Perception method and device

Abstract

The embodiment of the invention provides a sensing method and device, which can improve the utilization rate of resources. The method comprises the following steps: a first communication node determines the position or time of sending or receiving a sensing signal by the first communication node; and the first communication node sends first indication information, wherein the first indication information is used for indicating the position or time of sending or receiving the sensing signal.

Description

Technical Field

[0001] The present application relates to the field of communications, and more specifically, to a sensing method and device. Background Art

[0002] Synthetic aperture is a "virtual" antenna aperture formed by the movement of the antenna. The movement of the satellite can form a synthetic aperture, thereby obtaining an extremely high spatial resolution. In the prior art, the satellite and the ground node can jointly perceive the target object based on the navigation signal or the communication signal. Specifically, the echo signal of the navigation signal or the communication signal sent by the satellite after being acted on by the target object is received by the ground node, thereby realizing the perception of the target object. The use of navigation signals or communication signals for the joint perception of the satellite and the ground node on the target object does not require additional time-frequency resources, but the perception performance cannot be guaranteed. If a special perception signal is used for the joint perception of the satellite and the ground node on the target object, since the satellite is far away from the ground, the time span and interval of the satellite sending and receiving the perception signal within the synthetic aperture are large, which will cause a great waste of time domain resources. Summary of the invention

[0003] The embodiments of the present application provide a perception method and device, which can improve resource utilization.

[0004] In order to achieve the above objectives, this application adopts the following technical solutions:

[0005] In a first aspect, a perception method is provided, which can be executed by a first communication node deployed on a satellite, or by a component of the first communication node, such as a processor, a chip, or a chip system of the first communication node, or by a logic module or software that can implement all or part of the functions of the first communication node. Taking the method being executed by the first communication node as an example, the method includes: the first communication node determines a location or time at which the first communication node sends or receives a perception signal; the first communication node sends first indication information, and the first indication information is used to indicate a location or time at which the perception signal is sent or received.

[0006] In the perception method provided in the embodiment of the present application, the first communication node determines the position or time at which the first communication node sends or receives a perception signal, and indicates the position or time at which the perception signal is sent or received to the second communication node through the first indication information, so that the second communication node sends or receives the perception signal according to the position or time at which the first communication node sends or receives the perception signal. Since the scheme enables the first communication node and the second communication node to align the position or time at which the first communication node sends or receives the perception signal, the problem of low resource utilization caused by long duration or long interval of the perception signal can be solved, thereby improving resource utilization.

[0007] In a possible implementation, the perception method provided in the embodiment of the present application further includes: the first communication node receives a first request message, where the first request message is used to request a location or time for sending or receiving a perception signal. This solution enables the first communication node to determine a location or time for sending or receiving a perception signal based on the triggering of the first request message.

[0008] In an embodiment of the present application, the first request message includes at least one of the following: location information of the second communication node, a sensing area, and a synthetic aperture condition corresponding to the satellite. Exemplarily, the synthetic aperture condition includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a synthetic aperture viewing angle condition. This solution enables the first communication node to send or receive a sensing signal according to the condition in the first request message, and then use the sensing signal to sense the target object.

[0009] In a possible implementation, the perception method provided in the embodiment of the present application further includes: the first communication node sends a perception signal at the location or time where the perception signal is sent, wherein the location or time where the perception signal is sent is determined according to the motion trajectory of the satellite. This solution can enable the first communication node to send the perception signal at the location or time where the perception signal is sent, and the second communication node can receive the perception signal according to the location or time where the first communication node sends the perception signal, and then use the perception signal to perceive the target object.

[0010] In another possible implementation, the perception method provided in the embodiment of the present application further includes: the first communication node receives the perception signal at the location or time where the perception signal is received, wherein the location or time where the perception signal is received is determined according to the motion trajectory of the satellite. This solution can enable the second communication node to send the perception signal according to the location or time where the first communication node receives the perception signal, and the first communication node can receive the perception signal at the location or time where the perception signal is received, and then use the perception signal to perceive the target object.

[0011] In a second aspect, a perception method is provided, which can be executed by a second communication node, or by a component of the second communication node, such as a processor, a chip, or a chip system of the second communication node, or by a logic module or software that can implement all or part of the functions of the second communication node. Taking the method being executed by the second communication node as an example, the method includes: the second communication node receives first indication information, the first indication information is used to indicate the position or time at which the first communication node deployed on the satellite sends or receives a perception signal; the second communication node sends or receives the perception signal according to the position or time at which the perception signal is sent or received.

[0012] In the perception method provided in the embodiment of the present application, the first communication node determines the position or time at which the first communication node sends or receives a perception signal, and indicates the position or time at which the perception signal is sent or received to the second communication node through the first indication information, so that the second communication node sends or receives the perception signal according to the position or time at which the first communication node sends or receives the perception signal. Since the scheme enables the first communication node and the second communication node to align the position or time at which the first communication node sends or receives the perception signal, the problem of low resource utilization caused by long duration or long interval of the perception signal can be solved, thereby improving resource utilization.

[0013] In a possible implementation, the perception method provided in the embodiment of the present application further includes: the second communication node sends a first request message, where the first request message is used to request a location or time for sending or receiving a perception signal. This solution enables the first communication node to trigger determination of a location or time for sending or receiving a perception signal based on the first request message.

[0014] In an embodiment of the present application, the first request message includes at least one of the following information: location information of the second communication node, a sensing area, and a synthetic aperture condition corresponding to the satellite. Exemplarily, the synthetic aperture condition includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a synthetic aperture viewing angle condition. This solution enables the first communication node to send or receive a sensing signal according to the condition in the first request message, and then use the sensing signal to sense the target object.

[0015] In a possible implementation, the location of sending or receiving the perception signal indicated by the first indication information is multiple locations or multiple times; the perception method provided in the embodiment of the present application also includes: the second communication node sends a first collaboration request to the third communication node, the first collaboration request is used to instruct the third communication node to perform joint perception at a first location or a first time, wherein the first location is one of the multiple locations, and the first time is one of the multiple times; the second communication node receives a first collaboration response from the third communication node; the second communication node sends or receives the perception signal according to the location or time of sending or receiving the perception signal, including: the second communication node sends or receives the perception signal according to the first location or the first time. This solution can enable the second communication node and the third communication node to perform joint perception according to the first location among the multiple locations or the first time among the multiple times, which can enhance the coverage of the perception signal and improve the accuracy of the perception result.

[0016] In another possible implementation, the location of sending or receiving the perception signal indicated by the first indication information is multiple locations or multiple times; the method also includes: the second communication node receives a second collaboration request from the third communication node, the second collaboration request is used to instruct the second communication node to perform joint perception according to the first location or the first time, wherein the first location is one of the multiple locations, and the first time is one of the multiple times; the second communication node sends a second collaboration response to the third communication node; the second communication node sends or receives the perception signal according to the location or time of sending or receiving the perception signal, including: the second communication node sends or receives the perception signal according to the first location or the first time. This solution can enable the second communication node and the third communication node to perform joint perception according to the first location among the multiple locations or the first time among the multiple times, which can enhance the coverage of the perception signal and improve the accuracy of the perception result.

[0017] According to a third aspect, a communication device is provided, comprising: a processing module for determining a location or time at which the communication device sends or receives a perception signal; and a transceiver module for sending first indication information, wherein the first indication information is used to indicate a location or time at which the perception signal is sent or received.

[0018] In a possible implementation, the transceiver module is further used to receive a first request message, where the first request message is used to request the location or time of sending or receiving the perception signal.

[0019] In the communication device provided in the embodiment of the present application, the first request message includes at least one of the following: location information of the second communication node, the sensing area, and the synthetic aperture condition corresponding to the satellite. Exemplarily, the synthetic aperture condition includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a satellite to sensing area viewing angle condition.

[0020] In a possible implementation, the processing module is further used to control the transceiver module to send the perception signal at a location or time where the perception signal is sent, wherein the location or time where the perception signal is sent is determined based on a motion trajectory of the satellite.

[0021] In another possible implementation, the processing module is further used to control the transceiver module to receive the perception signal at the position or time of receiving the perception signal, wherein the position or time of receiving the perception signal is determined according to the motion trajectory of the satellite.

[0022] In a fourth aspect, a communication device is provided, including: a transceiver module for receiving first indication information, the first indication information being used to indicate a position or time at which a first communication node deployed on a satellite sends or receives a perception signal; and a processing module for controlling the transceiver module to send or receive a perception signal according to the position or time at which the perception signal is sent or received.

