Figure 2 The form of the communication device 200 is shown.

[0141] for example, Figure 2 The processor 201 in the communication device 200 shown can call the computer execution instructions stored in the memory 203 to enable the communication device 200 to execute the signal transmission method in the above method embodiment.

[0142] Specifically, Figure 7 The functions / implementation processes of the transceiver module 710 and the processing module 720 in the embodiment can be Figure 2 The processor 201 in the communication device 200 shown calls the computer execution instructions stored in the memory 203 to implement. Or, Figure 7 The function / implementation process of the processing module 720 in Figure 2 The processor 201 in the communication device 200 shown calls the computer execution instructions stored in the memory 203 to implement, Figure 7 The function / implementation process of the transceiver module 710 can be Figure 2 The communication interface 204 in the communication device 200 shown in FIG.

[0143] Since the communication device 700 provided in the embodiment of the present application (which may be a chip of the first node, or a module of the first node, or an internal device of the first node) can execute the above-mentioned signal sending method, the technical effects that can be obtained can refer to the above-mentioned method embodiment and will not be repeated here.

[0144] for example, Figure 7 7 is a schematic diagram of a communication device provided in an embodiment of the present application. Taking the communication device as the second node in the above method embodiment (which may be a chip of the second node, or a module of the second node, or an internal device of the second node) as an example, the communication device 700 includes a transceiver module 710 and a processing module 720. The transceiver module 710, which may also be referred to as a transceiver unit for implementing a transceiver function, may be, for example, a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0145] In one solution, the transceiver module 710 is used to receive a first signal. In the embodiment of the present application, the waveform of the first signal is determined according to the first signal-to-noise ratio and the frequency range of the first signal, and the first signal is used for sensing or ranging.

[0146] In the embodiment of the present application, the power spectrum of the first signal is non-uniform.

[0147] In the embodiment of the present application, the lower the first signal-to-noise ratio, the higher the power of the low-frequency point in the power spectrum of the first signal; the higher the first signal-to-noise ratio, the higher the power of the high-frequency point in the power spectrum of the first signal.

[0148] In the embodiment of the present application, the higher the first signal-to-noise ratio, the narrower the main lobe and the higher the side lobe of the autocorrelation function corresponding to the first signal; the lower the first signal-to-noise ratio, the wider the main lobe and the lower the side lobe of the autocorrelation function corresponding to the first signal.

[0149] In the embodiment of the present application, the waveform of the first signal is designed with minimizing the Ziv-Zackay bound ZZB as the optimization goal.

[0150] In the embodiment of the present application, ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. ZZB is:

[0151]

[0152] Where r1=1,r≤1,Cr≥0,[Cr] a =0, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i and n are all less than or equal to N.

[0153] In the embodiment of the present application, the autocorrelation function of the first signal is obtained by solving ZZB.

[0154] In the embodiment of the present application, the waveform of the first signal is determined from a first set according to a mapping relationship between the first signal-to-noise ratio and each signal-to-noise ratio in a plurality of signal-to-noise ratios and the waveform, and the first set includes a plurality of waveforms.

[0155] In the embodiment of the present application, each waveform among the multiple waveforms is determined according to its corresponding signal-to-noise ratio and the frequency range of its corresponding signal.

[0156] In the embodiment of the present application, the frequency range of the first signal is determined according to the positioning type of the first signal; wherein, in B1 / f c When the frequency of the first signal is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is a low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; or, when B2 / f c When the signal-to-noise ratio is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is the passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; wherein the first threshold is determined according to the first signal-to-noise ratio, and f c is the carrier frequency.

[0157] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here. Optionally, the communication device 700 may also include a storage module 730, which can be used to store instructions and / or data, and the processing module 720 can read the instructions and / or data in the storage module 730.

