Sensing method, communication device, and storage medium

Abstract

The application provides a sensing method, a communication device and a storage medium. The method comprises the following steps: receiving a first parameter of a first target sent by a second network device, wherein the first parameter comprises a first distance; determining a sensing distance range of the first network device based on the first distance of the first target; in the case that a second reflected signal is received, performing sensing measurement in the sensing distance range, and determining a second parameter of the first target; the second parameter comprises a target distance, the target distance of the first target is the sum of a second distance of the first target and a third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, and the third distance of the first target is the distance from the first target to the second network device. The sensing measurement range of the first network device can be reduced, the sensing measurement calculation complexity can be reduced, the sensing time length can be reduced, and the sensing efficiency can be improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a sensing method, communication device and storage medium. Background Technology

[0002] A sensor-integrated system can be understood as a system that integrates communication and target perception. It can realize both communication and target perception. A dual-base sensor-integrated system can perform perception through dual-base mode. It can generally include a first network device and a second network device. For example, the second network device can send a sensing signal to perform target perception measurement to obtain the distance between the target and the target. The first network device can perform target perception measurement based on the reflected signal of the sensing signal sent by the second network device after being reflected by the target and reaching the first network device to obtain the distance of the target. The obtained distance is the sum of the distance from the second network device to the target and the distance from the target to the first network device, thus realizing dual-base perception.

[0003] However, in the process of obtaining the distance of the target by the first network device, the distance of the target is obtained by measuring within the maximum sensing range that the first network device can perceive. This has a large computational complexity and takes a long time to achieve target perception, resulting in poor perception efficiency. Summary of the Invention

[0004] This application provides a sensing method, a communication device, and a storage medium to address the problem of poor sensing efficiency.

[0005] This application provides a sensing method applied to a first network device, the method comprising:

[0006] The system receives a first parameter of a first target sent by a second network device, the first parameter including a first distance; wherein the first distance of the first target is the distance between the first target and the second network device obtained by the second network device through sensing measurement after receiving the first reflected signal;

[0007] Based on the first distance to the first target, the sensing distance range of the first network device is determined;

[0008] Upon receiving the second reflected signal, a sensing measurement is performed within the sensing distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

[0009] In one embodiment, upon receiving a second reflected signal, performing a sensing measurement within the sensing distance range to determine a second parameter of the first target includes:

[0010] Based on the second reflected signal and the sensed signal, a modulation symbol matrix is ​​determined, wherein the dimension of the modulation symbol matrix is ​​N. f Line N t The N column f N represents the number of subcarrier samples. t This refers to the number of symbols sampled in Orthogonal Frequency Division Multiplexing (OFDM).

[0011] Perform an inverse discrete Fourier transform (IDFT) on the column vectors of the modulation symbol matrix to obtain a first matrix, the first matrix having the same dimension as the modulation symbol matrix.

[0012] Based on the perceived distance range, determine the target row number range;

[0013] Perform a Discrete Fourier Transform (DFT) on the target row vectors in the first matrix to obtain a second matrix. The number of columns in the second matrix is ​​the same as the number of columns in the modulation symbol matrix. The number of rows in the second matrix is ​​the same as the number of rows in the target row vectors, and the row numbers in the second matrix are the same as the row numbers in the target row vectors. The second matrix is ​​a matrix representing the relationship between velocity and distance, and the target row vectors are row vectors within the range of the target row numbers.

[0014] The second parameter is determined based on the second matrix.

[0015] In one embodiment, the lower limit of the sensing distance range is a fourth distance, the upper limit of the sensing distance range is a fifth distance, the lower limit of the target row number range is a first row number, and the upper limit of the target row number range is a second row number.

[0016] Determining the target row number range based on the perceived distance range includes:

[0017] The first row number is determined based on the fourth distance and the pre-acquired distance resolution;

[0018] The second row number is determined based on the fifth distance and the distance resolution.

[0019] In one embodiment, the first row number is the result of dividing the fourth distance by the distance resolution and rounding down;

[0020] The second row number is the result of dividing the fifth distance by the distance resolution and rounding it up.

[0021] In one embodiment, determining the second parameter based on the second matrix includes:

[0022] Determine the peak points in the second matrix;

[0023] Based on the speed of light, the pre-obtained subcarrier spacing, and the N... f The target distance of the target corresponding to the peak point is determined by the column number corresponding to the peak point, and the target corresponding to the peak point includes the first target.

[0024] In one embodiment, the second parameter further includes a second speed;

[0025] The step of determining the second parameter based on the second matrix further includes:

[0026] Based on the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, and the N... t And the row number corresponding to the peak point, to determine the second velocity of the target corresponding to the peak point.

[0027] In one embodiment, the first parameter further includes a first speed.

[0028] In one embodiment, before receiving the first parameter of the first target sent by the second network device, the method further includes:

[0029] The system receives a first instruction message sent by the controller in the integrated sensing system. The first instruction message is used to instruct the first network device to perform sensing measurements.

[0030] This application provides a sensing method applied to a second network device, the method comprising:

[0031] Send sensing signals;

[0032] Receive a first reflected signal, wherein the first reflected signal is the signal of the sensing signal that arrives at the second network device after being reflected by a first target;

[0033] Based on the first reflected signal, target perception measurement is performed to determine the first parameter of the first target, the first parameter including the first distance between the first target and the second network device;

[0034] Send the first parameter of the first target to the first network device.

[0035] In one embodiment, the number of the first targets is at least one; sending the first parameter of the first target to the first network device includes:

[0036] If the maximum distance among the first distances to at least one first target is less than or equal to a preset distance threshold, the first parameter of the at least one first target is sent to the first network device.

[0037] In one embodiment, the number of the first targets is at least one, and after determining the first parameter of the first target by performing target perception measurement based on the first reflected signal, the method further includes:

[0038] If the maximum distance in the first distance of at least one first target is greater than a preset distance threshold, a notification message is sent to the controller in the integrated sensing system so that the controller can reselect the sensing device.

[0039] In one embodiment, the first parameter further includes a first speed.

[0040] This application provides a sensing method applied to a controller in a sensor-integrated system, the method comprising:

[0041] Send a second indication message to the second network device, the second indication message being used to instruct the second network device to perform sensing measurements;

[0042] Send a first instruction message to a first network device. The first instruction message is used to instruct the first network device to perform a perception measurement based on a first distance of a first target obtained by the second network device. The first distance of the first target is the distance between the first target and the second network device.

[0043] In one embodiment, the number of the first targets is at least one, and after sending the second indication information to the second network device, the method further includes:

[0044] Receive a notification message sent by the second network device when the maximum distance among the first distances of at least one first target obtained by sensing and measurement is greater than a preset distance threshold;

[0045] In response to the notification message, a sensing device reselection is performed to determine the third network device and the fourth network device;

[0046] Send a third indication message to the third network device, the third indication message being used to instruct the third network device to perform sensing measurements;

[0047] A fourth indication message is sent to the fourth network device, the fourth indication message being used to instruct the fourth network device to perform a perception measurement based on the fourth distance of the second target obtained by the third network device in performing a perception measurement, the fourth distance of the second target being the distance between the second target and the third network device, the second target including the first target.

[0048] This application provides a communication device, including: a memory, a transceiver, and a processor, wherein:

[0049] The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0050] The system receives a first parameter of a first target sent by a second network device, the first parameter including a first distance; wherein the first distance of the first target is the distance between the first target and the second network device obtained by the second network device through sensing measurement after receiving the first reflected signal;

[0051] Based on the first distance to the first target, the sensing distance range of the first network device is determined;

[0052] Upon receiving the second reflected signal, a sensing measurement is performed within the sensing distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

[0053] This application provides a communication device, including: a memory, a transceiver, and a processor, wherein:

[0054] The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0055] Send sensing signals;

[0056] Receive a first reflected signal, wherein the first reflected signal is the signal of the sensing signal that arrives at the second network device after being reflected by a first target;

[0057] Based on the first reflected signal, target perception measurement is performed to determine the first parameter of the first target, the first parameter including the first distance between the first target and the second network device;

[0058] Send the first parameter of the first target to the first network device.

[0059] This application provides a communication device, including: a memory, a transceiver, and a processor, wherein:

[0060] The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations:

[0061] Send a second indication message to the second network device, the second indication message being used to instruct the second network device to perform sensing measurements;

[0062] Send a first instruction message to a first network device. The first instruction message is used to instruct the first network device to perform a perception measurement based on a first distance of a first target obtained by the second network device. The first distance of the first target is the distance between the first target and the second network device.

[0063] This application provides a communication device, including:

[0064] The first receiving module is used to receive first parameters of the first target sent by the second network device. The first parameters include a first distance. The first distance of the first target is the distance between the first target and the second network device obtained by the second network device through sensing and measurement after receiving the first reflected signal.

