A synesthesia integrated anti-interference transmission method, device, system and equipment

Abstract

The present invention relates to an anti-interference transmission method, device, system and equipment for synesthesia integration. Modulation and demodulation are performed in the time delay-Doppler domain. The transmitting end adopts a spread spectrum superposition scheme, so that the sensing sequence and communication data are arranged in an interleaved state in different time slots in the frequency-time domain. The receiving end adopts a time slot zeroing scheme in the frequency-time domain, and zeroes the time slot symbols that are not related to the target sensing / channel estimation / signal detection respectively, thereby efficiently avoiding ICI in future high-speed mobile scenarios, making the received symbols of the sensing sequence and communication data non-interfering in the time delay-Doppler domain, and further improving the system performance.

Description

Technical Field

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

[0002] Traditional communication and sensing systems usually occupy independent spectrum resources respectively, resulting in low spectrum utilization. However, the integrated sensing and communication (ISAC) technology can enable the communication and sensing functions to work collaboratively on the same spectrum. Through reasonable resource allocation and signal design, the communication and sensing services can dynamically share the spectrum, greatly improving the 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 applied to intelligent applications that require both communication and high-precision sensing capabilities.

[0003] ISAC signals can directly affect the performance of sensing and communication. Orthogonal Frequency Division Multiplexing (OFDM) is the signal of 4G and 5G systems. Traditional ISAC signals are mainly based on OFDM-based ISAC signals, which achieve the sensing function while maintaining the original communication function. However, for future high-speed mobile scenarios, the Doppler effect will cause the orthogonality between subcarriers of the traditional OFDM system to be destroyed, thereby triggering severe Inter-Carrier Inference (ICI), which greatly affects the system performance. In addition, Orthogonal Time Frequency Space (OTFS) is regarded as a candidate signal for 6G. The ISAC signal based on OTFS performs modulation and demodulation in the delay-Doppler domain and can effectively overcome ICI. However, the mutual interference between the sensing and communication signals will result in poor system performance.

[0004] Therefore, traditional ISAC signals can no longer meet the requirements of future high-speed mobile scenarios, and there is an urgent need for an anti-interference transmission scheme for ISAC signals. 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 for integrated sensing and communication. In the delay-Doppler domain, a spread-spectrum superposition transmission scheme is used to make the sensing sequence and communication data staggered 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 sensing sequence and communication data, and they do not interfere with each other. At the same time, the sensing sequence can be used as the basis for channel estimation at the communication receiving end.

[0006] The specific technical solution of the embodiments of this specification is as follows:

[0007] On the one hand, the embodiments of this specification provide an anti-interference transmission method for integrated communication and sensing, which is executed by a transmitting end. The method includes:

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

[0009] Spreading the transmission symbol matrix in each time-delay - Doppler grid using a spreading factor and then performing superposition in the time-delay - Doppler domain to obtain a time-delay - Doppler domain transmission symbol matrix;

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

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

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

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

[0014] Based on the same inventive concept, the embodiments of this specification also provide an anti-interference transmission method for integrated communication and sensing, which is executed by a sensing receiving end. The method includes:

[0015] Receiving the time domain transmission symbol vector reflected by the sensing target, removing the cyclic prefix, and obtaining a time domain received symbol matrix through a de-vectorization operation;

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

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

[0018] Transforming the frequency - time domain received sensing symbol matrix to the time-delay - Doppler domain to obtain a time-delay - Doppler domain received sensing symbol matrix;

[0019] Calculate the channel estimation value matrix according to the time-delay Doppler domain received sensing symbol matrix and the sensing sequence in the time-delay Doppler domain, where the sensing sequence is agreed upon by the sensing receiver and the transmitter;

[0020] Obtain the sensing parameters according to the channel estimation value matrix.

[0021] Based on the same inventive concept, an embodiment of this specification further provides an anti-interference transmission method for integrated communication and sensing, which is executed by a communication receiver. The method includes:

[0022] Receive the time-domain transmitted symbol vector sent by the transmitter, remove the cyclic prefix, and obtain the time-domain received symbol matrix through the quantization operation;

[0023] Transform the time-domain received symbol matrix to the frequency-time domain to obtain the frequency-time domain received symbol matrix;

[0024] Set all symbols in all time slots except the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain the frequency-time domain received estimated symbol matrix;

[0025] Transform the frequency-time domain received estimated symbol matrix to the time-delay Doppler domain to obtain the time-delay Doppler domain received estimated symbol matrix;