[0023] In a possible implementation, the transceiver module is further used to send a first request message, where the first request message is used to request the location or time of sending or receiving the perception signal.

[0024] In the communication device provided in the embodiment of the present application, the first request message includes at least one of the following information: location information of the second communication node, the sensing area, and the synthetic aperture condition corresponding to the satellite. Exemplarily, the synthetic aperture condition includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a satellite to sensing area viewing angle condition.

[0025] In one possible implementation, the location for sending or receiving the perception signal indicated by the first indication information is multiple locations or multiple times; the transceiver module is also used to send a first collaboration request to the third communication node, and the first collaboration request is used to instruct the third communication node to perform joint perception at a first location or a first time, wherein the first location is one of the multiple locations, and the first time is one of the multiple times; the transceiver module is also used to receive a first collaboration response from the third communication node; the processing module is also used to control the transceiver module to send or receive the perception signal according to the location or time of sending or receiving the perception signal, including: the processing module is also used to control the transceiver module to send or receive the perception signal according to the first location or the first time.

[0026] In another possible implementation, the location for sending or receiving the perception signal indicated by the first indication information is multiple locations or multiple times; the transceiver module is also used to receive a second collaboration request from a third communication node, and the second collaboration request is used to instruct the second communication node to perform joint perception according to the first location or the first time, wherein the first location is one of the multiple locations, and the first time is one of the multiple times; the transceiver module is also used to send a second collaboration response to the third communication node; the processing module is also used to control the transceiver module to send or receive the perception signal according to the location or time of sending or receiving the perception signal, including: the processing module is also used to control the transceiver module to send or receive the perception signal according to the first location or the first time.

[0027] In a fifth aspect, a communication device is provided for implementing the above-mentioned various methods. The communication device may be the first communication node in the first aspect, or a device included in the first communication node, such as a chip; or the communication device may be the second communication node in the second aspect, or a device included in the second communication node, such as a chip.

[0028] The communication device includes a module, unit, or means corresponding to the above method, which can be implemented by hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the above functions.

[0029] In some possible designs, the communication device may include a processing module and a communication module. The communication module may include an output module (or a sending module) and an input module (or a receiving module), respectively used to implement the output-type (or sending-type) and input-type (or receiving-type) functions in any of the above aspects and any possible designs thereof. The processing module may be used to implement the processing functions in any of the above aspects and any possible designs thereof.

[0030] Optionally, the communication device further comprises a storage module for storing program instructions and data.

[0031] In a sixth aspect, a communication device is provided, comprising: at least one processor, the processor being used to run a computer program or instruction, or being used to enable the communication device to perform any of the above methods through a logic circuit. The communication device may be the first communication node in the first aspect, or a device included in the first communication node, such as a chip; or the communication device may be the second communication node in the second aspect, or a device included in the second communication node, such as a chip.

[0032] In some possible designs, the communication device further includes a memory for storing computer instructions and / or configuration files of logic circuits. Optionally, the memory is integrated with the processor, or the memory is independent of the processor.

[0033] In a possible design, the communication device further includes a communication interface for inputting and / or outputting signals.

[0034] In some possible designs, the communication interface is an interface circuit for reading and writing computer instructions. For example, the interface circuit is used to receive computer execution instructions (computer execution instructions are stored in a memory, may be read directly from the memory, or may pass through other devices) and transmit them to the processor.

[0035] In some possible designs, the communication interface is used to communicate with modules outside the communication device.

[0036] In some possible designs, the communication device may be a chip system. Wherein, when the communication device is a chip system, the chip system may include a chip, or may include a chip and other discrete devices.

[0037] In a seventh aspect, a communication device is provided, comprising: a logic circuit and an interface circuit; the interface circuit is used to input information and / or output information; the logic circuit is used to execute the method of any of the above aspects, and process and / or generate output information according to the input information. The communication device can be the first communication node in the first aspect, or a device included in the first communication node, such as a chip; or the communication device can be the second communication node in the second aspect, or a device included in the second communication node, such as a chip.

[0038] It can be understood that when the communication device provided in any one of the fifth to seventh aspects is a chip, the above-mentioned sending action / function can be understood as output information, and the above-mentioned receiving action / function can be understood as input information.

[0039] In an eighth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer program or instruction is executed by a processor, the method of any of the above aspects is executed.

[0040] In a ninth aspect, a computer program product is provided, which, when executed by a processor, enables the method of any of the above aspects to be executed.

[0041] In a tenth aspect, a communication device is provided, which includes a module / unit for executing the method of the first aspect or the second aspect.

[0042] In an eleventh aspect, a communication system is provided, which includes the first communication node described in the first aspect and the second communication node described in the second aspect.

[0043] Optionally, the communication system also includes the third communication node described in the second aspect above.

[0044] Among them, the technical effects brought about by any design method in the third aspect to the eleventh aspect can refer to the technical effects brought about by different design methods in the above-mentioned first aspect or second aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 is a schematic diagram of a communication system provided in an embodiment of the present application;

[0046] Figure 2A It is a schematic diagram of scenario 1 provided in an embodiment of the present application;

[0047] Figure 2B It is a schematic diagram of scenario 2 provided in an embodiment of the present application;

[0048] Figure 2C It is a schematic diagram of scenario three provided in an embodiment of the present application;

[0049] Figure 2D is a schematic diagram of scenario 4 provided in an embodiment of the present application;

[0050] Figure 3 is a schematic diagram of a communication device 300 provided in an embodiment of the present application;

[0051] Figure 4 is a schematic diagram of an example of a sensing method provided in an embodiment of the present application;

[0052] Figure 5 is a schematic diagram of another example of the perception method provided in an embodiment of the present application;

[0053] Figure 6 is a schematic diagram of another example of the sensing method provided in the embodiment of the present application;

[0054] Figure 7 is a schematic diagram of another example of the sensing method provided in the embodiment of the present application;

[0055] Figure 8 It is a schematic diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0056] In the description of this application, unless otherwise specified, " / " indicates that the objects associated with each other are in an "or" relationship, for example, A / B can represent A or B; "and / or" in this application is merely a description of the association relationship between associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0057] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b and / or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or plural.

[0058] In addition, in order to clearly describe the technical solutions of the embodiments of the present application, in the embodiments of the present application, words such as "first" and "second" are used to distinguish the same items or similar items with substantially the same functions and effects. Those skilled in the art can understand that words such as "first" and "second" do not limit the quantity and execution order, and words such as "first" and "second" do not necessarily limit the difference.

[0059] In the embodiments of the present application, words such as "exemplary" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary" or "for example" is intended to present related concepts in a concrete way for easy understanding.

[0060] It is understood that the "embodiment" mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, throughout the specification, each embodiment does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It is understood that in various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution, and the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0061] It can be understood that some optional features in the embodiments of the present application may be implemented independently in certain scenarios without relying on other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects, or may be combined with other features according to needs in certain scenarios. Accordingly, the devices provided in the embodiments of the present application may also realize these features or functions accordingly, which will not be elaborated here.

[0062] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments of this application, if there is no special description and logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships. The following description of the implementation methods of this application does not constitute a limitation on the scope of protection of this application.

[0063] In order to facilitate understanding of the technical solutions of the embodiments of the present application, a brief introduction to the relevant technologies and terms of the present application is first given.

[0064] 1. Antenna aperture.

[0065] Antenna aperture refers to the size of the antenna's physical dimensions. For example, for a 1m long uniform linear array antenna, its aperture size is 1m. When using an antenna for angle measurement, the larger the antenna's aperture, the higher its angle resolution, and the corresponding spatial resolution.

[0066] 2. Synthetic aperture.

[0067] Synthetic aperture is a "virtual" antenna aperture formed by antenna movement or multiple antennas. Synthetic aperture is usually much larger than the physical size of the antenna, so it can achieve extremely high spatial resolution.

[0068] 3. Spaceborne synthetic aperture radar and its signal characteristics.

[0069] Satellite orbits are divided into three categories: low earth orbit (LEO), medium earth orbit (MEO) and geostationary earth orbit satellite (GSO). The corresponding orbit altitudes from sea level are approximately 400-2000km, 8000-20000km and 36000km respectively.