[0065] The first determining module is used to determine the sensing distance range of the first network device based on the first distance to the first target;

[0066] The second determining module is used to perform sensing measurements within the sensing distance range upon receiving the second reflected signal, and determine the second parameters of the first target; wherein the second parameters include the target distance, the target distance of the first target is the sum of the second distance and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the sensing signal sent by the second network device that reaches the first network device after being reflected by the first target.

[0067] This application provides a communication device, including:

[0068] The first transmitting module is used to transmit sensing signals;

[0069] The third receiving module is used to receive the first reflected signal, which is the signal of the sensing signal that arrives at the second network device after being reflected by the first target.

[0070] The third determining module is used to perform target perception measurement based on the first reflected signal and determine the first parameter of the first target, the first parameter including the first distance between the first target and the second network device;

[0071] The second sending module is used to send the first parameter of the first target to the first network device.

[0072] This application provides a communication device, including:

[0073] The fourth sending module is used to send second indication information to the second network device, the second indication information being used to instruct the second network device to perform sensing measurement;

[0074] The fifth sending module is used to send first instruction information to the first network device. The first instruction information is used to instruct the first network device to perform a sensing measurement based on the first distance of the first target obtained by the second network device. The first distance of the first target is the distance between the first target and the second network device.

[0075] This application provides a processor-readable storage medium storing a computer program that causes the processor to execute the sensing method provided in this application.

[0076] In this embodiment, the first network device can determine its sensing distance range based on the first distance to the first target obtained by the second network device. Subsequently, the first network device can perform sensing measurements within this range to obtain the sum of the distances from the first target to the second network device and vice versa, thus achieving target sensing. In this way, the first network device does not need to perform sensing measurements within a large perceptible range, but rather within the sensing distance range determined by the first distance to the first target obtained by the second network device. This reduces the sensing measurement range of the first network device, thereby reducing the computational complexity of sensing measurements, shortening the sensing time, and ultimately improving sensing efficiency. Attached Figure Description

[0077] Figure 1 This is a schematic diagram of the network architecture applicable to the implementation of this application;

[0078] Figure 2 This is a geometric configuration diagram of a composite dual-base inductive integrated system provided in an embodiment of this application;

[0079] Figure 3 This is one of the sensing principle diagrams of a composite dual-base sensing integrated system provided in the embodiments of this application;

[0080] Figure 4 This is a schematic diagram of a grid-like sensing signal time-frequency resource block for target perception provided in an embodiment of this application;

[0081] Figure 5 This is a block diagram of an OFDM radar signal transceiver;

[0082] Figure 6 This is a schematic diagram of a 2D-DFT ranging and velocimetry algorithm provided in an embodiment of this application;

[0083] Figure 7 This is a schematic diagram of a dual-base mode integrated sensing system ranging principle provided in an embodiment of this application;

[0084] Figure 8 This is one of the schematic diagrams of a sensing method provided in an embodiment of this application;

[0085] Figure 9 This is a second schematic diagram of a sensing method provided in an embodiment of this application;

[0086] Figure 10 This is the third schematic diagram of a sensing method provided in the embodiments of this application;

[0087] Figure 11 This is a scene diagram illustrating the application of a sensing method provided in an embodiment of this application;

[0088] Figure 12 This is a structural diagram of a communication device provided in an embodiment of this application;

[0089] Figure 13 This is a structural diagram of a communication device provided in an embodiment of this application;

[0090] Figure 14 This is a structural diagram of a communication device provided in an embodiment of this application;

[0091] Figure 15 This is a structural diagram of a communication device provided in an embodiment of this application;

[0092] Figure 16 This is a structural diagram of a communication device provided in an embodiment of this application;

[0093] Figure 17 This is a structural diagram of a communication device provided in an embodiment of this application. Detailed Implementation

[0094] To make the technical problems, technical solutions and advantages of this application clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments.

[0095] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0096] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0097] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0098] This application provides a sensing method, communication device, and storage medium to address the problem of poor codebook availability.

[0099] The method and apparatus are based on the same concept of the application. Since the methods and apparatus solve problems in similar ways, the implementation of the apparatus and methods can refer to each other, and the repeated parts will not be described again.

[0100] The technical solutions provided in this application can be applied to various systems, especially 6G systems. For example, applicable systems include Global System for Mobile Communication (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), General Packet Radio Service (GPRS), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), Long Term Evolution Advanced (LTE-A), Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), 5G New Radio (NR), and 6G systems. All of these systems include terminal equipment and network equipment. The systems may also include a core network component, such as Evolved Packet System (EPS) and 5G systems (5GS).

[0101] Please see Figure 1 , Figure 1 This is a schematic diagram of the network architecture applicable to the implementation of this application, such as... Figure 1 As shown, it includes terminal 11 and network device 12.

[0102] The terminal involved in this application embodiment can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The name of the terminal device may differ in different systems; for example, in a 5G system, the terminal device can be called User Equipment (UE). The wireless terminal device can communicate with one or more core networks (CNs) via a Radio Access Network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device, for example, a portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile device, which exchanges voice and / or data with the radio access network. Examples of such devices include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), Redcap terminals, and Low Power Wide Area (LPWA) terminals. Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device; however, this application does not limit the terminology used in its embodiments.

[0103] The network device involved in this application embodiment can be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, a base station may also be called an access point, or a device in an access network that communicates with a wireless terminal device through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network equipment involved in the embodiments of this application can be a base transceiver station (BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), a NodeB in a Wide-band Code Division Multiple Access (WCDMA) network, an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, a base station in 6G, a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of this application. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may also be geographically separated.

[0104] Network devices and terminals can each use one or more antennas for Multiple-Input Multiple-Output (MIMO) transmission. MIMO transmission can be Single-User MIMO (SU-MIMO) or Multiple-User MIMO (MU-MIMO). Depending on the configuration and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, and can also be diversity transmission, precoding transmission, or beamforming transmission, etc.

[0105] The mainstream receiver ranging and velocity measurement algorithm for joint communications and sensing (JCAS) is the second-order discrete Fourier transform (2D-DFT) method. Existing joint communications and sensing systems using the 2D-DFT method for ranging and velocity measurement suffer from high computational complexity. This application proposes a low-computational-complexity 2D-DFT ranging and velocity measurement method suitable for joint communications and sensing systems.

[0106] For example, all system parameters and their symbols used in this application are shown in Table 1.

[0107] A brief introduction to the integrated composite dual-base sensing system and existing 2D-DFT ranging and velocimetry algorithms applicable to the integrated composite dual-base sensing system is as follows:

[0108] The composite dual-base inductive integrated system comprises two receivers. One receiver and transmitter are configured together, forming the T / R station (i.e., the second network device) of the single-base inductive integrated system, such as... Figure 2 The site is shown on the left. Another station, located away from the transmitter, is the Rx station (i.e., the first network device). The geometric configuration of the T / RR (i.e., T / R station and Rx station) composite bi-base inductive integrated system is as follows. Figure 2 As shown.

[0109] The ranging principle of the composite dual-base inductive integrated system: Figure 2 It can be seen that the sensing signal transmitted by the T / R station is reflected by the target T and received by both the T / R station and the Rx station. The T / R station and the Rx station can be synchronized through a link between them. On a two-dimensional plane, the T / R station of the single-base sensing integrated system has circular distance contour lines, while the distance contour lines of the dual-base sensing integrated system are elliptical. The position of the target can be determined by combining the ranging results of the single-base sensing integrated system T / R station and the dual-base sensing integrated system Rx station.

[0110] Table 1: System Parameters and Parameter Values

[0111]

[0112] like Figure 3 As shown, suppose at a certain moment, the target T is along the bistatic angle. Angle bisectors included Direction by speed Mobile. A single-base integrated sensing system T / R station can measure the velocity along the target direction from T to Tx. The bistatic inductive integrated system T / RR can measure bistatic angles. velocity in the direction of the angle bisector Combined with the measured baseline angle and It can calculate the velocity of target T. and direction Solve by simultaneously solving the following equations (1) and (2). and .

[0113] (1)

[0114] (2)

[0115] The principle of single-base mode integrated sensing system for ranging and velocity measurement: In order to reduce the overhead of sensing signals, the sensing signal distribution based on OFDM integrated sensing waveform is usually adopted with a grid structure. Figure 4 This is an example of the sensing signal distribution for a grid-like resource block. Its configuration is shown in Table 1. Darker resources are used for sensing, while gray resources are used for communication. For example, the waveform of this grid-like sensing signal resource block can achieve a distance resolution of 1.5m, a velocity resolution of 0.71m / h, a maximum detection distance of 180m, and a maximum detection velocity of 85m / s, forming an integrated sensing system.

[0116] like Figure 5 As shown, the transmitter of the single-base integrated sensing system uses... Figure 4 The waveform shown transmits sensing and communication signals.

[0117] Sensing signals transmitted by the transmitter After IFFT, CP insertion, and digital-to-analog conversion, the signal is transmitted by the transmitting antenna. The sensed signal is reflected by the target in space, and the echo is received by the receiving antenna. After analog-to-digital conversion, CP removal, and FFT, the received signal is generated. . The expression is as follows:

[0118] (3)

[0119] in, For signal strength changes, two exponential terms and Each carries distance information of the target to be sensed. and speed information .