[0026] Calculate the channel estimation value matrix according to the time-delay Doppler domain received estimated symbol matrix and the sensing sequence in the time-delay Doppler domain, where the sensing sequence is agreed upon by the communication receiver and the transmitter;

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

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

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

[0030] On the other hand, an embodiment of this specification further provides an anti-interference transmission device for integrated communication and sensing. The device includes:

[0031] A time-delay Doppler domain grid placement unit, configured to place the sensing sequence and communication data in different time-delay Doppler domain grids respectively to obtain the transmitted symbol matrix in each time-delay Doppler grid, where the sensing sequence is agreed upon by the transmitter and the communication receiver and / or the sensing receiver;

[0032] A spread spectrum superposition unit, which is configured to spread the transmission symbol matrix in each delay-Doppler grid by using a spreading factor and then perform superposition in the delay-Doppler domain to obtain a transmission symbol matrix in the delay-Doppler domain;

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

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

[0035] A transmission unit, which is configured to perform a vectorization operation on the transmission symbol matrix in the time domain to obtain a transmission symbol vector in the time domain, and the transmission symbol vector in the time domain reaches the communication receiving end through a wireless channel, and / or

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

[0037] Based on the same inventive concept, an embodiment of the present specification further provides an anti-interference transmission device for communication and sensing integration, and the device includes:

[0038] A receiving unit, which is configured to receive the transmission symbol vector in the time domain reflected by the sensing target, remove the cyclic prefix, and perform a de-vector operation to obtain a receiving symbol matrix in the time domain;

[0039] A frequency-time domain conversion unit, which is configured to transform the receiving symbol matrix in the time domain into the frequency-time domain to obtain a receiving symbol matrix in the frequency-time domain;

[0040] A sensing sequence reservation unit, which is configured to set all symbols in all time slots except the time slots where the sensing sequence is located in the receiving symbol matrix in the frequency-time domain to zero to obtain a receiving sensing symbol matrix in the frequency-time domain;

[0041] A delay-Doppler domain conversion unit, which is configured to transform the receiving sensing symbol matrix in the frequency-time domain into the delay-Doppler domain to obtain a receiving sensing symbol matrix in the delay-Doppler domain;

[0042] A channel estimate value matrix calculation unit, which is configured to calculate a channel estimate value matrix according to the receiving sensing symbol matrix in the delay-Doppler domain and the sensing sequence in the delay-Doppler domain, and the sensing sequence is negotiated and agreed upon by the sensing receiving end and the sending end;

[0043] A sensing parameter determination unit, which is configured to obtain sensing parameters according to the channel estimate value matrix.

[0044] Based on the same inventive concept, an embodiment of this specification further provides an anti-interference transmission device for integrated communication and sensing. The device includes:

[0045] A receiving unit, configured to receive a time-domain transmission symbol vector sent by a sending end, remove a cyclic prefix, and obtain a time-domain received symbol matrix through a direction quantization operation;

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

[0047] A sensing sequence retention unit, configured to set all symbols in all time slots except the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero, to obtain a frequency-time domain received estimated symbol matrix;

[0048] A delay-Doppler domain conversion unit, configured to transform the frequency-time domain received estimated symbol matrix into a delay-Doppler domain to obtain a delay-Doppler domain received estimated symbol matrix;

[0049] A channel estimation value matrix calculation unit, configured to calculate a channel estimation value matrix according to the delay-Doppler domain received estimated symbol matrix and the sensing sequence in the delay-Doppler domain, where the sensing sequence is negotiated and agreed upon between a communication receiving end and the sending end;

[0050] A communication data retention unit, configured to set all symbols in the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero, to obtain a frequency-time domain received communication symbol matrix;

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

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

[0053] On the other hand, an embodiment of this specification further provides an anti-interference transmission system for integrated communication and sensing. The system includes a sending end, and further includes at least one of a communication receiving end and a sensing receiving end;

[0054] When performing anti-interference transmission for integrated communication and sensing, the sending end executes the method executed by the above-mentioned sending end;

[0055] When performing anti-interference transmission for integrated communication and sensing, the sensing receiving end executes the method executed by the above-mentioned sensing receiving end;

[0056] When the communication receiving end performs anti-interference transmission for integrated communication and sensing, it executes the method performed by the above-mentioned communication receiving end.

[0057] On the other hand, an embodiment of this specification also provides a computer device, including a memory, a processor, and a computer program stored on the memory. When the processor executes the computer program, the above-mentioned method is implemented.