[0070] The movement of satellites can form a synthetic aperture, thus achieving extremely high spatial resolution. In addition, compared with moving platforms on the ground or in the air, the movement of satellites is not affected by road bumps, air flow disturbances, and mechanical vibrations, thus ensuring the high stability of their orbits. This allows the synthetic aperture formed by satellite movement to provide more ideal signal quality.

[0071] Since the satellite is far from the ground, to obtain high spatial resolution, the satellite needs to move a long distance to form a large synthetic aperture. Taking a LEO satellite at an altitude of 400km as an example, in the 10GHz frequency band, in order to achieve a resolution of about 1m at the ground, a synthetic aperture of about 15km needs to be formed. Since the linear speed of the LEO satellite is about 7-8km / s, the signal transmission time span within the entire synthetic aperture is about 2s. If 150 points are sampled and the sampling space interval is about 100m, the maximum sampling time interval is about 13ms.

[0072] Figure 1 Schematic diagram of the system architecture provided by the embodiment of the present application. Figure 1 As shown, the communication system mainly includes: a first communication node and a second communication node. Optionally, the communication system may also include at least one other communication node. The system architecture provided in the embodiment of the present application takes at least one other communication node as a third communication node and a fourth communication node as an example.

[0073] The first communication node is an entity that sends or receives signals and is used to communicate with the second communication node, the third communication node, and the fourth communication node.

[0074] The second communication node is an entity that sends or receives signals and is used to communicate with the first communication node, the third communication node, and the fourth communication node.

[0075] The third communication node is an entity that sends or receives signals and is used to communicate with the first communication node, the second communication node, and the fourth communication node.

[0076] The fourth communication node is an entity that sends or receives signals and is used to communicate with the first communication node, the second communication node, and the third communication node.

[0077] The embodiments of the present application are mainly applied to the four scenarios shown below.

[0078] Scenario 1: Figure 2A As shown, the first communication node sends a perception signal to the target object, and the second communication node, or the third communication node, or the fourth communication node receives an echo signal of the perception signal after being acted upon by the target object.

[0079] Scenario 2: Figure 2B As shown, the second communication node, or the third communication node, or the fourth communication node sends a perception signal to the target object, and the first communication node receives an echo signal of the perception signal after being acted upon by the target object.

[0080] Scenario 3: Figure 2C As shown, the first communication node sends a perception signal to the target object, and the second communication node, the third communication node, and the fourth communication node respectively receive echo signals of the perception signal after being acted upon by the target object.

[0081] Scenario 4: Figure 2D As shown, the second communication node, the third communication node, and the fourth communication node respectively send perception signals to the target object, and the first communication node receives multiple echo signals of the perception signals after being acted upon by the target object.

[0082] In the embodiment of the present application, the mechanism of action of the target object includes: reflection, diffraction, scattering, etc., which is not limited in the embodiment of the present application.

[0083] In an embodiment of the present application, the first communication node is deployed on a satellite; the second communication node, the third communication node, and the third communication node can be deployed at any location far away from the first communication node, for example, on a satellite, on the ground, or at sea.

[0084] The satellite involved in the embodiments of the present application may be a communication satellite, a remote sensing satellite, or a navigation satellite, or may be a satellite-like device such as a communication drone or a communication hot air balloon, and the embodiments of the present application are not limited to this.

[0085] In an embodiment of the present application, the above-mentioned communication node (the first communication node, or the second communication node, or the third communication node, or the fourth communication node) deployed on the satellite can be a network device or a terminal device; the above-mentioned communication node (the second communication node, or the third communication node, or the fourth communication node) deployed on the ground can be a network device, an access point, a car, a terminal device, a drone, and an Internet of Things (IoT) device, which is not limited to this embodiment of the present application; the above-mentioned communication node (the first communication node, or the second communication node, or the third communication node) deployed at sea can be an offshore network device, an access point, a terminal device, a drone, and an IoT device, which is not limited to this embodiment of the present application.

[0086] Optionally, the embodiments of the present application can be applied to the fifth generation mobile communication technology (5th generation, 5G), or to other communication systems, such as the future sixth generation mobile communication technology (6th generation, 6G), or can be applied to a non-terrestrial network (NTN) system, which is not specifically limited in the embodiments of the present application.

[0087] Optionally, the terminal device involved in the present application may be a user equipment (UE), access terminal, terminal unit, user station, terminal station, mobile station, mobile station, remote station, remote terminal, user terminal terminal equipment, TE), mobile device, wireless communication device, terminal agent, tablet computer (pad), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, vehicle-mounted device, vehicle-mounted transceiver unit, wearable device, or terminal device in a 5G network or a public land mobile network (PLMN) evolved after 5G. The access terminal may be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a third vehicle-mounted device, a drone, a robot, a smart point of sale (POS) machine, a customer-premises equipment (CPE) or a wearable device, virtual reality (virtual The invention relates to wireless terminals in the IoT, such as ...

[0088] Optionally, the network device involved in the present application may be a device for communicating with a terminal device, for example, it may include an evolved base station (NodeB or eNB or e-NodeB, evolutionalNode B) in an LTE system or an LTE-A system, such as a traditional macro base station eNB and a micro base station eNB in ​​a heterogeneous network scenario. Alternatively, it may include a next generation node B (next generation node B, gNB) in an NR system. Alternatively, it may include a transmission reception point (TRP), a home base station (e.g., home evolved NodeB, or home Node B, HNB), a base band unit (BBU), a base band pool (BBU pool), or a wireless fidelity (WiFi) access point (AP), etc. Alternatively, it may include a base station in a non-terrestrial network (NTN), that is, it may be deployed on a flying platform or a satellite. In the NTN, the network device may serve as a layer 1 (L1) relay, or as a base station, or as an integrated access and backhaul (IAB) node. Alternatively, the network device may be a device that implements the base station function in IoT, such as a device that implements the base station function in drone communications, V2X, D2D, or machine to machine (M2M). It should be understood that the network device is deployed on land, on a satellite, or at sea, and should be a network device that is adapted to the application scenario, and the embodiments of the present application will not be listed one by one.

[0089] In some possible scenarios, the network device may also be a module or unit that can implement some functions of the base station. For example, the access network device may be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU may be separately configured or may be included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or radio unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0090] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, the access network device may be a network device or a module of a network device in an open radio access network (open RAN, ORAN) system. In the ORAN system, CU may also be referred to as open (open, O)-CU, DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. Any of the CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0091] Optionally, the base station in the embodiment of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), relay stations, access points, home base stations, transmitting points (TP), mobile switching centers, etc., and the embodiments of the present application do not specifically limit this.

[0092] It should be noted that the communication system described in the embodiment of the present application is for the purpose of more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. A person of ordinary skill in the art can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0093] Optionally, the relevant functions of the first communication node, the second communication node, the third communication node and the fourth communication node involved in the present application can be implemented by one device, or by multiple devices together, or by one or more functional modules within a device, or can be one or more chips, or a system on chip (system on chip, SOC) or a chip system. The chip system can be composed of chips, or can include chips and other discrete devices. The embodiments of the present application do not specifically limit this.

[0094] It is understandable that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, or a combination of hardware and software, or virtualized functions instantiated on a platform (e.g., a cloud platform).

[0095] For example, the related functions of the first communication node, the second communication node, the third communication node, and the fourth communication node involved in the present application can be achieved through Figure 3 The communication device 300 is used to implement the above. Figure 3 300 is a schematic diagram of the structure of a communication device 300 provided in an embodiment of the present application. The communication device 300 includes one or more processors 301, a communication line 302, and at least one communication interface ( Figure 3 The example in which the communication interface 304 and a processor 301 are included is merely exemplary), and a memory 303 may also be included optionally.

[0096] The processor 301 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0097] The communication line 302 may include a path for connecting different components.

[0098] The communication interface 304 may be a transceiver module for communicating with other devices or communication networks, such as Ethernet, RAN, wireless local area networks (WLAN), etc. For example, the transceiver module may be a device such as a transceiver or a transceiver. Optionally, the communication interface 304 may also be a transceiver circuit located in the processor 301 to implement signal input and signal output of the processor.

[0099] The memory 303 may be a device with a storage function. For example, it may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via a communication line 302. The memory may also be integrated with the processor.

[0100] The memory 303 is used to store computer-executable instructions for executing the solution of the present application, and the execution is controlled by the processor 301. The processor 301 is used to execute the computer-executable instructions stored in the memory 303, thereby implementing the sensing beam sending or receiving method provided in the embodiment of the present application.