[0120] Bundle Divide by each item The data information carried by the sensed signal can be eliminated to obtain the normalized matrix (i.e., the modulation symbol matrix). :

[0121] (4)

[0122] in:

[0123] (5)

[0124] (6)

[0125] Denotes dyadic product, vector middle The linear phase change of each cell contains the distance information of the target to be sensed, which can be obtained by IDFT. It should be noted that in this embodiment, m is the subcarrier index and n is the OFDM symbol index.

[0126] IDFT results in Among the sampling points, there will be one or more peak values. The peak sampling point's index will be used to determine the peak value. By combining equation (7), we can obtain the distance to the target corresponding to the peak value.

[0127] (7)

[0128] vector middle The linear phase change of each cell contains velocity information of the target to be sensed, which can be obtained by DFT. The DFT result is in... Among the sampling points, there will be one or more peak values. The peak sampling point's index will be used to determine the peak value. By combining equation (8), we can obtain the velocity of the target corresponding to the peak value.

[0129] (8)

[0130] Equation (4) can also be expressed in matrix form:

[0131] (9)

[0132] The above matrix Each column represents an OFDM symbol, and each row represents a subcarrier. The column vectors and row vectors in the matrix describe the distance to the reflector and the phase shift caused by the Doppler shift, respectively.

[0133] like Figure 6 As shown, first, the matrix in equation (9) The IDFT operation is performed on each column of data, and then the result of the column IDFT transformation is performed on each row DFT operation. The final matrix is ​​the two-dimensional radar image in the range and velocity domain. The range and velocity of the target can be read from the radar image.

[0134] The principle of distance and velocity measurement in a dual-base mode integrated sensing system: Figure 7 As shown, the transmitter Tx and receiver Rx of the dual-base inductive integrated system are located at positions TX and RX, respectively, and the positions of TX and RX are known. The distances between the target to be measured and the transmitter Tx and receiver Rx are respectively... and The total distance from Tx to the target and from the target to Rx. .

[0135] The ranging and velocity measurement algorithm of the dual-base mode integrated sensing system is similar to that of the single-base mode. The following only lists the differences from the single-base mode. (The sensing signal received by the receiver Rx in the dual-base integrated sensing system...) The expression is as follows:

[0136] (10)

[0137] Bundle Divide by each item The data information carried by the sensing signal can be eliminated to obtain the normalized matrix. .right Perform an IDFT transform on the column vectors, and the IDFT result is in Among the sampling points, there will be one or more peak values. The peak sampling point's index will be used to determine the peak value. By combining equation (11), we can obtain the distance from the target to the bi-base transmitter and receiver corresponding to the peak value.

[0138] (11)

[0139] Note the distance measured using the bibase mode. This is the total distance from Tx to the target and from the target to Rx. Therefore, through distance... It can only be determined that the target T is located at a point with Tx and Rx as foci, and the sum of the distances is... On the ellipse, such as Figure 7 As shown. The bi-base mode velocity measurement algorithm is the same as the single-base mode, the only difference being that the velocity measured by the bi-base mode is the velocity along the bi-base angle bisector.

[0140] The integrated composite dual-base sensing system requires performing second-order discrete Fourier transforms at both the T / R station and the Rx station to obtain the distance and velocity information of the target. This approach results in extremely high computational complexity for the 2D-DFT method in existing integrated composite dual-base sensing systems for ranging and velocities. The 2D-DFT ranging and velocities algorithm first performs a column-by-column 1D-IDFT on the modulation symbol matrix, and then performs a row-by-row 1D-DFT on the resulting matrix. When high accuracy is required for ranging and velocities, the order of the discrete Fourier transform becomes very high, leading to extremely high computational complexity for the 2D-DFT periodogram method. Figure 4 Taking the sensor signal waveform shown as an example, the computational complexity of one DFT is O(N^2), where N is the order of the DFT, for example, it can be 120. Figure 4 Performing a 2D-DFT on a grid-shaped sensing signal resource block of the sensing signal waveform shown in the example has a computational complexity as high as 2NO(N^2) = 240O(N^2), or 2N^3 = 3,456,000 complex multiplication operations, to obtain a single distance and velocity information. For a composite dual-base sensing integrated system, it requires 6,912,000 complex multiplication operations to obtain the target's distance and velocity information. Based on this, this application proposes a low-computational-complexity 2D-DFT ranging and velocity measurement method suitable for composite dual-base sensing integrated systems, thereby improving target sensing efficiency.

[0141] Please see Figure 8 , Figure 8 This is a flowchart of a sensing method provided in an embodiment of this application, applied to a first network device, such as a first base station, etc. Figure 8 As shown, it includes the following steps:

[0142] Step 801: Receive the first parameter of the first target sent by the second network device.

[0143] The first parameter includes a first distance, wherein the first distance of the first target is the distance between the first target and the second network device obtained by the second network device after receiving the first reflected signal and performing sensing measurement.

[0144] It should be understood that the first reflected signal is the signal that arrives at the second network device after the sensing signal sent by the second network device is reflected by the first target. That is, during target sensing and measurement, the second network device can first send a sensing signal. The first reflected signal, after being reflected by the first target, arrives at the second network device. After receiving the first reflected signal, the second network device performs sensing and measurement to obtain the first distance between the first target and the second network device, thus obtaining the first distance of the first target and achieving sensing of the first target. It should be noted that the number of first targets sensed by the second network device through sending this sensing signal can be at least one, thus obtaining the first distance of each of the at least one first target. The second network device can then send the first distance of the first target to the first network device, so the first network device can receive the first distance of the first target sent by the second network device. Additionally, in one example, the above first parameter also includes a first speed. In one example, the number of first targets can be at least one, and the first parameter for receiving the first target sent by the second network device can include: receiving the first distance of at least one first target sent by the second network device when the maximum distance among the first distances of at least one first target is less than or equal to a preset distance threshold.

[0145] Step 802: Determine the sensing distance range of the first network device based on the first distance to the first target.

[0146] The second network device can measure the distance and speed of targets within a circle centered on itself and with a radius equal to its maximum measurable distance. In this embodiment, the second network device performs target perception to obtain a first distance between the first target and the second network device. It should be understood that the first target lies on a circle centered on the second network device with a radius equal to the first distance. After obtaining the first distance of the first target measured by the second network device, the first network device can use it to determine the sensing distance range of the first network device, thereby narrowing the range of the first network device's sensing measurement.

[0147] Step 803: Upon receiving the second reflected signal, perform sensing measurements within the sensing distance range to determine the second parameters of the first target.

[0148] The second parameter includes the target distance, the target distance of the first target is the sum of the second distance and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the above-mentioned sensing signal sent by the second network device after being reflected by the first target and reaching the first network device.

[0149] It should be understood that the first network device can measure the distance and velocity of a target within an ellipse centered on the second network device and the first network device, where the sum of the distances is the maximum measurable distance. In this embodiment, the first network device performs target perception and obtains the target distance of the first target (i.e., the sum of the distance from the first target to the second network device and the distance from the first target to the first device). It should be understood that the first target lies on an ellipse centered on the second network device and the first network device, where the sum of the distances is the target distance. After determining the second parameters of the first target, the position of the first target can be determined based on the first distance and the target distance.

[0150] Furthermore, during the sensing process, the first network device performs target sensing and measurement within a sensing distance range determined based on the first distance of the first target obtained from the sensing and measurement of the second network device. The target distance measured is within this sensing distance range. For example, if the determined sensing distance range is [50, 90] meters, and the target distance of the first target obtained from the sensing and measurement of the first network device is 60, then it falls within [50, 90] meters.

[0151] In the sensing method of this application embodiment, the first network device can determine its sensing distance range based on the first distance of the first target obtained by the sensing measurement of the second network device. Subsequently, the first network device can perform sensing measurements within the sensing distance range to obtain the sum of the distances between the first target and the second network device and the distance between the first target and the first device, thereby achieving target sensing. In this way, the first network device does not need to perform sensing measurements within a large range that it can perceive, but rather within the sensing distance range determined by the first distance of the first target obtained by the sensing measurement of the second network device. This reduces the sensing measurement range of the first network device, thereby reducing the computational complexity of sensing measurements, shortening the sensing time, and improving sensing efficiency.

[0152] In one embodiment, upon receiving a second reflected signal, performing a sensing measurement within the sensing distance range to determine a second parameter of the first target includes:

[0153] Based on the second reflected signal and the sensed signal, the modulation symbol matrix is ​​determined. The dimension of the modulation symbol matrix is ​​N. f Line N t Column, N f N represents the number of subcarrier samples. t This refers to the number of symbols sampled in Orthogonal Frequency Division Multiplexing (OFDM).

[0154] Performing an inverse discrete Fourier transform (IDFT) on the column vectors of the modulation symbol matrix yields the first matrix, which has the same dimension as the modulation symbol matrix.