[0058] Using the embodiment of this specification, modulation and demodulation are performed in the time delay-Doppler domain. The sending end adopts a spread spectrum superposition scheme, so that the sensing sequence and communication data are arranged in an interleaved state in different time slots in the frequency-time domain. The receiving end adopts a time slot zeroing scheme in the frequency-time domain, and zeros the time slot symbols that are not relevant to target sensing / channel estimation / signal detection respectively. Thus, in the future high-speed mobile scenario, ICI is efficiently avoided, and the received symbols of the sensing sequence and communication data do not interfere with each other in the time delay-Doppler domain, thereby improving the system performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] In order to more clearly illustrate the technical solutions in the embodiments of this specification or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the embodiments of this specification. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0060] Figure 1 The figure shows a schematic diagram of an implementation system of an anti-interference transmission method for integrated communication and sensing in an embodiment of this specification;

[0061] Figure 2 The figure shows a first flowchart of an anti-interference transmission method for integrated communication and sensing in an embodiment of this specification;

[0062] Figure 3 The figure shows a second flowchart of an anti-interference transmission method for integrated communication and sensing in an embodiment of this specification;

[0063] Figure 4 The figure shows a third flowchart of generating the startup configuration according to the target startup item in an embodiment of this specification;

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

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

[0066] Figure 7The figure shows a first structural schematic diagram of an anti-interference transmission device with integrated communication and sensing in an embodiment of this specification;

[0067] Figure 8 The figure shows a second structural schematic diagram of an anti-interference transmission device with integrated communication and sensing in an embodiment of this specification;

[0068] Figure 9 The figure shows a third structural schematic diagram of an anti-interference transmission device with integrated communication and sensing in an embodiment of this specification;

[0069] Figure 10 The figure shows a structural schematic diagram of a computer device in an embodiment of this specification.

[0070]

Explanation of Reference Numerals

[0071] 101, base station; 102, sensing target; 103, sensing receiving end; 104, communication receiving end; 701, time-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 retention unit; 804, time-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, sensing sequence retention unit; 904, time-delay - Doppler domain conversion unit; 905, channel estimation value matrix calculation unit; 906, communication data retention unit; 907, communication data calculation unit; 1002, computer device; 1004, processing device; 1006, storage resource; 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 Implementation Manner

[0072] Next, the technical solutions in the embodiments of this specification will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this specification, rather than all the embodiments. Based on the embodiments in this specification, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the embodiments of this specification.

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

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

[0075] It should be noted that in the embodiments of this specification, certain industry-existing solutions such as certain software, components, models, etc. may be mentioned. They should be regarded as exemplary, and their purpose is only to illustrate the feasibility in the implementation of the technical solutions of this application, but it does not mean that the applicant has already or necessarily used this solution.

[0076] As Figure 1 shown in the figure is a schematic diagram of an implementation system of an integrated communication and sensing anti-interference transmission method in the embodiments of this specification, including a base station 101, a sensing target 102, a sensing receiver 103, and a communication receiver 104. The base station 101 sends a signal to the sensing target 102, the sensing target 102 reflects the signal to the sensing receiver 103, the sensing receiver 103 analyzes the sensing parameters of the signal, the base station 101 sends the signal to the communication receiver 104, and the communication receiver 104 analyzes the communication data in the signal.

[0077] In some other embodiments of this specification, the sensing receiver 103 can also be set on the base station 101.

[0078] To solve the problem that in the future high-speed mobile scenario, the Doppler effect will cause the orthogonality between subcarriers of the traditional OFDM system to be destroyed, which will in turn cause serious ICI and greatly affect the system performance, the embodiments of this specification provide an integrated communication and sensing anti-interference transmission method. As Figure 2 shown, the method includes:

[0079] Step 201: Place the sensing sequence and communication data in different time-delay-Doppler domain grids respectively to obtain a transmission symbol matrix in each time-delay-Doppler grid, and the sensing sequence is negotiated and agreed upon by the transmitter and the communication receiver and / or the sensing receiver;

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

[0081] Step 203: Transform the transmission symbol matrix in the delay-Doppler domain to the frequency-time domain to obtain a transmission symbol matrix in the frequency-time domain, where the sensing sequence and the communication data in the transmission symbol matrix in the frequency-time domain are interleaved in the time slots of the frequency-time domain;

[0082] Step 204: Add a cyclic prefix to the transmission symbol matrix in the frequency-time domain and then transform it to the time domain to obtain a transmission symbol matrix in the time domain, and obtain a transmission symbol vector in the time domain through a vectorization operation;

