Sensitivity and inductance integrated anti-interference transmission method, device, system and equipment

Abstract

The invention relates to a communication and inductance integrated anti-interference transmission method, device, system and equipment. Modulation and demodulation are carried out in a time delay-Doppler domain, a transmitting end adopts a spread spectrum superposition scheme to enable a sensing sequence and communication data to be in a staggered arrangement state in different time slots of a frequency-time domain, and a receiving end adopts a time slot zero setting scheme in the frequency-time domain to respectively carry out zero setting on time slot symbols irrelevant to target sensing / channel estimation / signal detection. Therefore, ICI is efficiently avoided in a future high-speed mobile scene, a sensing sequence and a communication data receiving symbol do not interfere with each other in a time delay-Doppler domain, and the system performance is further improved.

Description

Technical Field

[0001] The embodiments of this specification relate to the field of communication technology, and in particular, to a method, device, system and equipment for anti-interference transmission with integrated interoception. Background Art

[0002] Traditional communication and perception systems usually occupy independent spectrum resources, resulting in low spectrum utilization. Integrated Sensing and Communication (ISAC) technology can enable communication and perception functions to work together on the same spectrum. Through reasonable resource allocation and signal design, communication and perception services can dynamically share the spectrum, greatly improving spectrum resource utilization and alleviating the problem of spectrum resource shortage. It is expected to be implemented in 5G-A and 6G, and is expected to be used in intelligent applications that require both communication and high-precision perception capabilities.

[0003] ISAC signals can directly affect the performance of perception and communication. Orthogonal Frequency Division Multiplexing (OFDM) is a signal for 4G and 5G systems. Traditional ISAC signals are mainly based on OFDM-based ISAC signals, which realize perception functions while maintaining the original communication functions. However, facing future high-speed mobile scenarios, the Doppler effect will cause the orthogonality between subcarriers in the traditional OFDM system to be destroyed, which will in turn cause serious inter-carrier interference (ICI), greatly affecting system performance. In addition, Orthogonal Time Frequency Space (OTFS) is regarded as a candidate signal for 6G. ISAC signals based on OTFS are modulated and demodulated in the delay-Doppler domain, which can effectively overcome ICI, but the mutual interference between perception and communication signals will lead to poor system performance.

[0004] Therefore, traditional ISAC signals can no longer meet the needs of future high-speed mobile scenarios, and an anti-interference transmission solution for ISAC signals is urgently needed. Summary of the invention

[0005] To solve the problems existing in the prior art, the embodiments of this specification provide an anti-interference transmission method, device, system and equipment with integrated interaception, which uses a spread spectrum superposition transmission scheme in the delay-Doppler domain to interleave the perception sequence and communication data in different time slots in the frequency-time domain; in addition, the time slot zeroing reception scheme in the frequency-time domain completely separates the perception sequence and communication data, and they do not interfere with each other. At the same time, the perception sequence can be used as a basis for channel estimation at the communication receiving end.

[0006] The specific technical solutions of the embodiments of this specification are as follows:

[0007] On the one hand, an embodiment of this specification provides an anti-interference transmission method for integrating interoception, which is executed by a transmitting end, and the method includes:

[0008] Placing the sensing sequence and the communication data in different delay-Doppler domain grids respectively to obtain a transmission symbol matrix in each delay-Doppler grid, wherein the sensing sequence is agreed upon by the transmitting end and the communication receiving end and / or the sensing receiving end;

[0009] The transmission symbol matrix in each delay-Doppler grid is spread by using the spreading factor and then superimposed in the delay-Doppler domain to obtain the delay-Doppler domain transmission symbol matrix;

[0010] Transforming the delay-Doppler domain transmission symbol matrix into the frequency-time domain to obtain a frequency-time domain transmission symbol matrix, wherein the sensing sequence and the communication data in the frequency-time domain transmission symbol matrix are interleaved in a time slot in the frequency-time domain;

[0011] Adding a cyclic prefix to the frequency-time domain transmission symbol matrix, transforming it to the time domain, obtaining a time domain transmission symbol matrix, and performing a vectorization operation to obtain a time domain transmission symbol vector;

[0012] The time domain transmission symbol vector reaches the communication receiving end via a wireless channel, and / or

[0013] The time domain transmission symbol vector reaches the perception receiving end after being reflected by the perception target.

[0014] Based on the same inventive concept, the embodiment of this specification also provides a synaesthesia integrated anti-interference transmission method, which is executed by a perception receiving end, and the method includes:

[0015] Receive the time domain transmission symbol vector reflected by the sensed target, remove the cyclic prefix, and obtain the time domain reception symbol matrix through devectorization operation;

[0016] Transforming the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix;

[0017] Setting all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, to obtain a frequency-time domain reception perception symbol matrix;

[0018] Transforming the frequency-time domain reception perception symbol matrix into the delay-Doppler domain to obtain the delay-Doppler domain reception perception symbol matrix;

[0019] Calculating a channel estimation value matrix according to the delay-Doppler domain received perception symbol matrix and the perception sequence in the delay-Doppler domain, wherein the perception sequence is negotiated and agreed upon by the perception receiving end and the transmitting end;

[0020] A perception parameter is obtained according to the channel estimation value matrix.

[0021] Based on the same inventive concept, the embodiment of this specification also provides an anti-interference transmission method for integrating interoception, which is executed by a communication receiving end, and the method includes:

[0022] Receive the time domain transmission symbol vector sent by the transmitter, remove the cyclic prefix, and obtain the time domain reception symbol matrix through devectorization operation;

[0023] Transforming the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix;

[0024] Setting all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, to obtain a frequency-time domain reception estimation symbol matrix;

[0025] Transforming the frequency-time domain reception estimation symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain reception estimation symbol matrix;

[0026] Calculate a channel estimation value matrix according to the delay-Doppler domain reception estimation symbol matrix and the perception sequence in the delay-Doppler domain, wherein the perception sequence is agreed upon by the communication receiving end and the transmitting end;

[0027] Setting all symbols in the time slot where the sensing sequence is located in the frequency-time domain reception symbol matrix to zero to obtain a frequency-time domain reception communication symbol matrix;

[0028] Transforming the frequency-time domain received communication symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain received communication symbol matrix;

[0029] The communication data in the delay-Doppler domain is calculated according to the delay-Doppler domain received communication symbol matrix and the channel estimation value matrix.