[0155] Determine the target row number range based on the perceived distance range;

[0156] Perform a Discrete Fourier Transform (DFT) on the target row vectors in the first matrix to obtain a second matrix. The number of columns in the second matrix is ​​the same as the number of columns in the modulation symbol matrix. The number of rows in the second matrix is ​​the same as the number of rows in the target row vectors, and the row numbers in the second matrix are the same as the row numbers in the target row vectors. The second matrix is ​​a matrix representing the relationship between velocity and distance, and the target row vectors are the row vectors within the target row number range.

[0157] Determine the second parameter based on the second matrix.

[0158] It is understood that the first network device can know in advance the aforementioned sensing signal sent by the second network device. After receiving the second reflected signal of the sensing signal after it has been reflected by the first target and arrives at the first network device, the first network device can use the second reflected signal and the sensing signal to determine the modulation symbol matrix. It should be noted that the sensing signal in this embodiment can be a matrix signal, that is, a signal with a dimension of N. f Line N t The perceived signals of the column, the first reflected signal and the second reflected signal are also matrix signals, and the dimension is also N. f Line N t List.

[0159] It should be noted that the row numbers in the second matrix are the same as the row numbers of the target row vectors. This should be understood as the row numbers in the second matrix being derived from the row numbers of the target row vectors in the first matrix. For example, if the target row vectors are the row vectors from row 33 to row 60 in the first matrix, and the target row vectors have 28 rows, performing a DFT transformation on each row of the target row vectors in the first matrix yields 28 rows N. t The second matrix of columns also uses rows 33 to 60. For example, the row number of the first row of the second matrix can be 33 and the row number of the last row can be 60. This facilitates the subsequent calculation of the second parameters of the first target.

[0160] It is understandable that OFDM-based integrated sensing systems typically employ a grid-like structure for sensing signal distribution to achieve both communication and sensing. This means sampling can be performed on time-frequency resources, with some sampled resources used for sensing and the remaining resources available for communication. f N represents the number of subcarrier samples. t N is the number of OFDM symbol samples.f N subcarrier sampling points, N t OFDM symbol sampling points.

[0161] In this embodiment, a sensing signal can be sent by a second network device. A first distance between the first target and the second network device is obtained by sensing and measuring the first reflected signal after the sensing signal is reflected. The first network device can receive a second reflected signal from the sensing signal sent by the second network device. The target distance of the first target can be obtained by sensing and measuring the second reflected signal. During the sensing and measurement process of the first network device, ranging and velocity measurements can be performed using the second-order discrete Fourier transform (2D-DFT) to achieve target perception. For example, during the target perception process using the 2D-DFT algorithm, the first network device can perform an inverse discrete Fourier transform (IDFT) on the columns of the modulation symbol matrix, and then perform a DFT transform on the rows of the result obtained after the IDFT transform. The distance and velocity of the target are determined based on the result of the DFT transform. Furthermore, in this embodiment, to avoid the problem of high computational complexity caused by performing DFT transformation on every row of the IDFT result, only a portion of the rows of the first matrix obtained after IDFT transformation are DFT transformed. This allows the target row number range to be determined based on the sensing distance range. DFT is then performed only on the row vectors within the target row number range in the first matrix, reducing computational complexity. The target distance of the first target is determined using the second matrix obtained by DFT transformation on only a portion of the rows, thus achieving target perception. This reduces the perception time and improves perception efficiency.

[0162] In one embodiment, the lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number.

[0163] Based on the perceived distance range, determine the target row number range, including:

[0164] The first row number is determined based on the fourth distance and the pre-acquired distance resolution;

[0165] The second row number is determined based on the fifth distance and the distance resolution.

[0166] In this embodiment, the target row number range can be determined using the sensing distance range and the distance resolution. It should be understood that the distance resolution can be pre-acquired; different sensing integrated systems may have different distance resolutions, which are related to relevant system parameters and the speed of light. After determining the sensing distance range, the first row number can be determined using the fourth distance and the pre-acquired distance resolution. The second row number can be determined using the fifth distance and the distance resolution, thereby determining the target row number range, which is the range from the first row number to the second row number. It can be understood that in the first and second matrices, the distance between every two adjacent subcarrier sampling points can be the distance resolution. For example, N... f 120, N t The first matrix has 120 rows (0-119) and 120 columns (0-119). The distance resolution of the integrated sensing system in this embodiment is 1.5 meters, which means that the distance between adjacent sampling points is 1.5 meters, and the maximum sensing distance is 180 meters (120*1.5).

[0167] In this embodiment, during the process of determining the target row number range, the distance resolution can be used to map the distance sensing range to the target row number range, thereby determining the range of row vectors in the first matrix to be subjected to DFT transformation. This facilitates the subsequent DFT of some row vectors in the first matrix, avoiding the need to perform DFT on every row in the first matrix, thus reducing computational complexity and improving sensing efficiency.

[0168] In one embodiment, the first row number is the result of dividing the fourth distance by the distance resolution and rounding down; the second row number is the result of dividing the fifth distance by the distance resolution and rounding up.

[0169] It should be understood that there may be cases where the fourth distance is not divisible by the distance resolution and / or the fifth distance is not divisible by the distance resolution. The first row number of the target row number range is the result of dividing the fourth distance by the distance resolution and rounding down, and the second row number is the result of dividing the fifth distance by the distance resolution and rounding up. Performing DFT on the row vectors within the target row number range in the first matrix to obtain the second matrix, and determining the second parameter of the first target through the second matrix can reduce the occurrence of target perception omissions, thereby improving perception accuracy.

[0170] In one embodiment, determining the second parameter based on the second matrix includes:

[0171] Determine the peak points in the second matrix;

[0172] Based on the speed of light, the pre-obtained subcarrier spacing, and N fAnd the column number corresponding to the peak point, determine the target distance of the target corresponding to the peak point, the target corresponding to the peak point includes the first target.

[0173] It should be understood that the definition of target distance here is similar to that in the above embodiments. The target distance corresponding to the peak point is the sum of the distance from the first network device to the target and the distance from the target to the second network device. In this embodiment, the speed of light, the pre-acquired subcarrier spacing, and N can be used. f The column indices corresponding to the peak points in the second matrix are used to determine the target distances of the targets corresponding to these peak points. It should be noted that there may be more than one peak point in the second matrix, meaning there can be at least one (or more) peak points. Each peak point corresponds to a target, meaning there can be at least one target. Therefore, the target distance of the target corresponding to at least one peak point can be determined, thus determining the target distance of at least one target.

[0174] In one example, the target distance corresponding to the peak point can be positively correlated with the speed of light and the column index corresponding to the peak point. The target distance corresponding to the peak point can also be positively correlated with the pre-obtained subcarrier spacing and N. f They are inversely related. For example, the target distance corresponding to the peak point can be obtained using the following formula:

[0175] ;

[0176] in, Peak point i The target distance of the corresponding target. At the speed of light, Peak point i The corresponding column number, The subcarrier spacing.

[0177] In one embodiment, the second parameter further includes a second speed;

[0178] Determining the second parameter based on the second matrix also includes:

[0179] Based on the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, and N... t And the row number corresponding to the peak point, to determine the second velocity of the target corresponding to the peak point.

[0180] In this embodiment, the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, and N can be utilized. tThe second velocity of the target corresponding to each peak point is determined by the row number of the peak point. It should be noted that there can be at least one (or more) peak points in the second matrix, and each peak point corresponds to a target. Therefore, the second velocity of the target corresponding to at least one peak point can be determined, thus determining the second velocity of at least one target.

[0181] In one example, the second velocity of the target corresponding to the peak point can be positively correlated with the speed of light and the row number corresponding to the peak point. The second velocity of the target corresponding to the peak point can also be correlated with the pre-acquired carrier frequency, OFDM symbol duration, and N. t They are inversely related. For example, the second velocity of the target corresponding to the peak point can be obtained by the following formula:

[0182] ;

[0183] in, Peak point i The second velocity of the corresponding target, Peak point i The corresponding row number, For carrier frequency, This refers to the OFDM symbol duration.

[0184] In one embodiment, before receiving the first parameter of the first target sent by the second network device, the method further includes:

[0185] The system receives a first instruction message sent by the controller in the integrated sensing system. The first instruction message is used to instruct the first network device to perform sensing measurements.

[0186] It is understood that the controller in the integrated sensing system selects the network device to perform sensing and sends indication information to instruct the selected network device to perform target sensing measurement. In this embodiment, the controller can select a first network device and a second network device to perform sensing measurement. The controller can send a first indication message to the first network device to instruct the first network device to perform sensing measurement. After receiving the first indication message, the first network device can execute the specific process of the sensing method in the above embodiment. In one example, the first indication message is used to instruct the first network device to perform sensing measurement based on the first distance of the first target obtained by the second network device performing sensing measurement.

