Distributed antenna array communication and perception integrated communication system and method thereof

Abstract

The invention discloses a distributed antenna array communication and perception integrated communication system and method, and relates to the technical field of communication technologies. Each antenna unit is correspondingly connected with one radio frequency unit, the radio frequency units are all connected with the digital signal preprocessing module, known signals are converted into analog signals through the radio frequency units, the analog signals are sent to a receiving end through the antenna units by means of staggered pilot signals, and the receiving end estimates channel characteristics according to the pilot signals; the sensing signal echo is fed back to the antenna unit; the radio frequency unit converts sensing signal echoes into digital signals and transmits the digital signals to the digital signal preprocessing module, data signals to be transmitted actually are pre-coded, and communication and sensing integrated signals are designed and then sent to a receiving end through the antenna unit. According to the invention, a coexistence signal structure is adopted, so that sensing and communication signals coexist and are multiplexed in a time domain, a frequency domain or a space domain, respective unique characteristics are reserved, and the method is suitable for a multipath propagation environment and has very strong robustness to multiple paths.

Description

Technical Field

[0001] The present invention relates to the technical field of communication technology, and in particular to a distributed antenna array communication and perception integrated communication system and method thereof. Background Art

[0002] Traditional ISAC is based on a centralized multiple antenna input multiple antenna multiple output (MIMO) architecture, where all antennas are located in a signal transmitting base station (BS) or the antennas are very close to each other. The base station is responsible for managing and coordinating the transmission and reception of signals from the centralized antenna array.

[0003] However, in a space-constrained environment, the line-of-sight perception signal reflection effect is poor, and it is difficult to accurately measure the signal reflection angle and distance. Therefore, the traditional centralized dual-function ISAC cannot provide accurate indoor radar perception functions. In addition, the wavelength of low-frequency signals will be very long, and the long wavelength will cause multipath reflection, causing a signal to be more easily propagated through many different paths, which brings challenges to obtaining accurate signal reflection paths. In terms of perception functions, a wider spectrum bandwidth can provide higher radar perception resolution, but it may become a burden for communication systems because not all systems require such a wide bandwidth and data transmission rate, which makes the dual-function ISAC signal design unsuitable for low-rate and low-cost systems, such as applications in the Internet of Things (IoT). Communication and radar perception have different requirements in terms of signal transmission power, bandwidth occupied by the signal, and user support, making it difficult for a single signal waveform to meet the requirements of both at the same time. The joint design of communication and perception functions limits the flexibility of the overall system.

[0004] To this end, we designed a distributed antenna array communication and perception integrated communication system and method to solve the above problems. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of the prior art that the integrated communication and perception system based on the centralized MIMO architecture relies on line-of-sight signal transmission and reflection, and when the signal path is blocked or there is strong multipath reflection, the communication transmission is greatly affected. A distributed antenna array communication and perception integrated communication system and method thereof are proposed, which adopt a coexistence signal structure to make the perception and communication signals orthogonal in the time, frequency or space domain, thereby retaining the respective unique characteristics of the communication and perception functions and improving the flexibility of the overall system.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions:

[0007] A distributed antenna array communication and sensing integrated communication method, the method comprising the following steps:

[0008] Step S1, system construction: the antenna units are arranged in a distributed architecture, each antenna unit is connected to a corresponding radio frequency unit, and the radio frequency units are connected to a digital signal preprocessing module to construct a communication system integrating communication and perception;

[0009] Step S2, channel detection: the digital signal of the known signal is converted into an analog signal by using the built-in digital-to-analog conversion module of the radio frequency unit, and is sent to the receiving end by using the interlaced pilot signal via the antenna unit. The receiving end estimates the channel characteristics according to the pilot signal in the received known signal, and feeds back the sensed signal echo to the antenna unit;

[0010] Step S3, data signal adjustment and compensation: the antenna unit transmits the received perception signal echo to the radio frequency unit, the radio frequency unit converts the perception signal echo into a digital signal using a built-in digital-to-analog conversion module, and transmits the digital signal to a digital signal preprocessing module, the digital signal preprocessing module precodes the data signal actually to be transmitted, and designs it into a communication perception integrated signal;

[0011] Step S4, data signal transmission: The communication perception integrated signal designed by the digital signal preprocessing module is transmitted to the RF unit, and the communication perception integrated signal is converted into an analog signal by the digital-to-analog conversion module in the RF unit, and sent to the receiving end via the antenna unit.