[0030] On the other hand, the embodiments of this specification also provide a synaesthesia integrated anti-interference transmission device, the device comprising:

[0031] A delay-Doppler domain grid placement unit is used to place the sensing sequence and the communication data in different delay-Doppler domain grids respectively to obtain a transmission symbol matrix in each delay-Doppler grid, wherein the sensing sequence is negotiated and agreed upon by the transmitting end and the communication receiving end and / or the sensing receiving end;

[0032] A spreading and superposition unit is used to spread the transmission symbol matrix in each delay-Doppler grid using the spreading factor and superpose it in the delay-Doppler domain to obtain a delay-Doppler domain transmission symbol matrix;

[0033] A frequency-time domain conversion unit, configured to transform the delay-Doppler domain transmission symbol matrix into the frequency-time domain to obtain a frequency-time domain transmission symbol matrix, wherein the sensing sequence and the communication data in the frequency-time domain transmission symbol matrix are interleaved in a time slot in the frequency-time domain;

[0034] A time domain transform unit, configured to add a cyclic prefix to the frequency-time domain transmission symbol matrix, and then transform it to the time domain to obtain a time domain transmission symbol matrix;

[0035] a sending unit, configured to obtain a time domain sending symbol vector by performing a vectorization operation on the time domain sending symbol matrix, wherein the time domain sending symbol vector reaches the communication receiving end via a wireless channel, and / or

[0036] The time domain transmission symbol vector reaches the perception receiving end after being reflected by the perception target.

[0037] Based on the same inventive concept, the embodiment of this specification also provides an anti-interference transmission device with integrated synaesthesia, the device comprising:

[0038] A receiving unit, used for receiving a time domain transmission symbol vector of a sensing target reflection, removing a cyclic prefix, and obtaining a time domain reception symbol matrix through a de-vectorization operation;

[0039] A frequency-time domain conversion unit, used to transform the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix;

[0040] A perception sequence retaining unit, configured to set all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception perception symbol matrix;

[0041] A delay-Doppler domain conversion unit, used to transform the frequency-time domain reception perception symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain reception perception symbol matrix;

[0042] A channel estimation value matrix calculation unit, configured to calculate a channel estimation value matrix according to the delay-Doppler domain reception perception symbol matrix and the perception sequence in the delay-Doppler domain, wherein the perception sequence is negotiated and agreed upon by a perception receiving end and a transmitting end;

[0043] A perception parameter determination unit is used to obtain the perception parameter according to the channel estimation value matrix.

[0044] Based on the same inventive concept, the embodiment of this specification also provides an anti-interference transmission device with integrated synaesthesia, the device comprising:

[0045] A receiving unit, configured to receive a time domain transmission symbol vector sent by a transmitting end, remove a cyclic prefix, and obtain a time domain reception symbol matrix through a devectorization operation;

[0046] A frequency-time domain conversion unit, used to transform the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix;

[0047] A perception sequence retaining unit, configured to set all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception estimation symbol matrix;

[0048] A delay-Doppler domain conversion unit, used to transform the frequency-time domain reception estimation symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain reception estimation symbol matrix;

[0049] A channel estimation value matrix calculation unit, used to calculate a channel estimation value matrix according to the delay-Doppler domain reception estimation symbol matrix and the delay-Doppler domain sensing sequence, wherein the sensing sequence is negotiated and agreed upon by the communication receiving end and the transmitting end;

[0050] A communication data retaining unit, used for setting all symbols in the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception communication symbol matrix;

[0051] The delay-Doppler domain conversion unit is further used to transform the frequency-time domain received communication symbol matrix into the delay-Doppler domain to obtain the delay-Doppler domain received communication symbol matrix;

[0052] The communication data calculation unit is used to calculate the communication data in the delay-Doppler domain according to the communication symbol matrix received in the delay-Doppler domain and the channel estimation value matrix.

[0053] On the other hand, the embodiments of this specification also provide a synaesthesia-integrated anti-interference transmission system, the system comprising a transmitting end, and at least one of a communication receiving end and a perception receiving end;

[0054] The transmitting end executes the method executed by the transmitting end when performing the anti-interference transmission with integrated interoception;

[0055] The sensing receiving end executes the method executed by the sensing receiving end when performing the anti-interference transmission of the integrated interaception;

[0056] The communication receiving end executes the method executed by the above-mentioned communication receiving end when performing the anti-interference transmission with integrated interaception.

[0057] On the other hand, an embodiment of the present specification further provides a computer device, including a memory, a processor, and a computer program stored in the memory, and the processor implements the above method when executing the computer program.

[0058] Using the embodiments of this specification, modulation and demodulation are performed in the delay-Doppler domain. The transmitting end adopts a spread spectrum superposition scheme so that the perception sequence and communication data are arranged in an interlaced state in different time slots in the frequency-time domain. The receiving end adopts a time slot zeroing scheme in the frequency-time domain to set the time slot symbols that are not related to target perception / channel estimation / signal detection to zero, thereby effectively avoiding ICI in future high-speed mobile scenarios, making the perception sequence and communication data reception symbols not interfere with each other in the delay-Doppler domain, thereby improving system performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the embodiments of this specification or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the embodiments of this specification. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0060] Figure 1 It is a schematic diagram of an implementation system of a synaesthesia-integrated anti-interference transmission method in an embodiment of this specification;

[0061] Figure 2 It is a schematic diagram of a first process of a synaesthesia-integrated anti-interference transmission method in an embodiment of this specification;

[0062] Figure 3 It is a second flow chart of a synaesthesia-integrated anti-interference transmission method in an embodiment of this specification;

[0063] Figure 4 The third flow chart of generating the startup configuration according to the target startup item in the embodiment of this specification is shown;

[0064] Figure 5 The figure shows a schematic diagram of the frequency-time domain symbol arrangement method in the embodiment of this specification;

[0065] Figure 6 The figure shows a detailed schematic diagram of the frequency-time domain symbol arrangement method in the embodiment of this specification;

[0066] Figure 7It is a first structural schematic diagram of a synaesthesia-integrated anti-interference transmission device in an embodiment of this specification;

[0067] Figure 8 It is a second structural schematic diagram of a synaesthesia-integrated anti-interference transmission device in an embodiment of this specification;

[0068] Fig. 9 It is a third structural schematic diagram of a synaesthesia-integrated anti-interference transmission device in the embodiment of this specification;

[0069] Fig.10 The figure is a schematic diagram of the structure of a computer device in an embodiment of the present specification.