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

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

[0085] Correspondingly, as Figure 3 shown, the steps for the sensing receiving end to receive the transmission symbol vector in the time domain and analyze the sensing parameters are as follows:

[0086] Step 301: Receive the transmission symbol vector in the time domain reflected by the sensing target, remove the cyclic prefix, and obtain a received symbol matrix in the time domain through a de-vectorization operation;

[0087] Step 302: Transform the received symbol matrix in the time domain to the frequency-time domain to obtain a received symbol matrix in the frequency-time domain;

[0088] Step 303: Set all the symbols in all the time slots except the time slots where the sensing sequence is located in the received symbol matrix in the frequency-time domain to zero to obtain a received sensing symbol matrix in the frequency-time domain;

[0089] Step 304: Transform the received sensing symbol matrix in the frequency-time domain to the delay-Doppler domain to obtain a received sensing symbol matrix in the delay-Doppler domain;

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

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

[0092] Correspondingly, as Figure 4As shown, the steps for the communication receiver to receive the time-domain transmitted symbol vector and parse the sensing parameters are as follows:

[0093] Step 401: Receive the time-domain transmitted symbol vector sent by the transmitter, remove the cyclic prefix, and obtain the time-domain received symbol matrix through dequantization operation;

[0094] Step 402: Transform the time-domain received symbol matrix to the frequency-time domain to obtain the frequency-time domain received symbol matrix;

[0095] Step 403: Set all symbols in all time slots except the time slots where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain the frequency-time domain received estimated symbol matrix;

[0096] Step 404: Transform the frequency-time domain received estimated symbol matrix to the delay-Doppler domain to obtain the delay-Doppler domain received estimated symbol matrix;

[0097] Step 405: Calculate the channel estimate value matrix according to the delay-Doppler domain received estimated symbol matrix and the sensing sequence in the delay-Doppler domain;

[0098] Step 406: Set all symbols in the time slots where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain the frequency-time domain received communication symbol matrix;

[0099] Step 407: Transform the frequency-time domain received communication symbol matrix to 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 estimate value matrix.

[0101] In the embodiments of this specification, the number of grids in the delay-Doppler domain is , where a represents the number of grids in the delay-Doppler domain, N represents the set number of time slots, k max is the set maximum Doppler index value, represents the ceiling operation.

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

[0103] ;

[0104] Among them, represents the i-th grid in the delay-Doppler domain, 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] Place the sensing sequence and communication data in different time-delay - Doppler domain grids respectively to obtain the transmitted symbol matrix in the \(i\)-th time-delay - Doppler grid .

[0106] Preferably, in the embodiments of this specification, the sensing sequence is placed in the time-delay - Doppler domain grid ; and the communication data is placed in the time-delay - Doppler domain grid .

[0107] Then, use the spreading factor vector to spread into an \(M\times N\) - dimensional matrix :

[0108]

[0109] where the \(b\)-th element \(\gamma\) in i,b =\(\text{exp}(j2\pi ib / a)\), \(\text{exp}(\cdot)\) represents the exponential function with base \(e\), and \(j\) represents the imaginary unit represents the spreading factor vector corresponding to the transmitted symbol matrix in the \(i\)-th time-delay - Doppler grid, represents the Kronecker product operation

[0110] Then, superimpose \(a\) to obtain the transmitted symbol matrix in the time-delay - Doppler domain

[0111]

[0112] Then, transform the transmitted symbol matrix in the time-delay - Doppler domain to the frequency - time domain to obtain the transmitted symbol matrix in the frequency - time domain. Optionally, transform the transmitted symbol matrix in the time-delay - Doppler domain to the frequency - time domain through the two-dimensional inverse symplectic finite Fourier transform (ISFFT):

[0113]

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

[0115] (4)

[0116] Since the spreading factor vector is utilized, the sensing sequence and communication data are interleaved in the time - frequency domain slots, as Figure 5 shown. The time - frequency domain symbols carrying the sensing sequence are located in the slots n = 0, a, ···, a(N / a - 1), and the time - frequency domain symbols carrying the communication data are located in the slots n = i, a + i, ···, a(N / a - 1)+i, where i = 1, ···, a - 1.

[0117] Then, a cyclic prefix (CP) with length L is added to the time - frequency domain transmission symbol matrix CP = l max to avoid interference between sensing symbols and communication symbols. l max is the set maximum delay index.

[0118] Then, it is transformed into the time domain. Optionally, through the Heisenberg transform, the time - domain transmission symbol matrix

[0119]

[0120] is the rectangular transmission pulse shaping matrix, is the M×M - dimensional identity matrix. Through the vectorization operation, the time - domain transmission symbol vector is obtained.