[0187] Please see Figure 9 , Figure 9 This is a flowchart of a sensing method provided in an embodiment of this application, applied to a second network device, such as... Figure 9 As shown, it includes the following steps:

[0188] Step 901: Send a sensing signal;

[0189] Step 902: Receive the first reflected signal, which is the signal of the sensing signal that arrives at the second network device after being reflected by the first target;

[0190] Step 903: Perform target perception measurement based on the first reflection signal to determine the first parameter of the first target;

[0191] The first parameter includes the first distance between the first target and the second network device;

[0192] Step 904: Send the first parameter of the first target to the first network device.

[0193] That is, the second network device sends the first parameter of the first target to the first network device, so that the first network device determines the sensing distance range of the first network device based on the first distance of the first target, and performs sensing measurement within the sensing distance range to determine the second parameter of the first target. The second parameter includes the target distance, which is the sum of the second distance and the third distance. The target distance is within the sensing distance range. The second distance is the distance from the first network device to the first target, and the third distance is the distance from the first target to the second network device.

[0194] In one embodiment, the number of first targets is at least one; sending first parameters of the first targets to the first network device includes:

[0195] If the maximum distance among the first distances of at least one first target is less than or equal to a preset distance threshold, the first parameter of at least one first target is sent to the first network device.

[0196] In one embodiment, the number of first targets is at least one. After determining the first parameters of the first targets by performing target perception measurement based on the first reflection signal, the method further includes:

[0197] If the maximum distance in the first distance of at least one first target is greater than a preset distance threshold, a notification message is sent to the controller in the integrated sensing system so that the controller can reselect the sensing device.

[0198] In one embodiment, the first parameter further includes a first speed.

[0199] Please see Figure 10 , Figure 10 This is a flowchart of a sensing method provided in an embodiment of this application, applied to a controller in a sensor-integrated system, such as... Figure 10 As shown, it includes the following steps:

[0200] Step 1001: Send a second indication message to the second network device, the second indication message being used to instruct the second network device to perform sensing measurements;

[0201] Step 1002: Send first instruction information to the first network device. The first instruction information is used to instruct the first network device to perform a sensing measurement based on the first distance of the first target obtained by the second network device. The first distance of the first target is the distance between the first target and the second network device.

[0202] It should be understood that the controller selects the first network device and the second network device as sensing devices to perform sensing measurements. After receiving the second instruction information, the second network device can send a sensing signal to perform sensing measurements to obtain the first parameter of the first target. The first parameter may include the first distance. The first distance is the distance between the first target and the second network device obtained by the second network device after receiving the first reflected signal (the sensing signal reflected from the first target to the second network device) and performing sensing measurements. The first parameter of the first target obtained by sensing measurements is then sent to the first network device.

[0203] In one embodiment, the number of the first targets is at least one, and after sending the second indication information to the second network device, the method further includes:

[0204] Receive a notification message sent by the second network device when the maximum distance among the first distances of at least one first target obtained by sensing and measurement is greater than a preset distance threshold;

[0205] In response to the notification message, a sensing device reselection is performed to identify the third and fourth network devices;

[0206] Send a third instruction message to the third network device, the third instruction message being used to instruct the third network device to perform sensing measurements;

[0207] A fourth instruction message is sent to the fourth network device. The fourth instruction message is used to instruct the fourth network device to perform a sensing measurement based on the fourth distance of the second target obtained by the third network device. The fourth distance of the second target is the distance between the second target and the third network device. The second target includes the first target.

[0208] If the maximum distance among the first distances of at least one first target obtained by the second network device's sensing and measurement exceeds a preset distance threshold, it indicates that the first target is far from the second network device. This can easily lead to high computational complexity during the subsequent sensing and measurement process when the first network device uses the first distance of the first target to determine the sensing distance range, meaning the reduction in computational complexity is minimal. In this embodiment, to further reduce computational complexity, if the maximum distance among the first distances of at least one first target obtained by the second network device's sensing and measurement exceeds the preset distance threshold, the second network device can send a notification message to the controller. Upon receiving the notification message, the controller can reselect sensing devices, reselecting a third and fourth network device as new sensing devices for sensing and measurement. That is, the third network device replaces the second network device, and the fourth network device replaces the first network device for sensing and measurement, thereby reducing the computational complexity of sensing.

[0209] The process of the above method is described in detail below with some specific embodiments. The method of this application embodiment is applicable to target perception in a composite dual-base sensing integrated system, which includes a T / R station (corresponding to the second network device mentioned above) and an R station (corresponding to the first network device mentioned above).

[0210] For example, as an example, such as Figure 11 As shown, in a certain composite dual-base inductive integrated system, the T / R station and Rx station are located at positions TX and RX, respectively. The coordinates of TX are (-25, 0), and the coordinates of RX are (25, 0). The distance between TX and RX is 50 meters. The transmitter of the dual-base inductive integrated system is shown in Table 1. Figure 4 The parameters shown indicate the transmission of sensing signals. Both the single-base and dual-base systems in this integrated dual-base sensing system can achieve a range resolution of 1.5m, a velocity resolution of 0.71m / s, a maximum detection range of 180m (i.e., a maximum sensing range of 180m), and a maximum detection velocity of 85m / s. The single-base system T / R station can measure the distance and velocity of targets within a radius of 180 meters centered at TX; the dual-base system Rx station can measure the distance and velocity of targets within an elliptical range where the sum of the distances to the two foci is 180 meters, with TX and RX as the focal points.

[0211] In the embodiments of this application, the distance to the target within the sensing range is first measured using a T / R station in a dual-base inductive integrated system. Based on the target distance measured by the single-base system T / R station, the range of distance measurement by the dual-base system Rx station (i.e., the sensing distance range) can be determined. Therefore, the modulation symbol matrix can be... When performing row DFT operations, DFT is only performed on a subset of rows, thereby reducing the computational complexity of the bibasic synesthesia integrated system. Example 1:

[0212] Step 110: The T / R station in the dual-base sensing integrated system transmits sensing signals that meet the distance and speed sensing requirements for measurement by the T / R station and Rx station;

[0213] Step 120: The T / R station in the dual-base integrated sensing system receives the first reflected signal (also called the first echo signal) and executes the single-base mode integrated sensing system ranging and velocity measurement algorithm to calculate the distance and velocity of the target within the sensing range, thus obtaining the first distance and first velocity of the first target. Assume there are two targets within the sensing range (two first targets), one target (hereinafter referred to as target 1) is 20 meters away from the T / R station, and the other target (hereinafter referred to as target 2) is 10 meters away from the T / R station. It should be noted that the target's velocity has no impact on determining the sensing range of the Rx station in this application, and is not specifically set here. The distance of the target measured by the single-base system T / R station determines that target 1 is located on a circle with TX as the center and a radius (r) of 20, i.e. Figure 11 The target lies on a circle with radius r=20, but its exact location is uncertain. Similarly, target 2 lies on a circle with center TX and radius 10, i.e. Figure 11 It lies on a circle with r=10, but its exact location cannot be determined.

[0214] Step 130: The T / R station in the dual-base inductive integrated system transmits the distance and velocity of the target measured by the single-base system to the Rx station through the communication link.

[0215] Step 140: In the dual-base sensing integrated system, the Rx station determines the range of the distance and (Rh) of the first target based on the first distance measured by the T / R station, i.e., determines the sensing distance range. In Step 2, it is determined that target 1 and target 2 are located at... Figure 11 On the two concentric circles shown. For station Rx, the minimum distance and Rh are 50 meters, at which point at least one of the two targets is located on the baseline between TX and RX, i.e. Figure 11 The locations marked with an "×" are at coordinates (-5, 0) and (-15, 0). The maximum distance and Rh value is 90 meters. At this point, target 1 is located outside the baseline between TX and RX, i.e. Figure 11 The coordinates of the diamond-shaped marker are (-45, 0). For any other location on the concentric circle, the distance between target 1 and target 2, Rh, will not be less than 50 and will not be greater than 90, therefore Rh = The range is [50, 90].

[0216] Step 150: The Rx station in the dual-base mode sensing integrated system receives the second reflected signal (second echo signal) and executes the dual-base mode sensing integrated system ranging and velocity measurement algorithm to calculate the distance and velocity of the target within the sensing range, thus obtaining the target distance and second velocity of the first target. The Rx station modulates the symbol matrix in equation (9). Perform IDFT operations on each column of data, i.e., perform 120 IDFT operations. Combine the vector results of each IDFT operation from the 120 IDFT operations as columns to obtain the first matrix. :

[0217] ;

[0218] Step 160: Based on the sensing distance range [50, 90] determined in Step 140, determine the target row number range. That is, divide the lower limit (50) of the sensing distance range by the distance resolution (1.5 meters) and round down to get the first row number 33. Divide the upper limit (90) of the sensing distance range by the distance resolution (1.5 meters) and round up to get the second row number 60. The resulting target row number range is [33, 60]. Apply this to the first matrix obtained in Step 150. Performing DFT operations on lines 33 to 60 (corresponding to 50 to 90 meters) yields a bistatic range-velocity radar image with distance and Rh within the range of [50, 90]. From the radar image, the target distances of the two targets and their velocities along the angle bisector of the bistatic angle β (i.e., the second velocity) can be read. Step six of this embodiment avoids the limitations of existing bistatic 2D-DFT ranging and velocity algorithms. Each line performs a DFT operation. In the example, the DFT operations in lines 61 to 119 and lines 0 to 32 are unnecessary, as these DFT calculations do not provide more distance and velocity information for target 1 and target 2. By omitting these DFT operations, the computational complexity of the bi-base ranging and velocimetry algorithm is reduced, while the latency in obtaining distance and velocity is also reduced, thus improving target perception efficiency.