[0101] Or, optionally, in an embodiment of the present application, the processor 301 may also perform processing-related functions in the perception method provided in the following embodiments of the present application, and the communication interface 304 is responsible for communicating with other devices or communication networks, which is not specifically limited in the embodiments of the present application.

[0102] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0103] In a specific implementation, as an embodiment, the processor 301 may include one or more CPUs, such as Figure 3 CPU0 and CPU1 in.

[0104] In a specific implementation, as an embodiment, the communication device 300 may include multiple processors, such as Figure 3301 and processor 307 in the processor. Each of these processors can be a single-core processor or a multi-core processor. The processor here can include but is not limited to at least one of the following: a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a microcontroller unit (MCU), or an artificial intelligence processor and other types of computing devices running software, each of which may include one or more cores for executing software instructions to perform calculations or processing.

[0105] In a specific implementation, as an embodiment, the communication device 300 may also include an output device 305 and an input device 306. The output device 305 communicates with the processor 301 and can display information in a variety of ways. For example, the output device 305 may be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 306 communicates with the processor 301 and can receive user input in a variety of ways. For example, the input device 306 may be a mouse, a keyboard, a touch screen device, or a sensor device.

[0106] The communication device 300 may also be referred to as a communication apparatus, which may be a general-purpose device or a dedicated device. For example, the communication device 300 may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, an embedded device, the above-mentioned terminal, the above-mentioned network device, or a Figure 3 The embodiment of the present application does not limit the type of the communication device 300.

[0107] also, Figure 3 The structure shown in the figure does not constitute a limitation on the communication device, except Figure 3 In addition to the components shown, the communication device may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0108] Combine the following Figure 1 The communication system shown and Figure 2A to Figure 2D The application scenario shown describes the perception method provided in the embodiment of the present application.

[0109] It should be noted that in the following embodiments of the present application, the message names between network elements, the names of parameters, or the names of information are only examples. In other embodiments, they may also be other names, and the perception method provided in the present application does not make specific limitations on this.

[0110] It is understandable that in the embodiment of the present application, each network element may perform some or all of the steps in the embodiment of the present application, and these steps or operations are only examples. The embodiment of the present application may also perform other operations or variations of various operations. In addition, each step may be performed in a different order presented in the embodiment of the present application, and it is possible that not all operations in the embodiment of the present application need to be performed.

[0111] Figure 4 It is a schematic diagram of an example of a perception method provided in an embodiment of the present application. The method is explained by taking the interaction between the first communication node and the second communication node as an example. Of course, the subject that executes the action of the first communication node in the method can also be a device / module in the first communication node, such as a chip, a processor, a processing unit, etc. in the first communication node; the subject that executes the action of the second communication node in the method can also be a device / module in the second communication node, such as a chip, a processor, a processing unit, etc. in the second communication node, and the embodiment of the present application does not specifically limit this. The processing performed by a single execution subject (for example, the first communication node or the second communication node) in the embodiment of the present application can also be divided into execution by multiple execution subjects, and these execution subjects can be logically and / or physically separated. For example, when the first communication node or the second communication node is a network device, the processing performed by the network device can be divided into execution by at least one of CU, DU and RU; for another example, the processing performed by the network device can be divided into execution by at least one of O-CU (O-CU-CP in O-CU or O-CU-UP in O-CU), O-DU and O-RU in the ORAN system. Exemplary, such as Figure 4 As shown, the perception method 400 provided in the embodiment of the present application includes:

[0112] S410, the first communication node determines a location or time at which the first communication node sends a perception signal.

[0113] In an embodiment of the present application, the first communication node is deployed on a satellite, and the position of the first communication node may be the position of the satellite, and the position of the satellite is the three-dimensional coordinates (x, y, z) of the satellite in the coordinate system.

[0114] Exemplarily, the three-dimensional coordinate system may be the World Geodetic System 1984 (WGS84) coordinate system, which is used by the Global Positioning System (GPS); or, exemplary, the three-dimensional coordinate system may be the China Geodetic Coordinate System 2000 (CGCS2000, which is used by the BeiDou system; or, the three-dimensional coordinate system may be other coordinate systems, which is not limited in the embodiments of the present application.

[0115] In an embodiment of the present application, the time may be an absolute time, for example, a timestamp, which may be, for example, the time measured in an atomic clock, or the time measured in other ways; or, the time may be a relative time, for example, the number of a time unit, which may be, for example, a frame, or a subframe, or a time slot, or a symbol, or other time units, which is not limited in the embodiment of the present application.

[0116] In an embodiment of the present application, the position or time at which the first communication node sends the perception signal is determined based on the motion trajectory of the satellite on which the first communication node is deployed, wherein the motion trajectory of the satellite can be determined based on the satellite ephemeris.

[0117] S420, the first communication node sends first indication information to the second communication node. Correspondingly, the second communication node receives the first indication information from the first communication node.

[0118] In an embodiment of the present application, the first indication information is used to indicate the position or time at which the first communication node sends a perception signal. For example, if the first indication information indicates the three-dimensional coordinates (a, b, c), it means that the first communication node will send a perception signal when the satellite moves to the three-dimensional coordinates (a, b, c); for another example, if the first indication information indicates that the frame number is m, it means that the first communication node will send a perception signal on a frame numbered m.

[0119] S430: The first communication node sends a perception signal at a location or time where the perception signal is sent. Correspondingly, the second communication node receives the perception signal according to the location or time where the first communication node sends the perception signal.

[0120] In an embodiment of the present application, when the first indication information is used to indicate the location where the first communication node sends the perception signal, the second communication node needs to determine the time for sending the perception signal corresponding to the location where the first communication node sends the perception signal based on the location where the first communication node sends the perception signal and the satellite ephemeris.

[0121] It should be understood that in an embodiment of the present application, the second communication node needs to determine the propagation delay of the perception signal, that is, the first indication information indicates the position or time when the first communication node actually sends the perception signal, and the time when the second communication node receives the perception signal can be the time obtained by adding the propagation delay of the perception signal to the time corresponding to the position where the first communication node sends the perception signal, or the time when the second communication node receives the perception signal can also be the time obtained by adding the propagation delay of the perception signal to the time when the first communication node sends the perception signal.

[0122] In the embodiment of the present application, the propagation delay of the perception signal is the delay of the perception signal from the first communication node to the target object and then to the second communication node after being acted upon by the target object.

[0123] Exemplarily, for ease of understanding, assuming that the propagation delay of the perception signal is 13ms, the time of sending the perception signal corresponding to the position where the first communication node sends the perception signal or the time when the first communication node sends the perception signal is 20ms, then the second communication node receives the perception signal at 33ms. It should be noted that the perception signal received by the second communication node is an echo signal of the perception signal sent by the first communication node after being acted upon by the target object.

[0124] Alternatively, as a possible implementation manner, the first indication information indicates the time when the first communication node sends the perception signal after taking into account the propagation delay of the perception signal, that is, the first indication information indicates the time when the second communication node receives the perception signal.

[0125] Exemplarily, the first communication node determines to send a perception signal at time 1, then the first indication information indicates that the time when the first communication node sends the perception signal is the time calculated by adding the propagation delay of the perception signal to time 1; for example, the first communication node determines to send a perception signal at the 20th ms, and the propagation delay of the perception signal is 13ms, then the first indication information indicates that the time when the first communication node sends the perception signal after considering the propagation delay of the perception signal is the 33rd ms, that is, the first indication information indicates that the time when the second communication node receives the perception signal is the 33rd ms.

[0126] In the perception method provided in the embodiment of the present application, the first communication node determines the position or time at which the first communication node sends a perception signal, and indicates the position or time at which the perception signal is sent to the second communication node through the first indication information, so that the second communication node receives the perception signal according to the position or time at which the first communication node sends the perception signal. Since the scheme enables the first communication node and the second communication node to align the position or time at which the first communication node sends the perception signal, the problem of low resource utilization caused by the long duration or long interval of the perception signal can be solved, thereby improving resource utilization.

[0127] Alternatively, if Figure 4 As shown, before step S410, the sensing method provided in the embodiment of the present application further includes:

[0128] S401, a second communication node sends a first request message to a first communication node. Correspondingly, the first communication node receives the first request message from the second communication node.