[0070]

Description of reference numerals

[0071] 101, base station; 102, sensing target; 103, sensing receiving end; 104, communication receiving end; 701, delay-Doppler domain grid placement unit; 702, spread spectrum superposition unit; 703, frequency-time domain conversion unit; 704, time domain transformation unit; 705, sending unit; 801, receiving unit; 802, frequency-time domain conversion unit; 803, sensing sequence reservation unit; 804, delay-Doppler domain conversion unit; 805, channel estimation value matrix calculation unit; 806, sensing parameter determination unit; 901, receiving unit; 902, frequency-time domain Conversion unit; 903, perception sequence retention unit; 904, delay-Doppler domain conversion unit; 905, channel estimation value matrix calculation unit; 906, communication data retention unit; 907, communication data calculation unit; 1002, computer equipment; 1004, processing equipment; 1006, storage resources; 1008, driving mechanism; 1010, input / output module; 1012, input device; 1014, output device; 1016, presentation device; 1018, graphical user interface; 1020, network interface; 1022, communication link; 1024, communication bus. DETAILED DESCRIPTION

[0072] The following will be combined with the drawings in the embodiments of this specification to clearly and completely describe the technical solutions in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this specification, not all of them. Based on the embodiments in the embodiments of this specification, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the embodiments of this specification.

[0073] It should be noted that the terms "first", "second", etc. in the description and claims of the embodiments of this specification and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the embodiments of this specification described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, device, product or equipment that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0074] It should be noted that the acquisition, storage, use, and processing of data in the technical solutions of the embodiments of this specification comply with the relevant provisions of national laws and regulations.

[0075] It should be noted that in the embodiments of this specification, certain software, components, models and other existing solutions in the industry may be mentioned, and they should be regarded as exemplary. Their purpose is only to illustrate the feasibility of implementing the technical solution of this application, but it does not mean that the applicant has or will necessarily use the solution.

[0076] like Figure 1 The figure shows a schematic diagram of an implementation system of an anti-interference transmission method with interawareness integration in an embodiment of the specification, including a base station 101, a sensing target 102, a sensing receiving terminal 103 and a communication receiving terminal 104. The base station 101 sends a signal to the sensing target 102, the sensing target 102 reflects the signal to the sensing receiving terminal 103, the sensing receiving terminal 103 analyzes the sensing parameters of the signal, the base station 101 sends the signal to the communication receiving terminal 104, and the communication receiving terminal 104 analyzes the communication data in the signal.

[0077] In some other embodiments of the present specification, the sensing receiving end 103 may also be set on the base station 101 .

[0078] In order to solve the problem that the Doppler effect will cause the orthogonality between subcarriers in the traditional OFDM system to be destroyed, thereby causing serious ICI and greatly affecting the system performance in the future high-speed mobile scenario, the embodiment of this specification provides an anti-interference transmission method with integrated interawareness, such as Figure 2 As shown, the method includes:

[0079] Step 201: placing a sensing sequence and communication data in different delay-Doppler domain grids respectively to obtain a transmission symbol matrix in each delay-Doppler grid, wherein the sensing sequence is agreed upon by the transmitting end and the communication receiving end and / or the sensing receiving end;

[0080] Step 202: Spread the transmission symbol matrix in each delay-Doppler grid using the spreading factor and superimpose them in the delay-Doppler domain to obtain a delay-Doppler domain transmission symbol matrix;

[0081] Step 203: transforming the delay-Doppler domain transmission symbol matrix into the frequency-time domain to obtain a frequency-time domain transmission symbol matrix, in which the sensing sequence and the communication data are interleaved in a time slot in the frequency-time domain;

[0082] Step 204: adding a cyclic prefix to the frequency-time domain transmission symbol matrix, transforming it to the time domain to obtain a time domain transmission symbol matrix, and performing a vectorization operation to obtain a time domain transmission symbol vector;

[0083] Step 205: The time domain transmission symbol vector reaches the communication receiving end via the wireless channel, and / or

[0084] The time domain transmission symbol vector reaches the perception receiving end after being reflected by the perception target.

[0085] Correspondingly, if Figure 3 As shown, the steps of receiving the time domain transmission symbol vector and parsing the perception parameters at the perception receiving end are as follows:

[0086] Step 301: receiving a time domain transmission symbol vector reflected by a sensing target, removing a cyclic prefix, and obtaining a time domain reception symbol matrix through a devectorization operation;

[0087] Step 302: transform the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix;

[0088] Step 303: setting all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, to obtain a frequency-time domain reception perception symbol matrix;

[0089] Step 304: transform the frequency-time domain reception perception symbol matrix into the delay-Doppler domain to obtain the delay-Doppler domain reception perception symbol matrix;

[0090] Step 305: Calculate a channel estimation value matrix according to the delay-Doppler domain reception perception symbol matrix and the perception sequence in the delay-Doppler domain, wherein the perception sequence is negotiated and agreed upon by the perception receiving end and the transmitting end;

[0091] Step 306: Obtain perception parameters according to the channel estimation value matrix.

[0092] Correspondingly, if Figure 4As shown, the steps for the communication receiving end to receive the time domain transmitted symbol vector and parse the perception parameters are as follows:

[0093] Step 401: receiving a time domain transmission symbol vector sent by a transmitting end, removing a cyclic prefix, and obtaining a time domain reception symbol matrix through a devectorization operation;

[0094] Step 402: transform the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix;

[0095] Step 403: setting all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, to obtain a frequency-time domain reception estimation symbol matrix;

[0096] Step 404: transform the frequency-time domain reception estimation symbol matrix into the delay-Doppler domain to obtain the delay-Doppler domain reception estimation symbol matrix;

[0097] Step 405: Calculate a channel estimation value matrix according to the delay-Doppler domain reception estimation symbol matrix and the perception sequence in the delay-Doppler domain;

[0098] Step 406: setting all symbols in the time slot where the sensing sequence is located in the frequency-time domain reception symbol matrix to zero, to obtain a frequency-time domain reception communication symbol matrix;

[0099] Step 407: transforming the frequency-time domain received communication symbol matrix into the delay-Doppler domain to obtain the delay-Doppler domain received communication symbol matrix;

[0100] Step 408: Calculate the communication data in the delay-Doppler domain according to the delay-Doppler domain received communication symbol matrix and the channel estimation value matrix.

[0101] In the embodiment of this specification, the number of delay-Doppler domain grids is , where a represents the number of delay-Doppler domain grids, N represents the number of set time slots, and k max is the maximum Doppler index value set, Indicates a round-up operation.