[0219] It should be noted that in the dual-base sensing integrated system, the distance and velocity information obtained by the R station in combination with the distance and velocity information obtained by the T / R station can be used to calculate the distance and velocity of each target within the sensing range.

[0220] Example 2:

[0221] The above-described embodiment one is applicable when the target to be sensed is relatively close to the T / R station. When the target is far from the T / R station, for example, near the Rx station, the reduction in computational complexity is not significant. Since wireless communication system base stations all have uplink and downlink capabilities, the following implementation steps can be used to address this problem:

[0222] Step 210: The T / R station in the dual-base sensing integrated system transmits sensing signals that meet the distance and velocity sensing requirements for measurement by the T / R station and Rx station:

[0223] Step 220: The T / R station in the dual-base integrated sensing system receives the first reflected signal and executes the single-base mode integrated sensing system ranging and velocity measurement algorithm to calculate the distance and velocity of the target within the sensing range, i.e., the first distance and first velocity of the first target are obtained through sensing and measurement. When the maximum first distance of the target within the sensing range is greater than a preset distance threshold, the controller of the integrated sensing system can execute the T / R station / R station reselection process. For example, the current Rx station can be switched to a T / R station, or a station closer to the first target can be found as the T / R station, or the current T / R station can be switched to an Rx station, etc.

[0224] Step 230: The reselected sensing device (the reselected sensing device replaces the original T / R station and the original R station) executes the steps of Example 1 or Example 2.

[0225] In the composite dual-base sensing integrated system of this application embodiment, the T / R station measures the distance of the target within the sensing range. The dual-base system Rx station can determine the distance measurement range (sensing distance range) of the dual-base system Rx station based on the target distance measured by the single-base system T / R station. For the first matrix... When performing DFT operations, DFT is only performed on a subset of rows (i.e., the rows corresponding to the target row number), thereby reducing the computational complexity of the composite bi-base sensor integrated system and improving sensing efficiency.

[0226] Please see Figure 12 , Figure 12 This is a structural diagram of a communication device provided in an embodiment of the present invention. The communication device may be a first network device, such as... Figure 12 As shown, it includes a memory 1220, a transceiver 1200, and a processor 1210:

[0227] The system includes a memory for storing computer programs, a transceiver for sending and receiving data under the control of the processor, and a processor for reading the computer programs from the memory and performing the following operations:

[0228] The system receives a first parameter of a first target sent by a second network device. The first parameter includes a first distance. The first distance of the first target is the distance between the first target and the second network device obtained by the second network device through sensing and measurement after receiving the first reflected signal.

[0229] Based on the first distance to the first target, determine the sensing distance range of the first network device;

[0230] Upon receiving the second reflected signal, a sensing measurement is performed within the sensing distance range to determine the second parameters of the first target; wherein, the second parameters include the target distance, the target distance of the first target is the sum of the second distance and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

[0231] Among them, Figure 12 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1210 and memory represented by memory 1220 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1200 can be multiple components, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, etc. For different user equipment, the user interface 1230 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0232] The processor 1210 is responsible for managing the bus architecture and general processing, and the memory 1220 can store the data used by the processor 1210 when performing operations.

[0233] Optionally, the processor 1210 can be a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or CPLD (Complex Programmable Logic Device), and the processor can also adopt a multi-core architecture.

[0234] The processor executes any of the methods provided in the embodiments of the present invention by invoking a computer program stored in memory, according to the obtained executable instructions. The processor and memory may also be physically separated.

[0235] In one embodiment, the processor is specifically configured to read a computer program from memory and perform the following operations:

[0236] Based on the second reflected signal and the sensed signal, the modulation symbol matrix is ​​determined. The dimension of the modulation symbol matrix is ​​N. f Line N t Column, N f N represents the number of subcarrier samples. t This refers to the number of symbols sampled in Orthogonal Frequency Division Multiplexing (OFDM).

[0237] Performing an inverse discrete Fourier transform (IDFT) on the column vectors of the modulation symbol matrix yields the first matrix, which has the same dimension as the modulation symbol matrix.

[0238] Determine the target row number range based on the perceived distance range;

[0239] Perform a Discrete Fourier Transform (DFT) on the target row vectors in the first matrix to obtain a second matrix. The number of columns in the second matrix is ​​the same as the number of columns in the modulation symbol matrix. The number of rows in the second matrix is ​​the same as the number of rows in the target row vectors, and the row numbers in the second matrix are the same as the row numbers in the target row vectors. The second matrix is ​​a matrix representing the relationship between velocity and distance, and the target row vectors are the row vectors within the target row number range.

[0240] Determine the second parameter based on the second matrix.

[0241] In one embodiment, the lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number.

[0242] The processor, specifically, reads computer programs from memory and performs the following operations:

[0243] The first row number is determined based on the fourth distance and the pre-acquired distance resolution;

[0244] The second row number is determined based on the fifth distance and the distance resolution.

[0245] In one embodiment, the first row number is the result of dividing the fourth distance by the distance resolution and rounding down;

[0246] The second row number is the result of dividing the fifth distance by the distance resolution and rounding it up.

[0247] In one embodiment, the processor is specifically configured to read a computer program from memory and perform the following operations:

[0248] Determine the peak points in the second matrix;

[0249] Based on the speed of light, the pre-obtained subcarrier spacing, and N fAnd the column number corresponding to the peak point, determine the target distance of the target corresponding to the peak point, the target corresponding to the peak point includes the first target.

[0250] In one embodiment, the second parameter further includes a second speed;

[0251] The processor, specifically, reads computer programs from memory and performs the following operations:

[0252] Based on the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, and N... t And the row number corresponding to the peak point, to determine the second velocity of the target corresponding to the peak point.

[0253] In one embodiment, the first parameter further includes a first speed.

[0254] In one embodiment, the processor is also configured to read a computer program from memory and perform the following operations:

[0255] The system receives a first instruction message sent by the controller in the integrated sensing system. The first instruction message is used to instruct the first network device to perform sensing measurements.

[0256] It should be noted that the communication device provided in this embodiment of the invention can implement all the method steps implemented in the method embodiment applied to the first network device and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0257] Please see Figure 13 , Figure 13 This is a structural diagram of a communication device provided in an embodiment of the present invention. The communication device can be a second network device, such as... Figure 13 As shown, it includes a memory 1320, a transceiver 1300, and a processor 1310:

[0258] Memory is used to store computer programs; transceiver is used to send and receive data under the control of the processor; processor is used to read the computer programs from memory and perform the following operations:

[0259] Send sensing signals;

[0260] Receive the first reflected signal, which is the signal of the sensing signal that arrives at the second network device after being reflected by the first target;

[0261] Based on the first reflected signal, target perception measurement is performed to determine the first parameter of the first target, the first parameter including the first distance between the first target and the second network device;

[0262] Send the first parameter of the first target to the first network device.

[0263] Among them, Figure 13 In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1310 and memory represented by memory 1320 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1300 can be multiple components, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, etc. For different user equipment, the user interface 1330 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0264] The processor 1310 is responsible for managing the bus architecture and general processing, and the memory 1320 can store the data used by the processor 1310 when performing operations.

[0265] Optionally, the processor 1310 can be a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or CPLD (Complex Programmable Logic Device), and the processor can also adopt a multi-core architecture.

[0266] The processor executes any of the methods provided in the embodiments of the present invention by invoking a computer program stored in memory, according to the obtained executable instructions. The processor and memory may also be physically separated.

[0267] In one embodiment, the number of the first target is at least one;

[0268] The processor, specifically, reads computer programs from memory and performs the following operations:

[0269] If the maximum distance among the first distances of at least one first target is less than or equal to a preset distance threshold, the first parameter of at least one first target is sent to the first network device.

[0270] In one embodiment, the number of the first target is at least one;

[0271] The processor is also used to read computer programs from memory and perform the following operations:

[0272] If the maximum distance in the first distance of at least one first target is greater than a preset distance threshold, a notification message is sent to the controller in the integrated sensing system so that the controller can reselect the sensing device.

[0273] In one embodiment, the first parameter further includes a first speed.