[0129] In an embodiment of the present application, the first request message is used to request the first communication node to send a sensing signal at a location or time. Exemplarily, the first request message may include at least one of the following: location information of the second communication node, a sensing area, and a synthetic aperture condition corresponding to a satellite on which the first communication node is deployed. It should be understood that when the second communication node is deployed on a satellite, the location of the second communication node can refer to the relevant description of the satellite location in step S410, which will not be repeated here.

[0130] In an embodiment of the present application, the synthetic aperture condition corresponding to the satellite on which the first communication node is deployed includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a synthetic aperture viewing angle condition.

[0131] In the embodiment of the present application, the size condition of the synthetic aperture is a threshold condition that the size of the synthetic aperture needs to satisfy, that is, the length of the path of the synthetic aperture formed by the first communication node through movement needs to satisfy the threshold condition. For example, the size of the synthetic aperture is not less than 1 km, or the size of the synthetic aperture is between 1 km and 2 km.

[0132] In the embodiment of the present application, the condition for the number of virtual array elements of the synthetic aperture is a threshold condition that the number of virtual array elements of the synthetic aperture needs to satisfy, that is, the threshold condition that the number of positions at which the first communication node sends or receives a signal in the process of forming the synthetic aperture needs to satisfy. For example, the number of virtual array elements of the synthetic aperture is not less than 100, or the number of virtual array elements of the synthetic aperture is between 100 and 200.

[0133] In the embodiment of the present application, the direction condition of the synthetic aperture refers to the angle condition that the direction vector corresponding to the line segment corresponding to the synthetic aperture formed by the first communication node needs to satisfy. For example, the direction of the synthetic aperture satisfies the azimuth angle between -10 degrees and +10 degrees and the elevation angle between -10 degrees and -20 degrees.

[0134] In the embodiment of the present application, the viewing angle condition from the synthetic aperture to the perception area is the angle condition that the direction vector corresponding to the line from the center of the synthetic aperture to the perception area needs to meet. For example, the viewing angle from the synthetic aperture to the perception area meets the azimuth angle between 80 degrees and 100 degrees and the pitch angle between -30 degrees and -45 degrees.

[0135] Among them, the position information of the second communication node is used to determine the perception resolution of the perception signal; the perception area is used to determine the viewing angle condition of the synthetic aperture; optionally, the perception area is also used to determine the angle of the beam carrying the perception signal, so that the beam carrying the perception signal can be aligned with the perception area, resulting in a better perception effect.

[0136] In an embodiment of the present application, the first communication node can determine the location or time at which the first communication node sends the perception signal based on the above-mentioned first request message and the motion trajectory of the satellite on which the first communication node is deployed.

[0137] Figure 5 It is a schematic diagram of another example of the perception method provided in the embodiment of the present application. The method is explained by taking the interaction between the first communication node and the second communication node as an example. Of course, the subject that executes the action of the first communication node in the method can also be a device / module in the first communication node, such as a chip, a processor, a processing unit, etc. in the first communication node; the subject that executes the action of the second communication node in the method can also be a device / module in the second communication node, such as a chip, a processor, a processing unit, etc. in the second communication node, and the embodiment of the present application does not specifically limit this. The processing performed by a single execution subject (for example, the first communication node or the second communication node) in the embodiment of the present application can also be divided into execution by multiple execution subjects, and these execution subjects can be logically and / or physically separated. For example, when the first communication node or the second communication node is a network device, the processing performed by the network device can be divided into execution by at least one of CU, DU and RU; for another example, the processing performed by the network device can be divided into execution by at least one of O-CU (O-CU-CP in O-CU or O-CU-UP in O-CU), O-DU and O-RU in the ORAN system. Exemplary, such as Figure 5 As shown, the perception method 500 provided in the embodiment of the present application includes:

[0138] S510: The first communication node determines a location or time at which the first communication node receives a perception signal.

[0139] In this embodiment of the present application, for the relevant description about the location or time at which the first communication node receives the perception signal, reference may be made to the relevant description in step S410, which will not be repeated here.

[0140] S520, the first communication node sends first indication information to the second communication node. Correspondingly, the second communication node receives the first indication information from the first communication node.

[0141] In the embodiment of the present application, the first indication information is used to indicate the location or time at which the first communication node receives the perception signal. For the first indication information being used to indicate the location or time at which the first communication node receives the perception signal, reference can be made to the relevant description of the first indication information being used to indicate the location or time at which the first communication node sends the perception signal in step S420, which will not be repeated here.

[0142] S530: The second communication node sends a perception signal according to the position or time at which the first communication node receives the perception signal. Correspondingly, the first communication node receives the perception signal at the position or time at which the first communication node receives the perception signal.

[0143] In an embodiment of the present application, when the first indication information is used to indicate the position at which the first communication node receives the perception signal, the second communication node needs to determine the time of receiving the perception signal corresponding to the position at which the first communication node receives the perception signal based on the position at which the first communication node receives the perception signal and the satellite ephemeris.

[0144] It should be understood that in an embodiment of the present application, the second communication node needs to determine the propagation delay of the perception signal, that is, the first indication information indicates the position or time at which the first communication node actually receives the perception signal, and the time when the second communication node sends the perception signal can be the time obtained by subtracting the propagation delay of the perception signal from the time when the first communication node receives the perception signal corresponding to the position at which the first communication node receives the perception signal, or the time when the second communication node sends the perception signal can also be the time obtained by subtracting the propagation delay of the perception signal from the time when the first communication node receives the perception signal.

[0145] In the implementation of this application, the propagation delay of the perception signal is the delay of the perception signal from the second communication node to the target object and then to the first communication node after being acted upon by the target object.

[0146] Exemplarily, for ease of understanding, assuming that the propagation delay of the perception signal is 13ms, the time of receiving the perception signal corresponding to the position where the first communication node receives the perception signal or the time when the first node receives the perception signal is 40ms, then the second communication node sends the perception signal at 27ms. It should be noted that the perception signal received by the first communication node is an echo signal of the perception signal sent by the second communication node after being acted upon by the target object.

[0147] Alternatively, as a possible implementation manner, the first indication information indicates the time when the first communication node receives the perception signal after taking into account the propagation delay of the perception signal, that is, the first indication information indicates the time when the second communication node sends the perception signal.

[0148] Exemplarily, the first communication node determines to receive the perception signal at time 2, then the first indication information indicates that the time when the first communication node receives the perception signal is the time calculated by subtracting the propagation delay of the perception signal from time 2; for example, the first communication node determines to receive the perception signal at the 33rd ms, and the propagation delay of the perception signal is 13ms, then the first indication information indicates that the time when the first communication node receives the perception signal after considering the propagation delay of the perception signal is the 20th ms, that is, the first indication information indicates that the time when the second communication node sends the perception signal is the 20th ms.

[0149] In the sensing method provided in the embodiment of the present application, the first communication node determines the position or time at which the first communication node receives a sensing signal, and indicates the position or time at which the sensing signal is received to the second communication node through first indication information, so that the second communication node sends the sensing signal according to the position or time at which the first communication node receives the sensing signal. The first communication node and the second communication node can be aligned with the position or time at which the first communication node receives the sensing signal, thereby solving the problem of low resource utilization caused by long duration or long interval of the sensing signal and improving resource utilization.

[0150] Optionally, before step S510, Figure 5 As shown, the perception method also includes:

[0151] S501: A second communication node sends a first request message to a first communication node. Correspondingly, the first communication node receives the first request message from the second communication node.

[0152] In the embodiment of the present application, reference may be made to the relevant description of step S401 regarding step S501, which will not be repeated here.

[0153] Figure 6It is a schematic diagram of another example of the perception method provided in the embodiment of the present application. The method is illustrated by the interaction of the first communication node, the second communication node, the third communication node, and the fourth communication node as an example. Among them, the fourth communication node is an optional communication node. Of course, the subject of the first communication node action in the method can also be a device / module in the first communication node, such as a chip, a processor, a processing unit, etc. in the first communication node; the subject of the second communication node action in the method can also be a device / module in the second communication node, such as a chip, a processor, a processing unit, etc. in the second communication node; the subject of the third communication node action in the method can also be a device / module in the third communication node, such as a chip, a processor, a processing unit, etc. in the third communication node; the subject of the fourth communication node action in the method can also be a device / module in the fourth communication node, such as a chip, a processor, a processing unit, etc. in the fourth communication node, and the embodiment of the present application does not specifically limit this. The processing performed by a single execution subject (for example, a first communication node, or a second communication node, or a third communication node, or a fourth communication node) in the embodiment of the present application can also be divided into executions by multiple execution subjects, which can be logically and / or physically separated. For example, when the first communication node, or the second communication node, or the third communication node, or the fourth communication node is a network device, the processing performed by the network device may be divided into at least one of the CU, DU, and RU; for another example, the processing performed by the network device may be divided into at least one of the O-CU (O-CU-CP in the O-CU or O-CU-UP in the O-CU), O-DU, and O-RU in the ORAN system. For example, Figure 6 As shown, the perception method 600 provided in the embodiment of the present application includes:

[0154] S610: The first communication node determines multiple locations or multiple times at which the first communication node sends a perception signal.