[0102] The structure of the delay-Doppler domain grid is:

[0103] ;

[0104] in, represents the i-th delay-Doppler domain grid, i=0,···,a-1, M represents the set number of subcarriers, Δf is the subcarrier spacing, and T is the duration of each time slot;

[0105] The sensing sequence and communication data are placed in different delay-Doppler domain grids respectively, and the transmission symbol matrix in the i-th delay-Doppler grid is obtained. .

[0106] Preferably, the embodiment of this specification places the sensing sequence in a delay-Doppler domain grid. Place the communication data in the delay-Doppler domain grid middle.

[0107] Then, using the spreading factor vector Will Spread spectrum is an M×N dimensional matrix :

[0108]

[0109] in The bth element in γ i,b =exp(j2πib / a), exp(·) represents the exponential function with e as the base, and j represents the imaginary unit. represents the spreading factor vector corresponding to the transmitted symbol matrix in the i-th delay-Doppler grid, Represents the Kronecker product operation.

[0110] Then add a The delay-Doppler domain transmission symbol matrix is ​​obtained by superposition

[0111]

[0112] Then the delay-Doppler domain transmit symbol matrix Transform to the frequency-time domain to obtain the frequency-time domain transmit symbol matrix. Optionally, the delay-Doppler domain transmit symbol matrix is ​​transformed into the frequency-time domain transmit symbol matrix by a two-dimensional inverse symplectic finite Fourier transform (ISFFT). Transform to the frequency-time domain:

[0113]

[0114] in Send symbol matrix for frequency-time domain, and They are the M-point Discrete Fourier Transform (DFT) matrix and the N-point Inverse Discrete Fourier Transform (IDFT) matrix. The M-point DFT matrix is:

[0115] (4)

[0116] Since the spreading factor vector ,The sensing sequence and communication data are interleaved in the time slots of the frequency-time domain, e.g. Figure 5 As shown. Carrying perception sequence The frequency-time domain symbol is located in the time slot n=0, a,···,a(N / a-1) and carries the communication data The frequency-time domain symbol of is located in time slot n=i,a+i,···, a(N / a-1)+i, i=1,···,a-1.

[0117] Then send the symbol matrix for the frequency-time domain Add length L CP =l max The cyclic prefix (CP) is used to avoid interference between the perception symbols and the communication symbols. max The maximum delay index to be set.

[0118] Then transform to the time domain, optionally, through the Heisenberg transform to obtain the time domain transmission symbol matrix

[0119]

[0120] is a rectangular transmit pulse shaping matrix, is an M×M dimensional unit matrix. After vectorization operation, the time domain transmission symbol vector is obtained .

[0121] At the sensing receiving end, considering the base station's self-transmitting and self-receiving sensing mode, the symbol vector sent in the time domain Distance from base station d target (m), speed is υ target (m / s) after the perception target arrives at the perception receiving end, at this time the delay τ target and Doppler shift v target They are:

[0122]

[0123]

[0124] Where c is the speed of light, f c is the carrier frequency, l target , k target are the integer indices corresponding to the perceived target delay and Doppler. Let α target To sense the target reflection coefficient, the delay-Doppler domain channel response h target (τ,v) is:

[0125]

[0126] Here, δ(·) is the Dirac delta function.

[0127] The time domain received symbol vector after the CP is removed at the sensing receiver for:

[0128]

[0129] in, represents the time domain received symbol vector, , is the time domain additive white Gaussian noise (AWGN) vector, is a zero vector, and the time domain channel matrix is a diagonal block matrix, denoted by , the submatrix for:

[0130]

[0131] in , , , the permutation matrix for:

[0132]

[0133] Time domain received symbol vector After devectorization, the time domain received symbol matrix is ​​obtained , transform the time domain reception symbol matrix into the frequency-time domain to obtain the frequency-time domain reception symbol matrix. Optionally, the symbols are transformed into the frequency-time domain by Wigner transformation to obtain the frequency-time domain reception symbol matrix

[0134]

[0135] in is a rectangular receiving pulse shaping matrix. Since the scheme adds CP, the sensing sequence and communication data do not interfere with each other and are interleaved in different time slots, such as Figure 5 As shown. The frequency-time domain received symbol matrix All symbols in all time slots except the time slot where the perception sequence is located are set to zero, and only the symbols carrying the perception sequence are retained to obtain the frequency-time domain reception perception symbol matrix ,Right now:

[0136]

[0137] in, The received symbol matrix is ​​the frequency-time domain The symbol in the mth row and nth column of the frequency-time domain reception perception symbol matrix after the zeroing operation Depend on Composition, a represents the number of delay-Doppler domain grids when the transmitting end generates the time domain transmission symbol matrix, and the frequency-time domain symbols carrying the perception sequence are located in time slots n=0, a,···,a(N / a-1).

[0138] The frequency-time domain reception perception symbol matrix is ​​transformed into the delay-Doppler domain to obtain the delay-Doppler domain reception perception symbol matrix. Optionally, the frequency-time domain reception perception symbol matrix is ​​subjected to a symplectic finite fourier transform (SFFT) to obtain the delay-Doppler domain reception perception symbol matrix

[0139]

[0140] Then, according to the delay-Doppler domain receiving perception symbol matrix and the perceptual sequence in the time domain transmitted symbol matrix (Perception sequence The channel estimation matrix is ​​calculated for both the sensing receiving end and the communication receiving end). Specifically:

[0141] Select Y[l,k], l=0,···,M-1, k=0,···,N / a-1, and denote it as .

[0142] Using two-dimensional matched filtering to obtain the channel estimation matrix

[0143]

[0144] in, represents the Fourier transform, represents the inverse Fourier transform, It means to calculate the Fourier transform first and then the conjugate calculation.

[0145] Finally, the perception parameters are obtained according to the channel estimation value matrix, specifically:

[0146] From formula (8), we can see that the channel estimation matrix The element with the largest absolute value The index is the integer index corresponding to the perceived target delay and Doppler and ;

[0147] According to the integer index corresponding to the perceived target delay and Doppler and Calculate the perceived target distance and speed. Specifically, according to formulas (6) and (7), it can be obtained that:

[0148]

[0149]

[0150] in, To sense the target distance, For speed.

[0151] At the receiving end of the communication, consider the baseband equivalent channel model with P propagation paths, and the channel gain of the pth (p=1,···,P) path is h p , the actual delay τ p 、LoS path Doppler shift v LoS and the Doppler shift v of the pth reflection path p They are

[0152]

[0153]

[0154]

[0155] in is p and v p The relevant delay and Doppler index, υ is the maximum speed of the communication terminal equipment, β pis the arrival angle of the pth reflection path. The delay-Doppler domain channel response h(τ,v) is

[0156]

[0157] The time domain received symbol vector after the communication receiving end removes the CP for

[0158]

[0159] in is the time domain AWGN vector, the time domain channel matrix is a diagonal block matrix, denoted by , the submatrix for

[0160]

[0161] in

[0162] , . , is the identity matrix, .