[0121] At the sensing receiver, considering the base - station self - transmitting and self - receiving sensing mode, the time - domain transmission symbol vector reaches the sensing receiver after passing through a sensing target at a distance d target (m) with a speed of υ target (m / s). At this time, the delay τ target and the Doppler frequency shift v target are respectively:

[0122]

[0123]

[0124] where c is the speed of light, f c is the carrier frequency, l target , k target are the perceived target time delay and the Doppler corresponding integer index respectively. Let α target be the reflection coefficient of the perceived target, and the time delay-Doppler domain channel response h target (τ, v) is:

[0125]

[0126] where δ(·) is the Dirac δ function.

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

[0128]

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

[0130]

[0131] where , , , and the permutation matrix is:

[0132]

[0133] The time-domain received symbol vector is transformed into the time-domain received symbol matrix through the outgoing quantization operation, and the time-domain received symbol matrix is transformed into the frequency-time domain to obtain the frequency-time domain received symbol matrix. Optionally, the symbol is transformed into the frequency-time domain through the Wigner transform to obtain the frequency-time domain received symbol matrix

[0134]

[0135] Among them is a rectangular received pulse shaping matrix. Since CP is added in this scheme, the sensing sequence and communication data do not interfere with each other and are interleaved in different time slots, as Figure 5 shown. Set all the symbols in all time slots except the time slots where the sensing sequence is located in the frequency-time domain received symbol matrix to zero, and only keep the symbols carrying the sensing sequence, to obtain the frequency-time domain received sensing symbol matrix , that is:

[0136]

[0137] Among them, is the symbol in the m-th row and n-th column of the frequency-time domain received symbol matrix . The frequency-time domain received sensing symbol matrix after the zeroing operation is composed of . a represents the number of delay-Doppler domain grids when the transmitting end generates the time domain transmitted symbol matrix. The frequency-time domain symbols carrying the sensing sequence are located in time slots n = 0, a, ···, a(N / a - 1).

[0138] Transform the frequency-time domain received sensing symbol matrix to the delay-Doppler domain to obtain the delay-Doppler domain received sensing symbol matrix. Optionally, the frequency-time domain received sensing symbol matrix is transformed into the delay-Doppler domain received sensing symbol matrix through the Symplectic Finite Fourier Transform (SFFT)

[0139]

[0140] Then, according to the delay-Doppler domain received sensing symbol matrix and the sensing sequence in the time domain transmitted symbol matrix (the sensing sequence is known to both the sensing receiving end and the communication receiving end), calculate the channel estimation value matrix. Specifically:

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

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

[0143]

[0144] Among them, represents the Fourier transform, represents the inverse Fourier transform, represents first performing the Fourier transform and then conjugate calculation.

[0145] Finally, the sensing parameter is obtained according to the channel estimation value matrix. Specifically:

[0146] As can be seen from formula (8), the channel estimation value matrix the element with the largest absolute value has an index that is the integer index corresponding to the sensing target delay and Doppler and ;

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

[0148]

[0149]

[0150] Among them, is the sensing target distance, is the speed.

[0151] At the communication receiving end, considering a baseband equivalent channel model with P propagation paths, the channel gain of the p-th (p = 1, ···, P) path is h p , the actual delay τ p , the line-of-sight path Doppler shift v LoS and the p-th reflected path Doppler shift v p are respectively

[0152]

[0153]

[0154]

[0155] Among them is the delay and Doppler index related to τ p and v p , υ is the maximum speed of the communication terminal device, β pis the arrival angle of the p-th reflection path. The time-delay Doppler domain channel response h(τ, v) is

[0156]

[0157] The time-domain received symbol vector after the CP is removed at the communication receiver is

[0158]

[0159] where is the time-domain AWGN vector, and the time-domain channel matrix is a diagonal block matrix, denoted as The sub-matrix is

[0160]

[0161] where

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

[0163] Perform the quantization operation on the time-domain received symbol vector to obtain the time-domain received symbol matrix , .

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

[0165]

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

[0167] a) Channel estimation

[0168] Similar to equations ~ , all symbols except those in time slots n = 0, a, ···, a(N / a - 1) are set to zero, and only the symbols carrying the sensing sequence are retained, that is:

[0169]

[0170] where is the symbol in the \(m\)-th row and \(n\)-th column of the frequency-time domain received sensing symbol matrix after the zeroing operation consists of . The received symbol matrix in the delay-Doppler domain is obtained by SFFT

[0171]

[0172] Select \(Y\) of them est [l, k], where \(l = 0,\cdots,M - 1\) and \(k = 0,\cdots,N / a - 1\), denoted as . The channel estimation value matrix in the delay-Doppler domain is obtained by two-dimensional matched filtering

[0173]

[0174] b) Signal detection

[0175] All symbols in the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix are set to zero, obtaining the frequency-time domain received communication symbol matrix:

[0176]

[0177] where the frequency-time domain received communication symbol matrix after the zeroing operation consists of .