[0158] In the embodiment of the present application, the communication device 700 is presented in the form of dividing various functional modules in an integrated manner. The "module" here may refer to a specific ASIC, a circuit, a processor and a memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions. In a simple embodiment, a person skilled in the art can imagine that the communication device 700 can be used Figure 2 The form of the communication device 200 is shown.

[0159] for example, Figure 2 The processor 201 in the communication device 200 shown can call the computer execution instructions stored in the memory 203 to enable the communication device 200 to execute the signal transmission method in the above method embodiment.

[0160] Specifically, Figure 7 The functions / implementation processes of the transceiver module 710 and the processing module 720 in the embodiment can be Figure 2 The processor 201 in the communication device 200 shown calls the computer execution instructions stored in the memory 203 to implement. Or, Figure 7The function / implementation process of the processing module 720 in Figure 2 The processor 201 in the communication device 200 shown calls the computer execution instructions stored in the memory 203 to implement, Figure 7 The function / implementation process of the transceiver module 710 can be Figure 2 The communication interface 204 in the communication device 200 shown in FIG.

[0161] Since the communication device 700 provided in the embodiment of the present application (which may be a chip of the second node, or a module of the second node, or an internal device of the second node) can execute the above-mentioned signal receiving method, the technical effects that can be obtained can refer to the above-mentioned method embodiment and will not be repeated here.

[0162] It should be understood that one or more of the above modules or units can be implemented by software, hardware or a combination of the two. When any of the above modules or units is implemented in software, the software exists in the form of computer program instructions and is stored in a memory, and a processor can be used to execute program instructions and implement the above method flow. The processor can be built into an SoC (system on chip) or an ASIC, or it can be an independent semiconductor chip. The processor internal processing is used to execute software instructions to perform calculations or processing outside the core, and may further include necessary hardware accelerators, such as field programmable gate arrays (field programmable gate array, FPGA), programmable logic devices (programmable logic device, PLD), or logic circuits that implement dedicated logic operations.

[0163] When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator or a non-integrated discrete device, which can run the necessary software or not rely on the software to execute the above method flow.

[0164] Optionally, an embodiment of the present application further provides a communication device (for example, the communication device may be a chip or a chip system), which includes a processor for implementing the method in any of the above method embodiments. In one possible design, the communication device also includes a memory. The memory is used to store necessary program instructions and data, and the processor can call the program code stored in the memory to instruct the communication device to execute the method in any of the above method embodiments. Of course, the memory may not be in the communication device. When the communication device is a chip system, it may be composed of chips, or it may include chips and other discrete devices, which is not specifically limited in the embodiments of the present application.

[0165] Optionally, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program or instruction, and when the computer program or instruction is run on a communication device, the communication device can execute the method described in any of the above method embodiments or any of its implementation methods.

[0166] Optionally, an embodiment of the present application further provides a communication system, which includes the first node described in the above method embodiment and the second node described in the above method embodiment.

[0167] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with a medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0168] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0169] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, a person skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A signal sending method, characterized in that: include: determining a waveform of a first signal, where the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging; The first signal is sent according to the waveform of the first signal.

2. A signal receiving method, characterized in that: include: A first signal is received, wherein a waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging.

3. The method according to claim 1 or 2, characterized in that: The power spectrum of the first signal is non-uniform.

4. The method according to any one of claims 1 to 3, characterized in that The lower the first signal-to-noise ratio is, the higher the power of the low-frequency point in the power spectrum of the first signal is; and the higher the first signal-to-noise ratio is, the higher the power of the high-frequency point in the power spectrum of the first signal is.

5. The method according to any one of claims 1 to 4, characterized in that The higher the first signal-to-noise ratio is, the narrower the main lobe of the autocorrelation function corresponding to the first signal is, and the higher the side lobe is; the lower the first signal-to-noise ratio is, the wider the main lobe of the autocorrelation function corresponding to the first signal is, and the lower the side lobe is.

6. The method according to any one of claims 1 to 5, characterized in that The waveform of the first signal is designed with minimizing the Ziv-Zackay bound ZZB as the optimization goal.