[0163] For the time domain received symbol vector Perform devectorization operation to obtain the time domain reception symbol matrix , .

[0164] The symbols are converted to the frequency-time domain by Wigner transform to obtain the frequency-time domain received symbol matrix

[0165]

[0166] in is a rectangular receiving pulse shaping matrix. Since the scheme adds CP, the sensing sequence and communication data do not interfere with each other and are interleaved in different time slots, such as Figure 5 It is divided into two parts: the part for estimating the channel and the part for detecting the signal.

[0167] a) Channel Estimation

[0168] With ~ Similarly, all symbols except time slot n=0, a,···,a(N / a-1) are set to zero, and only the symbols carrying the perception sequence are retained, that is:

[0169]

[0170] in for The symbol in the mth row and nth column is the frequency-time domain reception perception symbol matrix after the zeroing operation Depend on composition. The delay-Doppler domain received symbol matrix is ​​obtained by SFFT

[0171]

[0172] Select Y est [l,k], l=0,···,M-1, k=0,···,N / a-1, denoted as The delay-Doppler domain channel estimation matrix is ​​obtained by using two-dimensional matched filtering.

[0173]

[0174] b) Signal detection

[0175] The frequency-time domain received symbol matrix senses the sequence All symbols in the time slot are set to zero, and the frequency-time domain received communication symbol matrix is ​​obtained:

[0176]

[0177] Among them, the frequency-time domain received communication symbol matrix after the zeroing operation is Depend on composition.

[0178] The delay-Doppler domain received communication symbol matrix is ​​obtained by SFFT

[0179]

[0180] Select Y dect,i [l,k], l=0,···,M-1, k=0,···, N / a-1, denoted as After normalization, the minimum mean square error (MMSE) test is used to obtain Estimated value of :

[0181]

[0182] For example:

[0183] (1) Base station transmitter

[0184] Assume that the number of subcarriers is M = 16, the number of time slots is N = 12, and the maximum Doppler index value k is max =3, total A 16×3 dimensional delay-Doppler domain grid. is the transmission symbol matrix placed in the i-th delay-Doppler grid. When i=0, the sensing sequence is placed, and when i=1,2,3, the communication data is placed. Using the spreading factor vector Will Spread spectrum to 16×12 dimensional matrix , see formula ,in The bth element in γ i,b =exp(j2πib / 2), b=0,1,2,3. Superposition :

[0185]

[0186] matrix After two-dimensional ISFFT (see formula ) to obtain the frequency-time domain transmission symbol matrix . Due to the use of the spreading factor vector ,The sensing sequence and communication data are interleaved in the time slots of the frequency-time domain, e.g. Figure 6 As shown. Carrying perception sequence The frequency-time domain symbols are located in time slots n=0,4,8 and carry communication data. The frequency-time domain symbols are located in time slots n=i,4+i,8+i, i=1,2,3.

[0187] for Add length L CP =l max =5 CP to avoid interference between perception symbols and communication symbols, and the time domain transmission symbol matrix is ​​obtained by Heisenberg transform. , see formula After vectorization operation, the time domain transmission symbol vector is obtained .

[0188] (2) Perception receiving end

[0189] The time domain received symbol vector after the CP is removed at the sensing receiver See . After devectorization, the time domain received symbol matrix is ​​obtained , the symbols are converted to the frequency-time domain by Wigner transform to obtain the frequency-time domain received symbol matrix , see formula Since the scheme adds CP, the sensing sequence and communication data do not interfere with each other and are interleaved in different time slots, e.g. Figure 6 As shown. Set all symbols except time slot n=0, 4, 8 to zero, and only keep the symbols carrying the perception sequence, that is:

[0190]

[0191] Frequency-time domain reception perception symbol matrix after zeroing operation Depend on composition. The delay-Doppler domain receiving perception symbol matrix is ​​obtained by SFFT , see formula . Select Y[l,k], l=0,···,15, k=0,1,2, and record it as The perception parameters (perceived target speed and distance) are obtained using two-dimensional matched filter formulas (15)-(17).

[0192] (3) Communication receiving end

[0193] The time domain received symbol vector after the communication receiving end removes the CP See . After devectorization, the time domain received symbol matrix is ​​obtained , the symbols are converted to the frequency-time domain by Wigner transform to obtain the frequency-time domain received symbol matrix Since the scheme adds CP, the sensing sequence and communication data do not interfere with each other and are interleaved in different time slots, e.g. Figure 4 It is divided into two parts: the part for estimating the channel and the part for detecting the signal.

[0194] (a) Channel estimation

[0195] Set all symbols except time slot n=0, 4, 8 to zero, and only keep the symbols carrying the perception sequence, that is,

[0196]

[0197] Frequency-time domain received estimation symbol matrix after zeroing operation Depend on composition. The delay-Doppler domain received estimation symbol matrix is ​​obtained by SFFT . Select Y est [l,k], l=0,···,15, k=0,1,2 is denoted as The delay-Doppler domain channel estimation matrix is ​​obtained by using two-dimensional matched filtering. .

[0198] (b) Signal detection

[0199] When i=1,2,3 respectively, all symbols except time slot n=i,4+i,8+i are set to zero, that is:

[0200]

[0201] Frequency-time domain received communication symbol matrix after zeroing operation Depend on composition. The delay-Doppler domain received communication symbol matrix is ​​obtained by SFFT . Select Y dect,i [l,k], l=0,···,15, k=0,1,2, denoted as . After normalization, we use the MMSE detection formula (30) to obtain Estimated value of .