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

[0179]

[0180] Select \(Y\) of them dect,i [l, k], where \(l = 0,\cdots,M - 1\) and \(k = 0,\cdots,N / a - 1\), denoted as . The normalized estimated value is obtained by Minimum Mean Square Error (MMSE) detection :

[0181]

[0182] Exemplarily:

[0183] (1)Base station transmitter

[0184] Let the number of sub - carriers be M = 16, the number of time slots be N = 12, and the maximum Doppler index value k max = 3. There are a total of 16×3 - dimensional time - delay - Doppler domain grids. is the transmission symbol matrix placed in the i - th time - delay - Doppler grid. When i = 0, the sensing sequence is placed, and when i = 1, 2, 3, communication data is placed. Using the spreading factor vector to spread into a 16×12 - dimensional matrix , as shown in Equation , where the b - th element γ in i,b = exp(j2πib / 2), b = 0, 1, 2, 3. Stacking 4 to obtain :

[0185]

[0186] Matrix is subjected to two - dimensional ISFFT (see Equation ) 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, as shown in Figure 6 . The frequency - time domain symbols carrying the sensing sequence are located in time slots n = 0, 4, 8, and the frequency - time domain symbols carrying communication data are located in time slots n = i, 4 + i, 8 + i, where i = 1, 2, 3.

[0187] is adding a CP with length L CP = l max = 5 to avoid interference between sensing symbols and communication symbols, and obtaining the time - domain transmission symbol matrix through the Heisenberg transform, as shown in Equation . After the vectorization operation, the time - domain transmission symbol vector is obtained.

[0188] (2)Sensing receiver

[0189] The time - domain received symbol vector See Equation . The time-domain received symbol matrix is obtained through the de-vectorization operation , and the symbols are transformed to the frequency-time domain through the Wigner transform to obtain the frequency-time domain received symbol matrix , see Equation . Since CP is added in this scheme, the sensing sequence and communication data do not interfere with each other and are interleaved in different time slots, as shown in Figure 6 . All symbols except those in time slots n = 0, 4, 8 are set to zero, and only the symbols carrying the sensing sequence are retained, that is:

[0190]

[0191] The frequency-time domain received sensing symbol matrix after the zeroing operation is composed of . The delay-Doppler domain received sensing symbol matrix is obtained through the SFFT , see Equation . Select Y[l,k] among them, where l = 0, ···, 15 and k = 0, 1, 2, denoted as . The sensing parameters (sensing target speed, distance) are obtained using the two-dimensional matched filtering formulas (15)-(17).

[0192] (3)Communication receiver

[0193] The time-domain received symbol vector at the communication receiver after removing CP See Equation . The time-domain received symbol matrix is obtained through the de-vectorization operation , and the symbols are transformed to the frequency-time domain through the Wigner transform to obtain the frequency-time domain received symbol matrix . Since CP is added in this scheme, the sensing sequence and communication data do not interfere with each other and are interleaved in different time slots, as shown in Figure 4 . It is divided into two parts: the part for channel estimation and the part for signal detection

[0194] (a)Channel estimation

[0195] All symbols except those in time slots n = 0, 4, 8 are set to zero, and only the symbols carrying the sensing sequence are retained, that is

[0196]

[0197] The frequency-time domain received estimation symbol matrix after the zeroing operation is composed of . The received estimated symbol matrix in the time delay-Doppler domain is obtained by SFFT Select Y est [l,k], where l = 0, ···, 15 and k = 0, 1, 2, and denote it as The channel estimation value matrix in the time delay-Doppler domain is obtained by using two-dimensional matched filtering .

[0198] (b)Signal detection

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

[0200]

[0201] The received communication symbol matrix in the frequency-time domain after the zeroing operation It consists of . The received communication symbol matrix in the time delay-Doppler domain is obtained by SFFT Select Y dect,i [l,k], where l = 0, ···, 15 and k = 0, 1, 2, and denote it as Using the MMSE detection formula (30) to obtain the normalized estimated value .