[0155] In the embodiment of the present application, the description of each of the multiple locations and each of the multiple times can refer to the relevant description in step S410, which will not be repeated here.

[0156] S620, the first communication node sends first indication information. Correspondingly, the second communication node and the third communication node receive the first indication information from the first communication node.

[0157] In an embodiment of the present application, the first indication information is used to indicate multiple locations or multiple times at which the first communication node sends a perception signal. Exemplarily, the first indication information may be a broadcast message, so that multiple communication nodes (e.g., the second communication node, the third communication node, or other communication nodes, such as the fourth communication node) in the system can all receive the first indication information.

[0158] S630: The second communication node sends a first cooperation request to the third communication node. Correspondingly, the third communication node receives the first cooperation request from the second communication node.

[0159] In an embodiment of the present application, the first collaboration request is used to instruct the third communication node to perform joint perception based on the first position or the first time, that is, the second communication node and the third communication node both perform perception based on the first position or the first time, wherein the first position is one of multiple positions, and the first time is one of multiple times.

[0160] S640: The third communication node sends a first cooperation response to the second communication node. Correspondingly, the second communication node receives the first cooperation response from the third communication node.

[0161] It should be understood that in the embodiment of the present application, the third communication node may also be the initiator of the collaboration request, and correspondingly, the second communication node may be the responder of the collaboration request, that is, step S630 may be replaced by: the third communication node sends a second collaboration request to the second communication node. Accordingly, the second communication node receives the second collaboration request from the third communication node, wherein the second collaboration request is used to instruct the second communication node to perform joint perception according to the first position or the first time; step S640 may be replaced by: the second communication node sends a second collaboration response to the third communication node. Accordingly, the third communication node receives the second collaboration response from the second communication node. In the embodiment of the present application, the initiator and responder of the collaboration request are not specifically limited. The embodiment of the present application takes the second communication node as the initiator of the collaboration request and the third communication node as the responder of the collaboration request as an example for explanation.

[0162] S650: The first communication node sends a perception signal at a first position or a first time when the first communication node sends the perception signal. Correspondingly, the second communication node and the third communication node receive the perception signal according to the first position or the first time when the first communication node sends the perception signal.

[0163] In the embodiment of the present application, the relevant description of the second communication node and the third communication node receiving the perception signal according to the first position or the first time when the first communication node sends the perception signal can refer to the relevant description of the second communication node receiving the perception signal according to the position or time when the first communication node sends the perception signal in step S430, which will not be repeated here.

[0164] Alternatively, if Figure 6 As shown, after step S630, the perception method provided in the embodiment of the present application further includes:

[0165] S660: The second communication node sends a first cooperation request to the fourth communication node. Correspondingly, the fourth communication node receives the first cooperation request from the second communication node.

[0166] The first collaboration request is used to request the fourth communication node to perform joint perception based on the first location or the first time.

[0167] S670: The fourth communication node sends a first cooperation response to the second communication node. Correspondingly, the second communication node receives the first cooperation response from the fourth communication node.

[0168] Further, in the above step S650, after the first communication node sends the perception signal at the first position or the first time when the first communication node sends the perception signal, the fourth communication node may also receive the perception signal according to the first position or the first time when the first communication node sends the perception signal. That is, the second communication node, the third communication node, and the fourth communication node may perform joint perception according to the first position or the first time.

[0169] It should be noted that the communication system may include more communication nodes to collaborate in joint perception, and the collaboration process of other communication nodes can refer to the description in steps S630 to S670, which will not be repeated here.

[0170] It should be understood that the fourth communication node may also be the initiator of the collaboration request, and reference may be made to the description in step S640, which will not be repeated here.

[0171] In the perception method provided in the embodiment of the present application, the first communication node determines multiple positions or multiple times at which the first communication node sends a perception signal, and indicates multiple positions or multiple times at which the perception signal is sent to other communication nodes (the second communication node, the third communication node, and optionally the fourth communication node) through the first indication information, so that other communication nodes receive the perception signal according to the multiple positions or multiple times at which the first communication node sends the perception signal. This scheme enables the first communication node to align with other communication nodes the multiple positions or multiple times at which the first communication node sends the perception signal, solves the problem of low resource utilization caused by the long duration or interval of the perception signal, and improves the utilization of resources. Furthermore, other communication nodes can perform joint perception according to the first position among multiple positions or the first time among multiple times by sending a collaboration request or a collaboration response, which can enhance the coverage of the perception signal and improve the accuracy of the perception result.

[0172] Figure 7It is a schematic diagram of another example of the perception method provided in the embodiment of the present application. The method is illustrated by the interaction of the first communication node, the second communication node, the third communication node, and the fourth communication node as an example. Among them, the fourth communication node is an optional communication node. Of course, the subject that executes the action of the first communication node in the method can also be a device / module in the first communication node, such as a chip, a processor, a processing unit, etc. in the first communication node; the subject that executes the action of the second communication node in the method can also be a device / module in the second communication node, such as a chip, a processor, a processing unit, etc. in the second communication node; the subject that executes the action of the third communication node in the method can also be a device / module in the third communication node, such as a chip, a processor, a processing unit, etc. in the third communication node; the subject that executes the action of the fourth communication node in the method can also be a device / module in the fourth communication node, such as a chip, a processor, a processing unit, etc. in the fourth communication node, and the embodiment of the present application does not specifically limit this. The processing performed by a single execution subject (for example, a first communication node, or a second communication node, or a third communication node, or a fourth communication node) in the embodiment of the present application can also be divided into executions by multiple execution subjects, and these execution subjects can be logically and / or physically separated. For example, when the first communication node, or the second communication node, or the third communication node, or the fourth communication node is a network device, the processing performed by the network device may be divided into at least one of the CU, DU, and RU; for another example, the processing performed by the network device may be divided into at least one of the O-CU (O-CU-CP in the O-CU or O-CU-UP in the O-CU), O-DU, and O-RU in the ORAN system. For example, Figure 7 As shown, the perception method 700 provided in the embodiment of the present application includes:

[0173] S710: The first communication node determines multiple locations or multiple times at which the first communication node receives a perception signal.

[0174] In an embodiment of the present application, for the description of the first communication node determining multiple locations or times at which the first communication node receives a perception signal, reference may be made to the relevant description in step S610 regarding the first communication node determining multiple locations or times at which the first communication node sends a perception signal, which will not be repeated here.

[0175] S720, the first communication node sends first indication information. Correspondingly, the second communication node and the third communication node receive the first indication information from the first communication node.

[0176] In the embodiment of the present application, the first indication information is used to indicate multiple locations or multiple times at which the first communication node receives the perception signal. For the description of the first indication information being used to indicate multiple locations or multiple times at which the first communication node receives the perception signal, reference can be made to the relevant description of the first indication information being used to indicate multiple locations or multiple times at which the first communication node sends the perception signal in step S620, which will not be repeated here.

[0177] S730: The second communication node sends a first cooperation request to the third communication node. Correspondingly, the third communication node receives the first cooperation request from the second communication node.

[0178] In the embodiment of the present application, reference may be made to the relevant description in step S630 regarding step S730, which will not be repeated here.

[0179] S740: The third communication node sends a first cooperation response to the second communication node. Correspondingly, the second communication node receives the first cooperation response from the third communication node.

[0180] In the embodiment of the present application, reference may be made to the relevant description in step S640 regarding step S740, which will not be repeated here.

[0181] S750: The second communication node and the third communication node send a perception signal according to a first position or a first time at which the first communication node receives the perception signal. Correspondingly, the first communication node receives the perception signal at the first position or the first time at which the first communication node receives the perception signal.

[0182] In the embodiment of the present application, the relevant description of the second communication node and the third communication node sending the perception signal according to the first position or the first time when the first communication node receives the perception signal can refer to the relevant description of the second communication node sending the perception signal according to the position or time when the first communication node receives the perception signal in step S530, which will not be repeated here.