[0202] Based on the same inventive concept, the embodiments of this specification also provide an anti-interference transmission device with integrated interoception, such as Figure 7 As shown, including:

[0203] A delay-Doppler domain grid placement unit 701 is used to place the sensing sequence and the communication data in different delay-Doppler domain grids respectively to obtain a transmission symbol matrix in each delay-Doppler grid, wherein the sensing sequence is negotiated by the transmitting end and the communication receiving end and / or the sensing receiving end;

[0204] The spreading and superposition unit 702 is used to spread the transmission symbol matrix in each delay-Doppler grid by using the spreading factor and superpose them in the delay-Doppler domain to obtain the delay-Doppler domain transmission symbol matrix;

[0205] A frequency-time domain conversion unit 703 is used to transform the delay-Doppler domain transmission symbol matrix into the frequency-time domain to obtain a frequency-time domain transmission symbol matrix, in which the perception sequence and the communication data are interleaved in the time slot of the frequency-time domain;

[0206] A time domain transform unit 704 is used to add a cyclic prefix to the frequency-time domain transmission symbol matrix, and then transform it to the time domain to obtain a time domain transmission symbol matrix;

[0207] A sending unit 705 is configured to obtain a time domain sending symbol vector by performing a vectorization operation on the time domain sending symbol matrix, wherein the time domain sending symbol vector reaches the communication receiving end via a wireless channel, and / or

[0208] The time domain transmission symbol vector reaches the perception receiving end after being reflected by the perception target.

[0209] Correspondingly, the embodiments of this specification also provide a synaesthesia-integrated anti-interference transmission device, such as Figure 8 As shown, including:

[0210] The receiving unit 801 is used to receive the time domain transmission symbol vector of the perceived target reflection, remove the cyclic prefix, and obtain the time domain reception symbol matrix through the de-vectorization operation;

[0211] A frequency-time domain conversion unit 802 is used to transform the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix;

[0212] The perception sequence retaining unit 803 is used to set all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception perception symbol matrix;

[0213] A delay-Doppler domain conversion unit 804 is used to transform the frequency-time domain reception perception symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain reception perception symbol matrix;

[0214] A channel estimation value matrix calculation unit 805 is used to calculate a channel estimation value matrix according to the delay-Doppler domain reception perception symbol matrix and the perception sequence in the delay-Doppler domain, wherein the perception sequence is negotiated and agreed upon by the perception receiving end and the transmitting end;

[0215] The perception parameter determination unit 806 is configured to obtain the perception parameter according to the channel estimation value matrix.

[0216] Correspondingly, the embodiments of this specification also provide a synaesthesia-integrated anti-interference transmission device, such as Fig. 9 As shown, including:

[0217] The receiving unit 901 is used to receive the time domain transmission symbol vector sent by the transmitting end, remove the cyclic prefix, and obtain the time domain reception symbol matrix through de-vectorization operation;

[0218] A frequency-time domain conversion unit 902 is used to transform the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix;

[0219] The perception sequence retaining unit 903 is used to set all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception estimation symbol matrix;

[0220] A delay-Doppler domain conversion unit 904 is used to transform the frequency-time domain reception estimation symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain reception estimation symbol matrix;

[0221] A channel estimation value matrix calculation unit 905 is used to calculate a channel estimation value matrix according to the delay-Doppler domain reception estimation symbol matrix and the delay-Doppler domain sensing sequence, wherein the sensing sequence is negotiated and agreed upon by the communication receiving end and the transmitting end;

[0222] The communication data retaining unit 906 is used to set all symbols in the time slot where the sensing sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception communication symbol matrix;

[0223] The delay-Doppler domain conversion unit 904 is further used to transform the frequency-time domain received communication symbol matrix into the delay-Doppler domain to obtain the delay-Doppler domain received communication symbol matrix;

[0224] The communication data calculation unit 907 is used to calculate the communication data in the delay-Doppler domain according to the delay-Doppler domain received communication symbol matrix and the channel estimation value matrix.

[0225] The beneficial effects obtained by the above-mentioned device are consistent with the beneficial effects obtained by the above-mentioned method, and will not be described in detail in the embodiments of this specification.

[0226] Based on the same inventive concept, the embodiment of this specification also provides a synaesthesia integrated anti-interference transmission system, the system includes a transmitting end, and also includes at least one of a communication receiving end and a perception receiving end;

[0227] When the transmitting end performs the anti-interference transmission of the integrated interoception, Figure 2 The method shown;

[0228] When the sensing receiving end performs the anti-interference transmission of the integrated sense, Figure 3 The method shown;

[0229] When the communication receiving end performs the anti-interference transmission of the integrated interoception, Figure 4 The method shown.

[0230] like Fig.10 The structure diagram of the computer device of the embodiment of this specification is shown. The apparatus in the embodiment of this specification can be the computer device in this embodiment, and the method of the embodiment of this specification is executed. The computer device 1002 may include one or more processing devices 1004, such as one or more central processing units (CPUs), and each processing unit may implement one or more hardware threads. The computer device 1002 may also include any storage resource 1006, which is used to store any kind of information such as code, settings, data, etc. Non-limiting, for example, the storage resource 1006 may include any one or more combinations of the following: any type of RAM, any type of ROM, flash memory device, hard disk, optical disk, etc. More generally, any storage resource can use any technology to store information. Further, any storage resource can provide volatile or non-volatile retention of information. Further, any storage resource can represent a fixed or removable component of the computer device 1002. In one case, when the processing device 1004 executes an associated instruction stored in any storage resource or a combination of storage resources, the computer device 1002 can perform any operation of the associated instruction. The computer device 1002 also includes one or more drive mechanisms 1008 for interacting with any storage resources, such as a hard disk drive mechanism, an optical disk drive mechanism, and the like.

[0231] The computer device 1002 may also include an input / output module 1010 (I / O) for receiving various inputs (via input devices 1012) and for providing various outputs (via output devices 1014). A specific output mechanism may include a presentation device 1016 and an associated graphical user interface (GUI) 1018. In other embodiments, the input / output module 1010 (I / O), the input device 1012, and the output device 1014 may not be included, and the computer device 1002 may be used as a computer device in a network. The computer device 1002 may also include one or more network interfaces 1020 for exchanging data with other devices via one or more communication links 1022. One or more communication buses 1024 couple the components described above together.

[0232] The communication link 1022 may be implemented in any manner, for example, through a local area network, a wide area network (e.g., the Internet), a point-to-point connection, etc., or any combination thereof. The communication link 1022 may include any combination of hardwired links, wireless links, routers, gateway functions, name servers, etc. governed by any protocol or combination of protocols.

[0233] The embodiments of the present specification also provide a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program implements the above method when executed by a processor.

[0234] The embodiments of the present specification also provide a computer-readable instruction, wherein when a processor executes the instruction, the program therein causes the processor to execute the above method.

[0235] It should be understood that in the various embodiments of the present specification, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. 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 embodiments of the present specification.

[0236] It should also be understood that in the embodiments of this specification, the term "and / or" is only a description of the association relationship of the associated objects, indicating that three relationships can exist. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. In addition, the character " / " in the embodiments of this specification generally indicates that the associated objects before and after are in an "or" relationship.