[0202] Based on the same inventive concept, an embodiment of this specification also provides an anti-interference transmission device for integrated communication and sensing, as Figure 7 shown, including:

[0203] The time delay-Doppler domain grid placement unit 701 is used to place the sensing sequence and communication data in different time delay-Doppler domain grids respectively, to obtain the transmission symbol matrix in each time delay-Doppler grid, and the sensing sequence is negotiated and agreed upon 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 time delay-Doppler grid by using the spreading factor and then perform superposition in the time delay-Doppler domain to obtain the transmission symbol matrix in the time delay-Doppler domain;

[0205] The frequency-time domain conversion unit 703 is used to transform the transmission symbol matrix in the time delay-Doppler domain to the frequency-time domain to obtain the transmission symbol matrix in the frequency-time domain, and the sensing sequence and the communication data in the transmission symbol matrix in the frequency-time domain are staggered in the time slots of the frequency-time domain;

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

[0207] A transmission unit 705, configured to perform a vectorization operation on the time-domain transmission symbol matrix to obtain a time-domain transmission symbol vector, and the time-domain transmission symbol vector reaches the communication receiving end through a wireless channel, and / or

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

[0209] Correspondingly, an embodiment of this specification further provides an integrated communication and sensing anti-interference transmission device, as Figure 8 shown, including:

[0210] A receiving unit 801, configured to receive the time-domain transmission symbol vector reflected by the sensing target, remove the cyclic prefix, and perform a de-vectorization operation to obtain a time-domain received symbol matrix;

[0211] A frequency-time domain conversion unit 802, configured to transform the time-domain received symbol matrix into the frequency-time domain to obtain a frequency-time domain received symbol matrix;

[0212] A sensing sequence retention unit 803, configured to set all symbols in all time slots except the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received sensing symbol matrix;

[0213] A delay-Doppler domain conversion unit 804, configured to transform the frequency-time domain received sensing symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain received sensing symbol matrix;

[0214] A channel estimate value matrix calculation unit 805, configured to calculate a channel estimate value matrix according to the delay-Doppler domain received sensing symbol matrix and the sensing sequence in the delay-Doppler domain, and the sensing sequence is negotiated and agreed upon by the sensing receiving end and the sending end;

[0215] A sensing parameter determination unit 806, configured to obtain sensing parameters according to the channel estimate value matrix.

[0216] Correspondingly, an embodiment of this specification further provides an integrated communication and sensing anti-interference transmission device, as Figure 9 shown, including:

[0217] A receiving unit 901, configured to receive the time-domain transmission symbol vector sent by the sending end, remove the cyclic prefix, and perform a de-vectorization operation to obtain a time-domain received symbol matrix;

[0218] A frequency-time domain conversion unit 902, configured to transform the time-domain received symbol matrix into the frequency-time domain to obtain a frequency-time domain received symbol matrix;

[0219] A sensing sequence retention unit 903, configured to set all symbols in all time slots except the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received estimated symbol matrix;

[0220] A delay-Doppler domain conversion unit 904, configured to transform the frequency-time domain received estimated symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain received estimated symbol matrix;

[0221] A channel estimation value matrix calculation unit 905, configured to calculate a channel estimation value matrix according to the delay-Doppler domain received estimated symbol matrix and the sensing sequence in the delay-Doppler domain, where the sensing sequence is negotiated and agreed upon by the communication receiving end and the sending end;

[0222] A communication data retention unit 906, configured to set all symbols in the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received communication symbol matrix;

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

[0224] A communication data calculation unit 907, configured 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 device are the same as those obtained by the above method, and are not elaborated in the embodiments of this specification.

[0226] Based on the same inventive concept, the embodiments of this specification further provide an integrated communication and sensing anti-interference transmission system, where the system includes a sending end, and further includes at least one of a communication receiving end and a sensing receiving end;

[0227] When performing integrated communication and sensing anti-interference transmission, the sending end executes Figure 2 the method shown;

[0228] When performing integrated communication and sensing anti-interference transmission, the sensing receiving end executes Figure 3 the method shown;

[0229] When performing integrated communication and sensing anti-interference transmission, the communication receiving end executes Figure 4 the method shown.