7. The method according to claim 6, characterized in that The ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. The ZZB is: in, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i and n are all less than or equal to N.

8. The method according to claim 7, characterized in that The autocorrelation function of the first signal is obtained by solving the ZZB.

9. The method according to any one of claims 1 to 8, characterized in that The waveform of the first signal is determined from a first set according to the first signal-to-noise ratio and a mapping relationship between each signal-to-noise ratio in a plurality of signal-to-noise ratios and a waveform, and the first set includes a plurality of waveforms.

10. The method according to claim 9, characterized in that Each waveform of the plurality of waveforms is determined according to its corresponding signal-to-noise ratio and a frequency range of its corresponding signal.

11. The method according to any one of claims 1 to 10, characterized in that The frequency range of the first signal is determined according to the positioning type of the first signal; Among them, at B1 / f c When the value is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is a low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; Or, at B2 / f c When B2 is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is a passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; The first threshold is determined according to the first signal-to-noise ratio, and the f c is the carrier frequency.

12. A communication device, characterized in that: include: a processing module, configured to determine a waveform of a first signal, wherein the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging; A transceiver module is used to send the first signal according to the waveform of the first signal.

13. A communication device, characterized in that: include: The transceiver module is used to receive a first signal, the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging.

14. The communication device according to claim 12 or 13, characterized in that: The power spectrum of the first signal is non-uniform.

15. The device according to any one of claims 12 to 13, characterized in that The lower the first signal-to-noise ratio is, the higher the power of the low-frequency point in the power spectrum of the first signal is; and the higher the first signal-to-noise ratio is, the higher the power of the high-frequency point in the power spectrum of the first signal is.

16. The device according to any one of claims 12 to 15, characterized in that The higher the first signal-to-noise ratio is, the narrower the main lobe of the autocorrelation function corresponding to the first signal is, and the higher the side lobe is; the lower the first signal-to-noise ratio is, the wider the main lobe of the autocorrelation function corresponding to the first signal is, and the lower the side lobe is.

17. The device according to any one of claims 12 to 16, characterized in that The waveform of the first signal is designed with minimizing the Ziv-Zackay bound ZZB as the optimization goal.

18. The device according to claim 17, characterized in that The ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. The ZZB is: in, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i and n are all less than or equal to N.

19. The device according to claim 18, characterized in that The autocorrelation function of the first signal is obtained by solving the ZZB.

20. The device according to any one of claims 12 to 19, characterized in that The step of determining the waveform of the first signal comprises: According to the first signal-to-noise ratio and a mapping relationship between each signal-to-noise ratio in a plurality of signal-to-noise ratios and a waveform, a waveform of the first signal is determined from a first set, where the first set includes a plurality of waveforms.

21. The device according to claim 20, characterized in that Each waveform of the plurality of waveforms is determined according to its corresponding signal-to-noise ratio and a frequency range of its corresponding signal.

22. The device according to any one of claims 12 to 21, characterized in that The frequency range of the first signal is determined according to the positioning type of the first signal; Among them, at B1 / f c When the value is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is a low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; Or, at B2 / f c When B2 is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is a passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; The first threshold is determined according to the first signal-to-noise ratio, and the f c is the carrier frequency.

23. A communication device, characterized in that: The communication device comprises a processor, and the processor is used to run a computer program or instruction, or to enable the communication device to execute the method according to any one of claims 1, 3 to 11, or to enable the communication device to execute the method according to any one of claims 2 to 11 through a logic circuit.

24. The device according to claim 23, characterized in that The communication device further comprises a communication interface for inputting or outputting signals.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions or programs, which, when executed on a computer, enable the communication device to execute the method as claimed in any one of claims 1, 3 to 11, or enable the communication device to execute the method as claimed in any one of claims 2 to 11.

26. A communication system, characterized in that: The communication system comprises the communication device according to claim 23 and claim 24.

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