[0237] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed in the embodiments of this specification can be implemented with electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in terms of function in the above description. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the embodiments of this specification.

[0238] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0239] In the several embodiments provided in the embodiments of this specification, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, or it can be an electrical, mechanical or other form of connection.

[0240] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the embodiments of this specification.

[0241] In addition, each functional unit in each embodiment of the present specification can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of software functional units.

[0242] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of this specification is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the embodiment of this specification. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program code.

[0243] The embodiments of this specification use specific embodiments to illustrate the principles and implementation methods of the embodiments of this specification. The description of the above embodiments is only used to help understand the methods and core ideas of the embodiments of this specification. At the same time, for those skilled in the art, according to the ideas of the embodiments of this specification, there will be changes in the specific implementation methods and application scopes. In summary, the content of this specification should not be understood as a limitation on the embodiments of this specification.

Claims

1. A synaesthesia-integrated anti-interference transmission method, characterized in that: Executed by the sending end, the method includes: Placing the sensing sequence and the communication data in different delay-Doppler domain grids respectively to obtain a transmission symbol matrix in each delay-Doppler grid, wherein the sensing sequence is agreed upon by the transmitting end and the communication receiving end and / or the sensing receiving end; The transmission symbol matrix in each delay-Doppler grid is spread by using the spreading factor and then superimposed in the delay-Doppler domain to obtain the delay-Doppler domain transmission symbol matrix; Transforming the delay-Doppler domain transmission symbol matrix into the frequency-time domain to obtain a frequency-time domain transmission symbol matrix, wherein the sensing sequence and the communication data in the frequency-time domain transmission symbol matrix are interleaved in a time slot in the frequency-time domain; Adding a cyclic prefix to the frequency-time domain transmission symbol matrix, transforming it to the time domain, obtaining a time domain transmission symbol matrix, and performing a vectorization operation to obtain a time domain transmission symbol vector; The time domain transmission symbol vector reaches the communication receiving end via a wireless channel, and / or The time domain transmission symbol vector reaches the perception receiving end after being reflected by the perception target.

2. The method according to claim 1, characterized in that: The number of delay-Doppler domain grids is , where a represents the number of delay-Doppler domain grids, N represents the number of set time slots, and k max is the maximum Doppler index value set, Indicates a round-up operation.

3. The method according to claim 2, characterized in that The structure of the delay-Doppler domain grid is: ； in, represents the i-th delay-Doppler domain grid, i=0,···,a-1, M represents the set number of subcarriers, Δf is the subcarrier spacing, and T is the duration of each time slot; Placing the sensing sequence and the communication data in different delay-Doppler domain grids further includes: Placing the sensing sequence on a delay-Doppler domain grid middle; Placing the communication data in a delay-Doppler domain grid middle.

4. The method according to claim 3, characterized in that The frequency-time domain symbol carrying the perception sequence is located in the time slot n=0, a,...,a(N / a-1); The frequency-time domain symbols carrying the communication data are located in time slots n=i, a+i, ···, a(N / a-1)+i, i=1, ···, a-1.

5. The method according to claim 2, characterized in that: After spreading the transmission symbol matrix in each delay-Doppler grid using the spreading factor and superimposing them in the delay-Doppler domain, the formula for obtaining the transmission symbol matrix in the delay-Doppler domain is: ； ； in, represents the delay-Doppler domain transmitted symbol matrix, , is the transmit symbol matrix placed in the ith delay-Doppler grid, , represents the spreading factor vector corresponding to the transmitted symbol matrix in the i-th delay-Doppler grid, , Represents the Kronecker product operation.

6. A synaesthesia-integrated anti-interference transmission method, characterized in that: Executed by a sensing receiving end, the method includes: Receive the time domain transmission symbol vector reflected by the sensed target, remove the cyclic prefix, and obtain the time domain reception symbol matrix through devectorization operation; Transforming the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix; Setting all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, to obtain a frequency-time domain reception perception symbol matrix; Transforming the frequency-time domain reception perception symbol matrix into the delay-Doppler domain to obtain the delay-Doppler domain reception perception symbol matrix; Calculating a channel estimation value matrix according to the delay-Doppler domain received perception symbol matrix and the perception sequence in the delay-Doppler domain, wherein the perception sequence is negotiated and agreed upon by the perception receiving end and the transmitting end; A perception parameter is obtained according to the channel estimation value matrix.

7. The method according to claim 6, characterized in that Receiving the time domain transmission symbol vector reflected by the perceived target and removing the cyclic prefix, and obtaining the time domain reception symbol matrix through the devectorization operation further includes: Using the formula The time domain transmission symbol vector is calculated to obtain a time domain reception symbol vector, wherein: represents the time domain received symbol vector, , M represents the number of subcarriers set, N represents the number of time slots set, is a diagonal block matrix, , , , , where α target represents the perceived target reflection coefficient, ,in, , l target , k target are the integer indices corresponding to the perceived target delay and Doppler, , is the M×M dimensional identity matrix, , represents the time domain transmitted symbol vector, is the additive white Gaussian noise vector in time domain; For the time domain received symbol vector Perform devectorization operation to obtain the time domain reception symbol matrix , .

8. The method according to claim 7, characterized in that All symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix are set to zero, and the formula for obtaining the frequency-time domain reception perception symbol matrix is: ； in, The received symbol matrix is ​​the frequency-time domain The symbol in the mth row and nth column of the frequency-time domain reception perception symbol matrix after the zeroing operation Depend on , a represents the number of delay-Doppler domain grids, and the frequency-time domain symbols carrying the perception sequence are located in time slots n=0, a,···,a(N / a-1).

9. The method according to claim 8, characterized in that Obtaining the perception parameter according to the channel estimation value matrix further includes: Determine the element with the largest absolute value in the channel estimation value matrix, and use the index of the element as the integer index corresponding to the perceived target delay and Doppler; The perceived target distance and speed are calculated according to the integer index corresponding to the perceived target delay and Doppler.

10. A synaesthesia-integrated anti-interference transmission method, characterized in that: Executed by a communication receiving end, the method includes: Receive the time domain transmission symbol vector sent by the transmitter, remove the cyclic prefix, and obtain the time domain reception symbol matrix through devectorization operation; Transforming the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix; Setting all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, to obtain a frequency-time domain reception estimation symbol matrix; Transforming the frequency-time domain reception estimation symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain reception estimation symbol matrix; Calculate a channel estimation value matrix according to the delay-Doppler domain reception estimation symbol matrix and the perception sequence in the delay-Doppler domain, wherein the perception sequence is agreed upon by the communication receiving end and the transmitting end; Setting all symbols in the time slot where the sensing sequence is located in the frequency-time domain reception symbol matrix to zero to obtain a frequency-time domain reception communication symbol matrix; Transforming the frequency-time domain received communication symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain received communication symbol matrix; The communication data in the delay-Doppler domain is calculated according to the delay-Doppler domain received communication symbol matrix and the channel estimation value matrix.