[0012] This solution is further optimized. In step S1, the antenna units are arranged in a distributed architecture, that is, multiple antenna units are arranged around the periphery of the obstacle.

[0013] This scheme is further optimized. In step S2, when a known signal is sent to a receiving end via an antenna unit using an interleaved pilot signal, each antenna unit corresponds to a signal transmission time slot according to the set number of antenna units, and the signal transmission time slot is an OFDM symbol; the pilot signal is a pilot detection reference signal that is orthogonal in the time domain.

[0014] This solution is further optimized. In step S2, the channel characteristics estimated based on the pilot signal include changes in the amplitude and phase of the signal.

[0015] This solution is further optimized. In step S3, the digital signal preprocessing module precodes the data signal to be actually transmitted and designs it into a communication perception integrated signal. The process is as follows:

[0016] The channel matrix H of the known signal is defined as:

[0017]

[0018] In the formula, h mn represents the channel link from the nth antenna unit to the mth receiving end;

[0019] The designed time-orthogonal pilot symbols are transmitted by the antenna units in the symbol period corresponding to the number of antenna units. In the first time period, only the first antenna transmits the symbol p1, and the remaining antenna units are not used. By analogy, in the nth time period, only the nth antenna transmits the symbol p n , the remaining antenna elements are not used, and the matrix P of the time orthogonal pilot symbol is:

[0020]

[0021] The symbol Y received by the receiving end from the n antenna elements is expressed as:

[0022]

[0023] In the formula, y mn represents the symbol received by the mth receiver in the nth time period, and Z represents the influence of additive white Gaussian noise during signal transmission;

[0024] Channel Matrix It is derived by the following formula:

[0025]

[0026] Based on the obtained H channel characteristics, the communication-sensing integrated signal X is designed as:

[0027]

[0028] In the formula, Represents the channel matrix The inverse matrix of , D represents the communication data actually to be transmitted.

[0029] A system for a communication method for integrated communication and perception of a distributed antenna array, the system comprising:

[0030] The antenna unit uses the interlaced pilot signal to send a known signal to the receiving end, receives the sensing signal echo from the receiving end, and sends the communication sensing integrated signal converted by the radio frequency unit to the receiving end;

[0031] The digital signal preprocessing module establishes a connection with each radio frequency unit, precodes the data signal actually to be transmitted, and designs it into a communication perception integrated signal;

[0032] The radio frequency unit is connected to each antenna unit and converts the known signal and the communication sensing integrated signal into an analog signal;

[0033] The receiving end receives the known signal and the communication perception integrated signal sent by the antenna unit, estimates the characteristics of the channel according to the pilot signal in the received known signal, and feeds back the perception signal echo to the antenna unit.

[0034] This solution is further optimized, the antenna unit is arranged in a distributed architecture, multiple antenna units are arranged around the obstacle, and each antenna unit is connected to a corresponding radio frequency unit;

[0035] The radio frequency unit receives the sensing signal echo transmitted from the antenna unit, converts it into a digital signal using a built-in digital-to-analog conversion module, and transmits it to the digital signal preprocessing module.

[0036] This solution is further optimized, the pilot signal is a pilot detection reference signal orthogonal in the time domain, and a plurality of the pilot signals are sent through a plurality of time intervals.

[0037] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention adopts a distributed array antenna and a coexistence signal structure, so that the perception and communication signals coexist and are multiplexed in the time, frequency or space domain, thereby retaining their respective unique characteristics, allowing independent design, retaining the respective unique characteristics of the communication and perception functions, and improving the flexibility of the system, which is superior to the traditional single communication perception signal design. The present invention adopts a distributed multi-antenna unit and uses the diversity of channels to detect channel characteristics for perception, thereby avoiding spatial interference between antenna units and overlapping interference between adjacent pilot signals, supporting multi-user communication functions, and using real-time perception signal echo monitoring to enable the system to accurately detect and track changes in channel conditions related to user location or movement through feedback channel estimation, and evenly adapt to dynamic signal propagation environments, suitable for multipath propagation environments, and highly robust to multipath. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the steps of a communication method for integrated communication and perception of a distributed antenna array proposed by the present invention;

[0039] Figure 2 A schematic diagram of the connection arrangement of a distributed antenna array communication and sensing integrated communication system proposed by the present invention;

[0040] Figure 3 Schematic diagram of the distribution architecture of pilot signals in an embodiment of the present invention;

[0041] Figure 4 It is a schematic diagram of the communication perception integrated signal frame structure in an embodiment of the present invention.