[0183] Alternatively, if Figure 7 As shown, after step S730, the perception method provided in the embodiment of the present application further includes:

[0184] S760: The second communication node sends a first cooperation request to the fourth communication node. Correspondingly, the fourth communication node receives the first cooperation request from the second communication node.

[0185] The first collaboration request is used to request the fourth communication node to perform joint perception based on the first location or the first time.

[0186] S770, the fourth communication node sends a first cooperation response to the second communication node. Correspondingly, the second communication node receives the first cooperation response from the fourth communication node.

[0187] Further, in the above step S750, the fourth communication node may also send the perception signal according to the first position or the first time when the first communication node receives the perception signal, and the first communication node may also receive the perception signal at the first position or the first time when the first communication node receives the perception signal. That is, the second communication node, the third communication node, and the fourth communication node may perform joint perception according to the first position or the first time.

[0188] It should be noted that the communication system may include more communication nodes to collaborate in joint perception, and the collaboration process of other communication nodes can refer to the description in steps S730 to S770, which will not be repeated here.

[0189] It should be understood that the fourth communication node may also be the initiator of the collaboration request, and reference may be made to the description in step S740, which will not be repeated here.

[0190] The perception method provided in the embodiment of the present application is that the first communication node determines multiple positions or multiple times at which the first communication node receives a perception signal, and indicates multiple positions or multiple times at which the perception signal is received to other communication nodes (the second communication node, the third communication node, and optionally the fourth communication node) through the first indication information, so that the other communication nodes send perception signals according to the multiple positions or multiple times at which the first communication node receives the perception signal. This scheme enables the first communication node to align with other communication nodes the multiple positions or multiple times at which the first communication node receives the perception signal, solves the problem of low resource utilization caused by the long duration or interval of the perception signal, and improves resource utilization. Furthermore, other communication nodes can perform joint perception according to the first position among multiple positions or the first time among multiple times by sending a collaboration request or a collaboration response, which can enhance the coverage of the perception signal and improve the accuracy of the perception result.

[0191] The above mainly introduces the scheme provided by the embodiment of the present application from the perspective of the interaction of the first communication node, the second communication node, the third communication node and the fourth communication node (wherein the fourth communication node is an optional communication node, and its function can refer to the second communication node or the third communication node, and the following embodiments will not be repeated). Correspondingly, the embodiment of the present application also provides a communication device, which is used to implement the above various methods. The communication device can be the first communication node in the above method embodiment, or a device including the above first communication node, or a component that can be used for the first communication node; or, the communication device can be the second communication node in the above method embodiment, or a device including the above second communication node, or a component that can be used for the second communication node; or, the communication device can be the third communication node in the above method embodiment, or a device including the above third communication node, or a component that can be used for the third communication node. It can be understood that in order to realize the above functions, the communication device includes a hardware structure and / or software module corresponding to each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is performed in hardware or in a computer software-driven hardware manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0192] The embodiment of the present application can divide the functional modules of the communication device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated module can be implemented in the form of hardware or in the form of software functional modules. It should be understood that the division of modules in the embodiment of the present application is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0193] for example, Figure 8 8 is a schematic diagram of a communication device provided in an embodiment of the present application, taking the communication device as the first communication node in the above method embodiment (which may be a chip of the first communication node, or a module of the first communication node, or an internal device of the first communication node) as an example, the first communication node includes a transceiver module 810 and a processing module 820. The transceiver module 810, which may also be referred to as a transceiver unit for implementing a transceiver function, may be, for example, a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0194] In the embodiment of the present application, the processing module 820 is used to determine the location or time when the first communication node sends or receives the perception signal.

[0195] In the embodiment of the present application, the transceiver module 810 is used to send first indication information, where the first indication information is used to indicate a location or time for sending or receiving a perception signal.

[0196] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here. Optionally, the communication device may also include a storage module 830, which can be used to store instructions or and / or data, and the processing module 820 can read the instructions or and / or data in the storage module 830.

[0197] In the embodiment of the present application, the first communication node is presented in the form of dividing various functional modules in an integrated manner. The "module" here can refer to a specific ASIC, a circuit, a processor and a memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions. In a simple embodiment, a person skilled in the art can imagine that the first communication node can be used Figure 3 The form of the communication device 300 is shown.

[0198] for example, Figure 3 The processor 301 in the communication device 300 shown can call the computer-executable instructions stored in the memory 303, so that the communication device 300 executes the perception method in the above method embodiment.

[0199] Specifically, Figure 8 The functions / implementation processes of the transceiver module 810 and the processing module 820 in the embodiment can be Figure 3 The processor 301 in the communication device 300 shown calls the computer execution instructions stored in the memory 303 to implement. Or, Figure 8 The function / implementation process of the processing module 820 in Figure 3 The processor 301 in the communication device 300 shown calls the computer execution instructions stored in the memory 303 to implement, Figure 8 The function / implementation process of the transceiver module 810 can be Figure 3 The communication interface 304 in the communication device 300 shown in FIG.

[0200] Since the first communication node provided in the embodiment of the present application (which may be a chip of the first communication node, or a module of the first communication node, or an internal device of the first communication node) can execute the above-mentioned perception method, the technical effects that can be obtained can be referred to the above-mentioned method embodiments and will not be repeated here.

[0201] Alternatively, taking the communication device as the second communication node in the above method embodiment (which may be a chip of the second communication node, or a module of the second communication node, or an internal device of the second communication node) as an example, the second communication node includes a transceiver module 810 and a processing module 820. The transceiver module 810, which may also be referred to as a transceiver unit for implementing a transceiver function, may be, for example, a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0202] In the embodiment of the present application, the transceiver module 8 10 is used to receive first indication information, where the first indication information is used to indicate a location or time at which a first communication node deployed on a satellite sends or receives a perception signal.

[0203] In the embodiment of the present application, the processing module 820 is used to control the transceiver module 810 to send or receive the perception signal according to the location or time of sending or receiving the perception signal.

[0204] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module, which will not be repeated here. Optionally, the communication device may also include a storage module 830, which can be used to store instructions or and / or data, and the processing module 820 can read the instructions or and / or data in the storage module 830.

[0205] In the embodiment of the present application, the second communication node is presented in the form of dividing various functional modules in an integrated manner. The "module" here can refer to a specific ASIC, a circuit, a processor and a memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions. In a simple embodiment, a person skilled in the art can imagine that the second communication node can be used Figure 3 The form of the communication device 300 is shown.

[0206] for example, Figure 3 The processor 301 in the communication device 300 shown can call the computer-executable instructions stored in the memory 303, so that the communication device 300 executes the perception method in the above method embodiment.

[0207] Specifically, Figure 8 The functions / implementation processes of the transceiver module 810 and the processing module 820 in the embodiment can be Figure 3 The processor 301 in the communication device 300 shown calls the computer execution instructions stored in the memory 303 to implement. Or, Figure 8 The function / implementation process of the processing module 820 in Figure 3 The processor 301 in the communication device 300 shown calls the computer execution instructions stored in the memory 303 to implement, Figure 8The function / implementation process of the transceiver module 810 can be Figure 3 The communication interface 304 in the communication device 300 shown in FIG.

[0208] Since the second communication node provided in the embodiment of the present application (which may be a chip of the second communication node, or a module of the second communication node, or an internal device of the second communication node) can execute the above-mentioned perception method, the technical effects that can be obtained can be referred to the above-mentioned method embodiments and will not be repeated here.

[0209] It should be understood that one or more of the above modules or units can be implemented by software, hardware or a combination of the two. When any of the above modules or units are implemented in software, the software exists in the form of computer program instructions and is stored in a memory, and the processor can be used to execute the program instructions and implement the above method flow. The processor can be built into an SoC (system on chip) or an ASIC, or it can be an independent semiconductor chip. In addition to the core used to execute software instructions for calculation or processing in the processor, it can also further include necessary hardware accelerators, such as field programmable gate arrays (FPGA), PLDs (programmable logic devices), or logic circuits that implement dedicated logic operations.

[0210] When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator or a non-integrated discrete device, which can run the necessary software or not rely on the software to execute the above method flow.