[0274] It should be noted that the communication device provided in this embodiment of the invention can implement all the method steps implemented in the method embodiment applied to the second network device, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0275] Please see Figure 14 , Figure 14 This is a structural diagram of a communication device provided in an embodiment of the present invention. The communication device may be a controller, such as... Figure 14 As shown, it includes a memory 1420, a transceiver 1400, and a processor 1410:

[0276] Memory is used to store computer programs; transceiver is used to send and receive data under the control of the processor; processor is used to read the computer programs from memory and perform the following operations:

[0277] Send a second instruction message to the second network device, the second instruction message being used to instruct the second network device to perform sensing measurements;

[0278] Send a first instruction message to the first network device. The first instruction message is used to instruct the first network device to perform a sensing measurement based on the first distance of the first target obtained by the second network device. The first distance of the first target is the distance between the first target and the second network device.

[0279] Among them, Figure 14In this context, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1410 and memory represented by memory 1420 together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1400 can be multiple components, including transmitters and receivers, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, etc. For different user equipment, the user interface 1430 can also be an interface capable of connecting external or internal devices, including but not limited to keypads, displays, speakers, microphones, joysticks, etc.

[0280] Processor 1410 is responsible for managing the bus architecture and general processing, while memory 1420 can store data used by processor 1410 when performing operations.

[0281] Optionally, the processor 1410 can be a CPU (Central Processing Unit), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), or CPLD (Complex Programmable Logic Device), and the processor can also adopt a multi-core architecture.

[0282] The processor executes any of the methods provided in the embodiments of the present invention by invoking a computer program stored in memory, according to the obtained executable instructions. The processor and memory may also be physically separated.

[0283] In one embodiment, the number of the first target is at least one;

[0284] The processor is also used to read computer programs from memory and perform the following operations:

[0285] Receive a notification message sent by the second network device when the maximum distance among the first distances of at least one first target obtained by sensing and measurement is greater than a preset distance threshold;

[0286] In response to the notification message, a sensing device reselection is performed to identify the third and fourth network devices;

[0287] Send a third instruction message to the third network device, the third instruction message being used to instruct the third network device to perform sensing measurements;

[0288] A fourth instruction message is sent to the fourth network device. The fourth instruction message is used to instruct the fourth network device to perform a sensing measurement based on the fourth distance of the second target obtained by the third network device. The fourth distance of the second target is the distance between the second target and the third network device. The second target includes the first target.

[0289] It should be noted that the communication device provided in this embodiment of the invention can implement all the method steps implemented in the method embodiment of the controller applied to the integrated sensing system, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0290] Please see Figure 15 , Figure 15 This is a structural diagram of another communication device provided in an embodiment of the present invention, such as... Figure 15 As shown, the communication device 1500 includes:

[0291] The first receiving module 1501 is used to receive first parameters of the first target sent by the second network device. The first parameters include a first distance. The first distance of the first target is the distance between the first target and the second network device obtained by the second network device through sensing and measurement after receiving the first reflected signal.

[0292] The first determining module 1502 is used to determine the sensing distance range of the first network device based on the first distance to the first target;

[0293] The second determining module 1503 is used to perform sensing measurements within the sensing distance range upon receiving the second reflected signal, and to determine the second parameters of the first target; wherein the second parameters include the target distance, the target distance of the first target is the sum of the second distance and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the sensing signal sent by the second network device that reaches the first network device after being reflected by the first target.

[0294] In one embodiment, the second determining module includes:

[0295] The first determining unit is used to determine the modulation symbol matrix based on the second reflected signal and the sensed signal. The dimension of the modulation symbol matrix is ​​N. f Line N t Column, N f N represents the number of subcarrier samples. t This refers to the number of symbols sampled in Orthogonal Frequency Division Multiplexing (OFDM).

[0296] The first transformation unit is used to perform the inverse discrete Fourier transform (IDFT) on the column vectors of the modulation symbol matrix to obtain the first matrix, the dimension of which is the same as that of the modulation symbol matrix.

[0297] The second determining unit is used to determine the target row number range based on the sensing distance range;

[0298] The second transformation unit is used to perform Discrete Fourier Transform (DFT) on the target row vectors in the first matrix to obtain a second matrix. The number of columns in the second matrix is ​​the same as the number of columns in the modulation symbol matrix. The number of rows in the second matrix is ​​the same as the number of rows in the target row vectors, and the row numbers in the second matrix are the same as the row numbers in the target row vectors. The second matrix is ​​a matrix representing the relationship between velocity and distance, and the target row vectors are row vectors within the target row number range.

[0299] The third determining unit is used to determine the second parameter based on the second matrix.

[0300] In one embodiment, the lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number.

[0301] Second determination unit:

[0302] The first row of serial numbers determines the sub-units, which is used to determine the first row of serial numbers based on the fourth distance and the pre-acquired distance resolution;

[0303] The second row of serial numbers determines the sub-units, which is used to determine the second row of serial numbers based on the fifth distance and the distance resolution.

[0304] In one embodiment, the first row number is the result of dividing the fourth distance by the distance resolution and rounding down;

[0305] The second row number is the result of dividing the fifth distance by the distance resolution and rounding it up.

[0306] In one embodiment, the third determining unit includes:

[0307] The peak point determination sub-unit is used to determine the peak points in the second matrix;

[0308] The distance determination subunit is used to determine the distance based on the speed of light, the pre-obtained subcarrier spacing, and N. f And the column number corresponding to the peak point, determine the target distance of the target corresponding to the peak point, the target corresponding to the peak point includes the first target.

[0309] In one embodiment, the second parameter further includes a second speed;

[0310] The third determining unit also includes:

[0311] The velocity determination subunit is used to determine the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, and N. t And the row number corresponding to the peak point, to determine the second velocity of the target corresponding to the peak point.

[0312] In one embodiment, the first parameter further includes a first speed.

[0313] In one embodiment, the communication device 1500 further includes:

[0314] The second receiving module is used to receive the first instruction information sent by the controller in the integrated sensing system. The first instruction information is used to instruct the first network device to perform sensing measurement.

[0315] It should be noted that the communication device provided in this embodiment of the invention can implement all the method steps implemented in the method embodiment applied to the first network device and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0316] Please see Figure 16 , Figure 16 This is a structural diagram of another communication device provided in an embodiment of the present invention, such as... Figure 16 As shown, the communication device 1600 includes:

[0317] The first transmitting module 1601 is used to transmit sensing signals;

[0318] The third receiving module 1602 is used to receive the first reflected signal, which is the signal of the sensing signal reaching the second network device after being reflected by the first target.

[0319] The third determining module 1603 is used to perform target perception measurement based on the first reflection signal and determine the first parameter of the first target, the first parameter including the first distance between the first target and the second network device;

[0320] The second sending module 1604 is used to send the first parameter of the first target to the first network device.

[0321] In one embodiment, the number of the first target is at least one;

[0322] The second transmitting module 1604 is specifically used for:

[0323] If the maximum distance among the first distances of at least one first target is less than or equal to a preset distance threshold, the first parameter of at least one first target is sent to the first network device.

[0324] In one embodiment, the number of the first target is at least one;

[0325] The communication module also includes:

[0326] The third sending module is used to send a notification message to the controller in the integrated sensing system when the maximum distance in the first distance of at least one first target is greater than a preset distance threshold, so that the controller can reselect the sensing device.

[0327] In one embodiment, the first parameter further includes a first speed.

[0328] It should be noted that the communication device provided in this embodiment of the invention can implement all the method steps implemented in the method embodiment applied to the second network device, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0329] Please see Figure 17 , Figure 17 This is a structural diagram of another communication device provided in an embodiment of the present invention, such as... Figure 17 As shown, the communication device 1700 includes:

[0330] The fourth sending module 1701 is used to send second indication information to the second network device, the second indication information being used to instruct the second network device to perform sensing measurement;

[0331] The fifth sending module 1702 is used to send first instruction information to the first network device. The first instruction information is used to instruct the first network device to perform a sensing measurement based on the first distance of the first target obtained by the second network device. The first distance of the first target is the distance between the first target and the second network device.

[0332] In one embodiment, the number of the first target is at least one;

[0333] Communication equipment 1700 also includes:

[0334] The fourth receiving module is used to receive a notification message sent by the second network device when the maximum distance among the first distances of at least one first target obtained by sensing and measurement is greater than a preset distance threshold;

[0335] The reselection module is used to reselect sensing devices in response to notification messages in order to identify the third and fourth network devices;

[0336] The sixth sending module is used to send third indication information to the third network device, which instructs the third network device to perform sensing measurement.

[0337] The seventh sending module is used to send fourth indication information to the fourth network device. The fourth indication information is used to instruct the fourth network device to perform perception measurement based on the fourth distance of the second target obtained by the third network device. The fourth distance of the second target is the distance between the second target and the third network device. The second target includes the first target.

[0338] It should be noted that the communication device provided in this embodiment of the invention can implement all the method steps implemented in the method embodiment applied to the controller, and can achieve the same technical effect. Here, the parts that are the same as those in the method embodiment and the beneficial effects will not be described in detail.

[0339] It should be noted that the division of units in the embodiments of this invention is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0340] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0341] This application provides a processor-readable storage medium storing a computer program. The computer program is used to cause the processor to execute the perception method provided in this application embodiment, or the computer program is used to cause the processor to execute the perception method provided in this application embodiment.