[0042] Numbers in the figure: 1. Antenna unit one; 2. Antenna unit two; 3. Antenna unit three; 4. Antenna unit four; 5. Antenna unit five; 6. Antenna unit six; 7. RF unit one; 8. RF unit two; 9. RF unit three; 10. RF unit four; 11. RF unit five; 12. RF unit six; 13. Digital signal preprocessing module; 14. Communication perception integrated signal one; 15. Perception signal echo one; 16. Communication perception integrated signal two; 17. Perception signal echo two; 18. Communication perception integrated signal three; 19. Perception signal echo three; 20. Communication perception integrated signal four; 21. Perception signal echo four; 22. Communication perception integrated signal five; 23. Perception signal echo five; 24. Communication perception integrated signal six; 25. Perception signal echo six; 26. Obstacle; 27. User; 28. Perception target DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0044] Communication and radar sensing have different requirements in terms of signal transmission power, bandwidth occupied by the signal, and user support, which makes it difficult for a single signal waveform to meet the requirements of both. Because the design must consider the needs of both communication and perception at the same time, the joint design of communication and perception functions limits the flexibility of the overall system. A better solution is to adopt a coexistence signal structure so that the perception and communication signals are orthogonal in the time, frequency, or space domain, thereby preserving their unique characteristics and allowing independent design.

[0045] like Figure 1 As shown, in this embodiment, a distributed antenna array communication and perception integrated communication method is proposed, and the method includes the following steps:

[0046] Step S1, system construction: The antenna units are arranged in a distributed architecture, and the distributed architecture is to arrange multiple antenna units around the obstacle. Each antenna unit is connected to a corresponding radio frequency unit, and the radio frequency units are connected to the digital signal preprocessing module to build a communication system integrating communication and perception.

[0047] Step S2, channel detection: the digital signal of the known signal is converted into an analog signal by using the built-in digital-to-analog conversion module of the radio frequency unit, and is sent to the receiving end by using the interlaced pilot signal via the antenna unit. The receiving end estimates the channel characteristics according to the pilot signal in the received known signal, and feeds back the sensed signal echo to the antenna unit;

[0048] When a known signal is sent to a receiving end via an antenna unit using an interleaved pilot signal, each antenna unit corresponds to a signal transmission time slot according to the number of antenna units set, and the signal transmission time slot is an OFDM symbol; the pilot signal is a pilot detection reference signal orthogonal in the time domain.

[0049] The channel characteristics estimated based on the pilot signal include changes in the amplitude and phase of the signal.

[0050] Step S3, data signal adjustment compensation: the antenna unit transmits the received perception signal echo to the radio frequency unit, the radio frequency unit uses the built-in digital-to-analog conversion module to convert the perception signal echo into a digital signal, and transmits the digital signal to the digital signal preprocessing module, the digital signal preprocessing module precodes the data signal to be actually transmitted, and designs it into a communication perception integrated signal.

[0051] The digital signal preprocessing module precodes the data signal to be transmitted and designs it into a communication perception integrated signal. The process is as follows:

[0052] The channel matrix H of the known signal is defined as:

[0053]

[0054] In the formula, h mn represents the channel link from the nth antenna unit to the mth receiving end;

[0055] The designed time-orthogonal pilot symbols are transmitted by the antenna units in the symbol period corresponding to the number of antenna units. In the first time period, only the first antenna transmits the symbol p1, and the remaining antenna units are not used. By analogy, in the nth time period, only the nth antenna transmits the symbol p n , the remaining antenna elements are not used. This method eliminates the spatial interference between antenna elements. The matrix P of the time orthogonal pilot symbol is:

[0056]

[0057] The symbol Y received by the receiving end from the n antenna elements is expressed as:

[0058]

[0059] In the formula, y mn represents the symbol received by the mth receiver in the nth time period, and Z represents the influence of additive white Gaussian noise during signal transmission;

[0060] Channel Matrix It is derived by the following formula:

[0061]

[0062] Based on the obtained H channel characteristics, the communication-sensing integrated signal X is designed as:

[0063]

[0064] In the formula, Represents the channel matrix The inverse matrix of , D represents the communication data actually to be transmitted.