11. The method according to claim 10, characterized in that Receiving the time domain transmission symbol vector sent by the transmitting end, removing the cyclic prefix, and obtaining the time domain reception symbol matrix through the devectorization operation further includes: Using the formula The time domain transmission symbol vector is calculated to obtain a time domain reception symbol vector, wherein: represents the time domain received symbol vector, , M represents the number of subcarriers set, N represents the number of time slots set, is a diagonal block matrix, , , , , where P represents the number of propagation paths between the transmitter and the receiver, and h p represents the channel gain of the pth propagation path, τ p represents the actual delay of the pth propagation path, Represents and τ p The relevant delay index, ,in, , v p represents the Doppler frequency shift of the pth propagation path, Indicates that v p The associated Doppler index, , is the identity matrix, , represents the time domain transmitted symbol vector, is the additive white Gaussian noise vector in time domain; For the time domain received symbol vector Perform devectorization operation to obtain the time domain reception symbol matrix , .

12. The method according to claim 11, characterized in that All symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix are set to zero, and the formula for obtaining the frequency-time domain reception estimation symbol matrix is: ； in, The received symbol matrix is ​​the frequency-time domain The symbol in the mth row and nth column of the frequency-time domain received estimation symbol matrix after the zeroing operation Depend on , a represents the number of delay-Doppler domain grids, and the frequency-time domain symbols carrying the perception sequence are located in time slots n=0, a,···,a(N / a-1).

13. The method according to claim 12, characterized in that All symbols in the time slot where the sensing sequence is located in the frequency-time domain reception symbol matrix are set to zero, and the formula for obtaining the frequency-time domain reception communication symbol matrix is: ； Among them, the frequency-time domain received communication symbol matrix after the zeroing operation is Depend on composition.

14. A synaesthesia-integrated anti-interference transmission device, characterized in that: The device comprises: A delay-Doppler domain grid placement unit is used to place the sensing sequence and the communication data in different delay-Doppler domain grids respectively to obtain a transmission symbol matrix in each delay-Doppler grid, wherein the sensing sequence is negotiated and agreed upon by the transmitting end and the communication receiving end and / or the sensing receiving end; A spreading and superposition unit is used to spread the transmission symbol matrix in each delay-Doppler grid using the spreading factor and superpose it in the delay-Doppler domain to obtain a delay-Doppler domain transmission symbol matrix; A frequency-time domain conversion unit, configured to transform the delay-Doppler domain transmission symbol matrix into the frequency-time domain to obtain a frequency-time domain transmission symbol matrix, wherein the sensing sequence and the communication data in the frequency-time domain transmission symbol matrix are interleaved in a time slot in the frequency-time domain; A time domain transform unit, configured to add a cyclic prefix to the frequency-time domain transmission symbol matrix, and then transform it to the time domain to obtain a time domain transmission symbol matrix; a sending unit, configured to obtain a time domain sending symbol vector by performing a vectorization operation on the time domain sending symbol matrix, wherein the time domain sending symbol vector reaches the communication receiving end via a wireless channel, and / or The time domain transmission symbol vector reaches the perception receiving end after being reflected by the perception target.

15. A synaesthesia-integrated anti-interference transmission device, characterized in that: The device comprises: A receiving unit, used for receiving a time domain transmission symbol vector of a sensing target reflection, removing a cyclic prefix, and obtaining a time domain reception symbol matrix through a de-vectorization operation; A frequency-time domain conversion unit, used to transform the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix; A perception sequence retaining unit, configured to set all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception perception symbol matrix; A delay-Doppler domain conversion unit, used to transform the frequency-time domain reception perception symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain reception perception symbol matrix; A channel estimation value matrix calculation unit, configured to calculate a channel estimation value matrix according to the delay-Doppler domain reception perception symbol matrix and the perception sequence in the delay-Doppler domain, wherein the perception sequence is negotiated and agreed upon by a perception receiving end and a transmitting end; A perception parameter determination unit is used to obtain the perception parameter according to the channel estimation value matrix.

16. A synaesthesia integrated anti-interference transmission device, characterized in that: The device comprises: A receiving unit, configured to receive a time domain transmission symbol vector sent by a transmitting end, remove a cyclic prefix, and obtain a time domain reception symbol matrix through a devectorization operation; A frequency-time domain conversion unit, used to transform the time domain reception symbol matrix into the frequency-time domain to obtain a frequency-time domain reception symbol matrix; A perception sequence retaining unit, configured to set all symbols in all time slots except the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception estimation symbol matrix; A delay-Doppler domain conversion unit, used to transform the frequency-time domain reception estimation symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain reception estimation symbol matrix; A channel estimation value matrix calculation unit, configured to calculate a channel estimation value matrix according to the delay-Doppler domain reception estimation symbol matrix and the delay-Doppler domain sensing sequence, wherein the sensing sequence is negotiated and agreed upon by the communication receiving end and the transmitting end; A communication data retaining unit, used for setting all symbols in the time slot where the perception sequence is located in the frequency-time domain reception symbol matrix to zero, so as to obtain a frequency-time domain reception communication symbol matrix; The delay-Doppler domain conversion unit is further used to transform the frequency-time domain received communication symbol matrix into the delay-Doppler domain to obtain the delay-Doppler domain received communication symbol matrix; The communication data calculation unit is used to calculate the communication data in the delay-Doppler domain according to the communication symbol matrix received in the delay-Doppler domain and the channel estimation value matrix.

17. A synaesthesia integrated anti-interference transmission system, characterized in that: The system includes a transmitting end and at least one of a communication receiving end and a perception receiving end; The transmitting end performs the method described in any one of claims 1 to 5 when performing interaceptive integrated anti-interference transmission; The sensing receiving end executes the method described in any one of claims 6 to 9 when performing interaceptive integrated anti-interference transmission; The communication receiving end executes the method described in any one of claims 10-13 when performing interaceptive integrated anti-interference transmission.

18. A computer device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: When the processor executes the computer program, the method according to any one of claims 1 to 13 is implemented.

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