[0342] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0343] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0344] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0345] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0346] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0347] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A sensing method, characterized in that, Applied to a first network device, the method includes: The system receives a first parameter of a first target sent by a second network device, the first parameter including a first distance; wherein the first distance of the first target is the distance between the first target and the second network device obtained by the second network device through sensing measurement after receiving the first reflected signal; Based on the first distance to the first target, the sensing distance range of the first network device is determined; Upon receiving the second reflected signal, a sensing measurement is performed within the sensing distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

2. The method according to claim 1, characterized in that, Upon receiving the second reflected signal, the step of performing sensing measurements within the sensing distance range to determine the second parameters of the first target includes: Based on the second reflected signal and the sensed signal, a modulation symbol matrix is ​​determined, wherein the dimension of the modulation symbol matrix is ​​N. f Line N t The N column f N represents the number of subcarrier samples. t This refers to the number of symbols sampled in Orthogonal Frequency Division Multiplexing (OFDM). Perform an inverse discrete Fourier transform (IDFT) on the column vectors of the modulation symbol matrix to obtain a first matrix, the first matrix having the same dimension as the modulation symbol matrix. Based on the perceived distance range, determine the target row number range; Perform a Discrete Fourier Transform (DFT) on the target row vectors in the first matrix to obtain a second matrix. The number of columns in the second matrix is ​​the same as the number of columns in the modulation symbol matrix. The number of rows in the second matrix is ​​the same as the number of rows in the target row vectors, and the row numbers in the second matrix are the same as the row numbers in the target row vectors. The second matrix is ​​a matrix representing the relationship between velocity and distance, and the target row vectors are row vectors within the range of the target row numbers. The second parameter is determined based on the second matrix.

3. The method according to claim 2, characterized in that, The lower limit of the sensing distance range is the fourth distance, the upper limit of the sensing distance range is the fifth distance, the lower limit of the target row number range is the first row number, and the upper limit of the target row number range is the second row number. Determining the target row number range based on the perceived distance range includes: The first row number is determined based on the fourth distance and the pre-acquired distance resolution; The second row number is determined based on the fifth distance and the distance resolution.

4. The method according to claim 3, characterized in that, The first row number is the result of dividing the fourth distance by the distance resolution and rounding down; The second row number is the result of dividing the fifth distance by the distance resolution and rounding it up.

5. The method according to claim 2, characterized in that, Determining the second parameter based on the second matrix includes: Determine the peak points in the second matrix; Based on the speed of light, the pre-obtained subcarrier spacing, and the N... f The target distance of the target corresponding to the peak point is determined by the column number corresponding to the peak point, and the target corresponding to the peak point includes the first target.

6. The method according to claim 5, characterized in that, The second parameter also includes a second speed; The step of determining the second parameter based on the second matrix further includes: Based on the speed of light, the pre-acquired carrier frequency, the OFDM symbol duration, and the N... t And the row number corresponding to the peak point, to determine the second velocity of the target corresponding to the peak point.

7. The method according to any one of claims 1-6, characterized in that, The first parameter also includes the first speed.

8. The method according to any one of claims 1-6, characterized in that, Before receiving the first parameter of the first target sent by the second network device, the method further includes: The system receives a first instruction message sent by the controller in the integrated sensing system. The first instruction message is used to instruct the first network device to perform sensing measurements.

9. A sensing method, characterized in that, Applied to a second network device, the method includes: Send sensing signals; Receive a first reflected signal, wherein the first reflected signal is the signal of the sensing signal that arrives at the second network device after being reflected by a first target; Based on the first reflected signal, target perception measurement is performed to determine the first parameter of the first target, the first parameter including the first distance between the first target and the second network device; Send the first parameter of the first target to the first network device; The first distance of the first target is used to determine the sensing distance range of the first network device. The sensing distance range is used to perform sensing measurements within the sensing distance range when a second reflected signal is received, and to determine the second parameter of the first target. The second parameter includes the target distance, which is the sum of the second distance and the third distance of the first target. The second distance of the first target is the distance from the first network device to the first target, and the third distance of the first target is the distance from the first target to the second network device. The second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

10. The method according to claim 9, characterized in that, The number of the first targets is at least one; the step of sending the first parameter of the first target to the first network device includes: If the maximum distance among the first distances to at least one first target is less than or equal to a preset distance threshold, the first parameter of the at least one first target is sent to the first network device.

11. The method according to claim 9 or 10, characterized in that, The number of the first targets is at least one, and after determining the first parameters of the first targets by performing target perception measurement based on the first reflected signal, the method further includes: If the maximum distance in the first distance of at least one first target is greater than a preset distance threshold, a notification message is sent to the controller in the integrated sensing system so that the controller can reselect the sensing device.

12. The method according to claim 9, characterized in that, The first parameter also includes the first speed.

13. A sensing method, characterized in that, The method, applied to a controller in a sensor-integrated system, includes: Send a second indication message to the second network device, the second indication message being used to instruct the second network device to perform sensing measurements; Send a first instruction message to the first network device. The first instruction message is used to instruct the first network device to perform a perception measurement based on the first distance of the first target obtained by the second network device. The first distance of the first target is the distance between the first target and the second network device. The first distance of the first target is used to determine the sensing distance range of the first network device. The sensing distance range is used to perform sensing measurements within the sensing distance range when a second reflected signal is received, and to determine the second parameter of the first target. The second parameter includes the target distance, which is the sum of the second distance and the third distance of the first target. The second distance of the first target is the distance from the first network device to the first target, and the third distance of the first target is the distance from the first target to the second network device. The second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

14. The method according to claim 13, characterized in that, The number of the first targets is at least one, and after sending the second indication information to the second network device, the method further includes: Receive a notification message sent by the second network device when the maximum distance among the first distances of at least one first target obtained by sensing and measurement is greater than a preset distance threshold; In response to the notification message, a sensing device reselection is performed to determine the third network device and the fourth network device; Send a third indication message to the third network device, the third indication message being used to instruct the third network device to perform sensing measurements; A fourth indication message is sent to the fourth network device, the fourth indication message being used to instruct the fourth network device to perform a perception measurement based on the fourth distance of the second target obtained by the third network device in performing a perception measurement, the fourth distance of the second target being the distance between the second target and the third network device, the second target including the first target.

15. A communication device, characterized in that, include: Memory, transceiver, and processor, among which: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: The system receives a first parameter of a first target sent by a second network device, the first parameter including a first distance; wherein the first distance of the first target is the distance between the first target and the second network device obtained by the second network device through sensing measurement after receiving the first reflected signal; Based on the first distance to the first target, the sensing distance range of the first network device is determined; Upon receiving the second reflected signal, a sensing measurement is performed within the sensing distance range to determine the second parameter of the first target; wherein the second parameter includes the target distance, the target distance of the first target is the sum of the second distance and the third distance of the first target, the second distance of the first target is the distance from the first network device to the first target, the third distance of the first target is the distance from the first target to the second network device, and the second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

16. A communication device, characterized in that, include: Memory, transceiver, and processor, among which: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: Send sensing signals; Receive a first reflected signal, wherein the first reflected signal is the signal of the sensing signal that arrives at the second network device after being reflected by the first target; Based on the first reflected signal, target perception measurement is performed to determine the first parameter of the first target, the first parameter including the first distance between the first target and the second network device; Send the first parameter of the first target to the first network device; The first distance of the first target is used to determine the sensing distance range of the first network device. The sensing distance range is used to perform sensing measurements within the sensing distance range when a second reflected signal is received, and to determine the second parameter of the first target. The second parameter includes the target distance, which is the sum of the second distance and the third distance of the first target. The second distance of the first target is the distance from the first network device to the first target, and the third distance of the first target is the distance from the first target to the second network device. The second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

17. A communication device, characterized in that, include: Memory, transceiver, and processor, among which: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: Send a second indication message to the second network device, the second indication message being used to instruct the second network device to perform sensing measurements; Send a first instruction message to the first network device. The first instruction message is used to instruct the first network device to perform a perception measurement based on the first distance of the first target obtained by the second network device. The first distance of the first target is the distance between the first target and the second network device. The first distance of the first target is used to determine the sensing distance range of the first network device. The sensing distance range is used to perform sensing measurements within the sensing distance range when a second reflected signal is received, and to determine the second parameter of the first target. The second parameter includes the target distance, which is the sum of the second distance and the third distance of the first target. The second distance of the first target is the distance from the first network device to the first target, and the third distance of the first target is the distance from the first target to the second network device. The second reflected signal is the signal of the sensing signal sent by the second network device that arrives at the first network device after being reflected by the first target.

18. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a computer program that causes the processor to perform the sensing method according to any one of claims 1 to 8, or the computer program causes the processor to perform the sensing method according to any one of claims 9 to 12, or the computer program causes the processor to perform the sensing method according to any one of claims 13 to 14.

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