[0065] Step S4, data signal transmission: The communication perception integrated signal designed by the digital signal preprocessing module is transmitted to the RF unit, and the communication perception integrated signal is converted into an analog signal by the digital-to-analog conversion module in the RF unit, and sent to the receiving end via the antenna unit.

[0066] In addition, this embodiment also proposes a system for a communication method for integrated communication and perception of a distributed antenna array, which mainly includes an antenna unit, a digital signal preprocessing module, a radio frequency unit, and a receiving end. The connection relationship and functional role of each component are as follows:

[0067] Antenna unit, the antenna unit adopts a distributed architecture layout, multiple antenna units are set around the obstacle, and each antenna unit is connected to a corresponding radio frequency unit. The antenna unit uses the staggered pilot signal to send a known signal to the receiving end. The antenna unit receives the perception signal echo from the receiving end and sends the communication perception integrated signal converted by the radio frequency unit to the receiving end.

[0068] The digital signal preprocessing module establishes a connection with each radio frequency unit, precodes the data signal actually to be transmitted, and designs it into a communication perception integrated signal.

[0069] The RF unit is connected to each antenna unit and converts the known signal and the integrated communication perception signal into an analog signal. In addition, the RF unit receives the perception signal echo transmitted from the antenna unit and converts it into a digital signal using the built-in digital-to-analog conversion module, and transmits it to the digital signal preprocessing module.

[0070] The receiving end can be multiple, and its main function is to receive the known signal and communication perception integrated signal sent by the antenna unit, estimate the characteristics of the channel according to the pilot signal in the received known signal, and feed back the perception signal echo to the antenna unit.

[0071] In this embodiment, the pilot signal is a pilot detection reference signal orthogonal in the time domain. Multiple pilot signals are sent through multiple time intervals. The pilot signal is sent together with the data signal. The pilot signal is used to predict the channel characteristics. The receiving end estimates the channel by comparing the received pilot signal with the original signal. After the receiving end obtains the predicted channel characteristics, for example, it predicts that the signal will experience different degrees of amplitude and phase changes when passing through a certain channel, the receiving end will send the channel characteristics to the antenna unit through the feedback channel (uplink channel in the communication system).

[0072] The digital signal preprocessing module in the system will adjust and compensate the signal to be sent in advance by using the channel amplitude and phase information of the known signal. Therefore, the digital signal preprocessing module uses the information obtained from channel detection to compensate for the fading, interference and distortion of the signal during transmission in advance. Its purpose is to restore the original signal of the antenna unit at the receiving end as much as possible, and the adjusted and compensated data is used to realize the actual data communication function. The compensation method can use the minimum mean square error (MMSE) or zero forcing (ZF) equalizer.

[0073] This embodiment is further described in conjunction with actual operation: Figure 2 As shown, the distributed antenna array communication and perception integrated communication system of this embodiment includes 6 antenna units (respectively antenna unit 1, antenna unit 2, antenna unit 3, antenna unit 4, antenna unit 5 and antenna unit 6), 6 RF units (respectively RF unit 1, RF unit 8, RF unit 3, RF unit 4, RF unit 5, RF unit 11 and RF unit 6), 2 receiving ends including a user 27 and a perception target 28, and a digital signal preprocessing module 13 for signal precoding and designing communication and perception integrated signals.

[0074] Among them, antenna unit 1 sends communication perception integrated signal 14, antenna unit 22 sends communication perception integrated signal 2 16, antenna unit 3 3 sends communication perception integrated signal 3 18, antenna unit 4 4 sends communication perception integrated signal 4 20, antenna unit 5 5 sends communication perception integrated signal 5 22, antenna unit 6 6 sends communication perception integrated signal 6 24, and the perception signal echo fed back by the receiving end includes perception signal echo 1 15, perception signal echo 2 17, perception signal echo 3 19, perception signal echo 4 21, perception signal echo 5 23 and perception signal echo 6 25. The 6 radio frequency units corresponding to the 6 antenna units in this embodiment are arranged in a distributed architecture, which can effectively avoid the interference of obstacles 26 on the transmission of communication perception integrated signals.