[0211] Optionally, an embodiment of the present application further provides a communication device (for example, the communication device may be a chip or a chip system), which includes a processor for implementing the method in any of the above method embodiments. In one possible design, the communication device also includes a memory. The memory is used to store necessary program instructions and data, and the processor can call the program code stored in the memory to instruct the communication device to execute the method in any of the above method embodiments. Of course, the memory may not be in the communication device. When the communication device is a chip system, it may be composed of chips, or it may include chips and other discrete devices, which is not specifically limited in the embodiments of the present application.

[0212] Optionally, an embodiment of the present application further provides a computer-readable storage medium, which stores a computer program or instruction, and when the computer-readable storage medium is run on a communication device, the communication device can execute the method described in any of the above method embodiments or any of its implementation methods.

[0213] Optionally, an embodiment of the present application further provides a communication system, the communication system comprising the first communication node, the second communication node, the third communication node, and the fourth communication node described in the above method embodiment, wherein the fourth communication node is optional.

[0214] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented using a software program, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When loading and executing computer program instructions on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. Computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from a website site, computer, server or data center by wired (e.g., coaxial cable, optical fiber, digital subscriber line (digital subscriber line, DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server, data center, etc. that contains one or more servers that can be integrated with a medium. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0215] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other changes to the disclosed embodiments by viewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "one" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0216] Although the present application has been described in conjunction with specific features and embodiments thereof, it is obvious that various modifications and combinations may be made thereto without departing from the spirit and scope of the present application. Accordingly, this specification and the drawings are merely exemplary illustrations of the present application as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the spirit and scope of the present application. Thus, if these modifications and variations of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to include these modifications and variations.

Claims

1. A sensing method, characterized in that: The first communication node deployed on a satellite includes: Determine a location or time at which the first communication node sends or receives a perception signal; Send first indication information, where the first indication information is used to indicate a location or time for sending or receiving the perception signal.

2. The method according to claim 1, characterized in that: The method further comprises: A first request message is received, where the first request message is used to request a location or time for sending or receiving a perception signal.

3. The method according to claim 2, characterized in that The first request message includes at least one of the following: location information of the second communication node, a sensing area, and a synthetic aperture condition corresponding to the satellite.

4. The method according to claim 2, characterized in that: The synthetic aperture condition includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a synthetic aperture viewing angle condition.

5. The method according to any one of claims 1 to 4, characterized in that The method further comprises: The perception signal is sent at the location or time for sending the perception signal, wherein the location or time for sending the perception signal is determined according to the motion trajectory of the satellite.

6. The method according to any one of claims 1 to 4, characterized in that The method further comprises: The perception signal is received at the location or time where the perception signal is received, wherein the location or time where the perception signal is received is determined according to the motion trajectory of the satellite.

7. A sensing method, applied to a second communication node, characterized in that: include: receiving first indication information, where the first indication information is used to indicate a position or time at which a first communication node deployed on a satellite sends or receives a perception signal; The perception signal is sent or received according to the location or time of sending or receiving the perception signal.

8. The method according to claim 7, characterized in that The method further comprises: A first request message is sent, where the first request message is used to request a location or time for sending or receiving the perception signal.

9. The method according to claim 8, characterized in that The first request message includes at least one of the following information: location information of the second communication node, a sensing area, and a synthetic aperture condition corresponding to the satellite.

10. The method according to claim 9, characterized in that The synthetic aperture condition includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a synthetic aperture viewing angle condition.

11. The method according to claim 7, characterized in that The location of sending or receiving the perception signal indicated by the first indication information is multiple locations or multiple times; the method further includes: Sending a first collaboration request to a third communication node, where the first collaboration request is used to instruct the third communication node to perform joint sensing at a first position or a first time, wherein the first position is one of the multiple positions, and the first time is one of the multiple times; receiving a first cooperation response from the third communication node; The sending or receiving the perception signal according to the location or time of sending or receiving the perception signal comprises: The sensing signal is sent or received according to the first position or the first time.

12. The method according to claim 7, characterized in that The location of sending or receiving the perception signal indicated by the first indication information is multiple locations or multiple times; the method further includes: receiving a second cooperation request from a third communication node, where the second cooperation request is used to instruct the second communication node to perform joint sensing according to a first position or a first time, where the first position is one of the multiple positions, and the first time is one of the multiple times; Sending a second collaboration response to the third communication node; The sending or receiving the perception signal according to the location or time of sending or receiving the perception signal comprises: The sensing signal is sent or received according to the first position or the first time.

13. A communication device, characterized in that: The communication device is deployed on a satellite and includes: a processing module, configured to determine a location or time at which the communication device sends or receives a sensing signal; The transceiver module is used to send first indication information, where the first indication information is used to indicate the location or time of sending or receiving the perception signal.

14. The device according to claim 13, characterized in that The transceiver module is further used to receive a first request message, where the first request message is used to request the location or time of sending or receiving the perception signal.

15. The device according to claim 14, characterized in that The first request message includes at least one of the following: location information of the second communication node, a sensing area, and a synthetic aperture condition corresponding to the satellite.

16. The device according to claim 15, characterized in that The synthetic aperture condition includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a synthetic aperture viewing angle condition.

17. The device according to any one of claims 13 to 16, characterized in that The transceiver module is further configured to send the perception signal at the location or time where the perception signal is sent, wherein the location or time where the perception signal is sent is determined based on the motion trajectory of the satellite.

18. The device according to any one of claims 13 to 16, characterized in that The transceiver module is further configured to receive the perception signal at the location or time where the perception signal is received, wherein the location or time where the perception signal is received is determined based on the motion trajectory of the satellite.

19. A communication device, characterized in that: include: A transceiver module, used to receive first indication information, where the first indication information is used to indicate a position or time at which a first communication node deployed on a satellite sends or receives a perception signal; The processing module is used to control the transceiver module to send or receive the perception signal according to the position or time of sending or receiving the perception signal.

20. The device according to claim 19, characterized in that The transceiver module is further used to send a first request message, where the first request message is used to request the location or time of sending or receiving the perception signal.

21. The device according to claim 20, characterized in that The first request message includes at least one of the following information: location information of the communication device, a sensing area, and a synthetic aperture condition corresponding to the satellite.

22. The device according to claim 21, characterized in that The synthetic aperture condition includes at least one of the following: a synthetic aperture size condition, a synthetic aperture virtual array element number condition, a synthetic aperture direction condition, and a synthetic aperture viewing angle condition.

23. The device according to claim 19, characterized in that The location of sending or receiving the perception signal indicated by the first indication information is multiple locations or multiple times; The transceiver module is further used to send a first collaboration request to the third communication node, where the first collaboration request is used to instruct the third communication node to perform joint perception according to a first position or a first time, wherein the first position is one of the multiple positions, and the first time is one of the multiple times; The transceiver module is also used to receive a first cooperation response from the third communication node; The processing module is used to control the transceiver module to send or receive the perception signal according to the location or time of sending or receiving the perception signal, including: The processing module is used to control the transceiver module to send or receive the sensing signal according to the first position or the first time.

24. The device according to claim 19, characterized in that The location of sending or receiving the perception signal indicated by the first indication information is multiple locations or multiple times; The transceiver module is further used to receive a second cooperation request from a third communication node, where the second cooperation request is used to instruct the communication device to perform joint sensing according to a first position or a first time, wherein the first position is one of the multiple positions, and the first time is one of the multiple times; The transceiver module is further used to send a second collaboration response to the third communication node; The processing module is used to control the transceiver module to send or receive the perception signal according to the location or time of sending or receiving the perception signal, including: The processing module is used to control the processing module to send or receive the perception signal according to the first position or the first time.

25. A communication device, characterized in that: The communication device comprises a module for executing the method according to any one of claims 1 to 6, or comprises a module for executing the method according to any one of claims 7 to 12.

26. A communication device, characterized in that: The communication device comprises a processor; the processor is configured to execute the method according to any one of claims 1 to 6, or to cause the communication device to execute the method according to any one of claims 7 to 12.

27. A computer-readable storage medium, characterized in that: The computer-readable storage medium comprises instructions, which, when executed, enable the method according to any one of claims 1 to 6 to be implemented, or enable the method according to any one of claims 7 to 12 to be implemented.

28. A computer program product, characterized in that The computer program product comprises instructions, which, when executed, enable the method according to any one of claims 1 to 6 to be implemented, or enable the method according to any one of claims 7 to 12 to be implemented.

29. A communication system, characterized in that: The communication system comprises the communication device according to claim 13 and claim 19.

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