[0075] The pilot signal is modulated in the RF unit (i.e., the pilot signal is generated in the RF unit, which is the module that generates the signal. The pilot signal generated by the RF unit needs to pass through the antenna unit before it can be transmitted in the air), and reaches the receiving end through the antenna unit and the wireless channel. The role of the pilot signal is to send a known signal so that the receiving end can estimate the channel characteristics based on the received pilot signal, and make corresponding adjustments and compensations for the actual data transmission. The digital signal preprocessing module 13 precodes the data signal actually to be transmitted, and designs it into a communication perception integrated signal.

[0076] like Figure 3 and Figure 4 As shown, this embodiment takes a scenario of 6 antenna units and 2 receiving ends (user 27 and sensing target 28) as an example for further explanation, and defines the channel matrix H of the known signal as:

[0077]

[0078] Among them, h 11 represents the channel link from antenna unit 1 to the user, h 12 represents the channel link from antenna unit 2 to the user. Similarly, h 16 represents the channel link from antenna unit six to the user, h 21 represents the channel link from antenna unit 1 to the sensing target, h 22 represents the channel link from antenna unit 2 to the sensing target. Similarly, h 26 Represents the channel link from antenna unit six to the sensing target.

[0079] The designed time-orthogonal pilot symbols are transmitted by six antenna elements in six symbol periods. In the first time period, only antenna element 1 transmits symbol p1, and the other antenna elements are not used. In the second time period, only antenna element 2 transmits symbol p2, and the other antenna elements work according to the same principle. This method eliminates spatial interference between antenna elements. The matrix format of the time-orthogonal pilot symbol is:

[0080]

[0081] Therefore, the symbols received by the receiving end from the six antenna elements are expressed as:

[0082]

[0083] y 11 Indicates the symbol received by the user in the first time period, y 12 Indicates the symbol received by the user in the second time period. Similarly, y 16Indicates the symbol received by the user in the sixth time period; y 21 represents the symbol received by the sensing target in the first time period, y 22 represents the symbol received by the sensing target in the second time period. Similarly, y 26 It represents the symbol received by the sensing target in the sixth time period; Z represents the influence of additive white Gaussian noise during signal transmission.

[0084] Using the above information, the channel condition can be derived as follows:

[0085]

[0086] Based on the obtained H channel characteristics, the communication-sensing integrated signal X is designed as:

[0087]

[0088] in, Represents the channel matrix The inverse matrix of , D represents the actual communication data to be transmitted; after adjustment and compensation, the new data signal X obtained will not be affected by the channel H after being sent through the channel.

[0089] In order to obtain accurate spatial channel state information RSSI (Received Signal Strength Indicator, RSSI, is a received signal strength indicator, which is used to measure the received signal strength. The receiving end device estimates the distance between the antenna unit and the receiving end through the received signal strength indication) of each antenna unit, the present invention uses a pilot detection reference signal that is orthogonal in the time domain, and on the other hand, adjusts and compensates the actual data transmission accordingly through the signal amplitude and phase change of the perception signal echo fed back by the receiving end, thereby avoiding spatial interference of the antenna unit. Since the pilot signals are staggered and sent through the air, each user will receive misaligned pilot signals from all antenna units. For example, there is a misalignment between the pilot signal at the position of antenna unit two and the pilot signal of antenna unit one, thereby avoiding overlapping interference between adjacent pilot signals. In this embodiment, sending 6 pilot signals is completed using 6 time slots. The estimated antenna spatial channel information RSSI (perception signal echo) will be fed back to the antenna unit, and finally the signals sent by multiple antenna units are digitally precoded.

[0090] Under the system structure of this embodiment, independent of directional radar beams, multiple antenna units will no longer generate directional sensing beams (integrated antennas generate directional signal beams), and each antenna unit can transmit signals at different positions to transmit communication data to users and sense changes in targets. Therefore, the presence of obstacles will not affect the performance of the entire system. The system of this embodiment supports multi-user communication functions, and uses real-time sensing signal echo monitoring to enable the system to adapt to dynamic signal propagation environments through feedback channel estimation and balanced adaptation. In addition, by analyzing changes in sensing signal echoes, the system can accurately detect and track changes in channel conditions related to user location or movement.

[0091] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A distributed antenna array communication and sensing integrated communication method, characterized in that: The following steps are involved: Step S1, system construction: the antenna units are arranged in a distributed architecture, each antenna unit is connected to a corresponding radio frequency unit, and the radio frequency units are connected to a digital signal preprocessing module to construct a communication system integrating communication and perception; Step S2, channel detection: the digital signal of the known signal is converted into an analog signal by using the built-in digital-to-analog conversion module of the radio frequency unit, and is sent to the receiving end by using the interlaced pilot signal via the antenna unit. The receiving end estimates the channel characteristics according to the pilot signal in the received known signal, and feeds back the sensed signal echo to the antenna unit; Step S3, data signal adjustment and compensation: the antenna unit transmits the received perception signal echo to the radio frequency unit, the radio frequency unit converts the perception signal echo into a digital signal using a built-in digital-to-analog conversion module, and transmits the digital signal to a digital signal preprocessing module, the digital signal preprocessing module precodes the data signal actually to be transmitted, and designs it into a communication perception integrated signal; Step S4, data signal transmission: The communication perception integrated signal designed by the digital signal preprocessing module is transmitted to the RF unit, and the communication perception integrated signal is converted into an analog signal by the digital-to-analog conversion module in the RF unit, and sent to the receiving end via the antenna unit.

2. A distributed antenna array communication and sensing integrated communication method according to claim 1, characterized in that: In step S1, the antenna units are arranged in a distributed architecture, that is, a plurality of antenna units are arranged around the obstacle.

3. A distributed antenna array communication and sensing integrated communication method according to claim 1, characterized in that: In step S2, when the known signal is sent to the receiving end via the antenna unit using the staggered pilot signal, each antenna unit corresponds to a signal transmission time slot according to the set number of antenna units, and the signal transmission time slot is an OFDM symbol; The pilot signal is a pilot detection reference signal that is orthogonal in the time domain.

4. The communication method of integrated communication and sensing of a distributed antenna array according to claim 1, characterized in that: In step S2, the channel characteristics estimated based on the pilot signal include changes in the amplitude and phase of the signal.

5. The communication method of integrated communication and sensing of distributed antenna array according to claim 1, characterized in that: In step S3, the digital signal preprocessing module precodes the data signal actually to be transmitted and designs it into a communication and perception integrated signal. The process is as follows: The channel matrix H of the known signal is defined as: In the formula, h mn represents the channel link from the nth antenna unit to the mth receiving end; The designed time-orthogonal pilot symbols are transmitted by the antenna units in the symbol period corresponding to the number of antenna units. In the first time period, only the first antenna transmits the symbol p1, and the remaining antenna units are not used. By analogy, in the nth time period, only the nth antenna transmits the symbol p n , the remaining antenna elements are not used, and the matrix P of the time orthogonal pilot symbol is: The symbol Y received by the receiving end from the n antenna elements is expressed as: In the formula, y mn represents the symbol received by the mth receiver in the nth time period, and Z represents the influence of additive white Gaussian noise during signal transmission; Channel Matrix It is derived by the following formula: Based on the obtained H channel characteristics, the communication-sensing integrated signal X is designed as: In the formula, Represents the channel matrix The inverse matrix of , D represents the communication data actually to be transmitted.

6. A system applied to the communication method of integrated communication and perception of distributed antenna array according to any one of claims 1 to 5, characterized in that: The system includes: The antenna unit uses the interlaced pilot signal to send a known signal to the receiving end, receives the sensing signal echo from the receiving end, and sends the communication sensing integrated signal converted by the radio frequency unit to the receiving end; The digital signal preprocessing module establishes a connection with each radio frequency unit, precodes the data signal actually to be transmitted, and designs it into a communication perception integrated signal; The radio frequency unit is connected to each antenna unit and converts the known signal and the communication sensing integrated signal into an analog signal; The receiving end receives the known signal and the communication perception integrated signal sent by the antenna unit, estimates the characteristics of the channel according to the pilot signal in the received known signal, and feeds back the perception signal echo to the antenna unit.

7. The system of the communication method integrating communication and perception of distributed antenna array according to claim 6, characterized in that: The antenna units are arranged in a distributed architecture, with multiple antenna units arranged around the obstacle, and each antenna unit is connected to a corresponding radio frequency unit; The radio frequency unit receives the sensing signal echo transmitted from the antenna unit, converts it into a digital signal using a built-in digital-to-analog conversion module, and transmits it to the digital signal preprocessing module.

8. The system of the distributed antenna array communication and perception integrated communication method according to claim 6, characterized in that: The pilot signal is a pilot detection reference signal orthogonal in the time domain, and a plurality of the pilot signals are sent through a plurality of time intervals.

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