[0230] As Figure 10 shown in the structural schematic diagram of the computer device according to the embodiment of the present specification, the device in the embodiment of the present specification may be the computer device in this embodiment, and execute the method of the embodiment of the present specification. 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 for storing any kind of information such as code, settings, data, etc. Non-limitingly, 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 devices, hard disks, optical discs, etc. More generally, any storage resource may store information using any technology. Further, any storage resource may provide volatile or non-volatile retention of information. Further, any storage resource may represent a fixed or removable component of the computer device 1002. In one case, when the processing device 1004 executes the associated instructions stored in any storage resource or combination of storage resources, the computer device 1002 may perform any operation of the associated instructions. The computer device 1002 also includes one or more drive mechanisms 1008 for interacting with any storage resource, such as a hard disk drive mechanism, an optical disc drive mechanism, etc.

[0231] The computer device 1002 may also include an input / output module 1010 (I / O) for receiving various inputs (via the input device 1012) and for providing various outputs (via the output device 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 it may only be a computer device in the 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] An embodiment of this specification also provides a computer-readable storage medium storing a computer program, and when the computer program is executed by a processor, the above method is implemented.

[0234] An embodiment of this specification also provides a computer-readable instruction, and when the processor executes the instruction, the program therein causes the processor to execute the above method.

[0235] It should be understood that in various embodiments of this specification, the sequence numbers of the above processes do not mean the order of execution. The order of execution of each process should be determined by its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of this 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 associated objects, indicating that three relationships may exist. For example, A and / or B may represent three situations: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / " in the embodiments of this specification generally represents an "or" relationship between the associated objects before and after.

[0237] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this specification can be implemented by electronic hardware, computer software, or a combination of the two. To clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described according to functions in the above description. Whether these functions are executed in a hardware or software 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 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 foregoing method embodiments and will not be repeated here.

[0239] In 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 merely illustrative. For example, the division of the units is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the displayed or discussed coupling or direct coupling or communication connection to each other may be an indirect coupling or communication connection through some interfaces, devices, or units, or may also be a connection in electrical, mechanical, or other forms.

[0240] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or may be distributed over multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiments of this specification.

[0241] In addition, in each of the embodiments of this specification, each functional unit may be integrated in a processing unit, or each unit may exist physically alone, or two or more units may be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0242] If the above 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 such an understanding, the technical solution of the embodiments of this specification, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the embodiments of this specification. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROMs), random access memories (RAMs), magnetic disks, or optical discs.

[0243] Specific embodiments are used in the embodiments of this specification to elaborate on the principles and implementation manners of the embodiments of this specification. The description of the above embodiments is only used to help understand the method and its core idea of the embodiments of this specification; at the same time, for those of ordinary skill in the art, according to the idea of the embodiments of this specification, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation on the embodiments of this specification.

Claims

1. A synaesthesia integrated anti-interference transmission method, characterized in that Executed by the transmitting end, the method includes: Placing the sensing sequence and communication data in different time-delay - Doppler domain grids respectively to obtain a transmission symbol matrix in each time-delay - Doppler grid, where the sensing sequence is negotiated between the transmitting end and the communication receiving end and / or the sensing receiving end; Spreading the transmission symbol matrix in each time-delay - Doppler grid using a spreading factor and then superimposing them in the time-delay - Doppler domain to obtain a transmission symbol matrix in the time-delay - Doppler domain; Transforming the transmission symbol matrix in the time-delay - Doppler domain to the frequency - time domain to obtain a transmission symbol matrix in the frequency - time domain, where the sensing sequence and the communication data are interleaved in the time slots of the frequency - time domain; Adding a cyclic prefix to the transmission symbol matrix in the frequency - time domain and then transforming it to the time domain to obtain a transmission symbol matrix in the time domain, and obtaining a time - domain transmission symbol vector through a vectorization operation; The time - domain transmission symbol vector reaches the communication receiving end through the wireless channel, and / or The time - domain transmission symbol vector reaches the sensing receiving end after being reflected by the sensing target; The structure of the time-delay - Doppler domain grid is: ； Among them, represents the i th time-delay Doppler domain grid, i = 0, ···, a -1, M represents the set number of subcarriers, Δ f is the subcarrier spacing, T is the duration of each time slot, a represents the number of time-delay Doppler domain grids, N represents the set number of time slots; Placing the sensing sequence and communication data in different time-delay - Doppler domain grids respectively further includes: Place the sensing sequence in the time-delay - Doppler domain grid ; Place the communication data in a time-delay - Doppler domain grid therein.

2. The method according to claim 1, wherein The number of the time delay-Doppler domain grids is , where k max is the set maximum Doppler index value, denotes the ceiling operation.

3. The method according to claim 2, characterized in that, The frequency-time domain symbol carrying the sensing sequence is located in time slots n =0, a ,···, a ( N / a -1); The frequency-time domain symbol carrying the communication data is located in the time slot n = i , a + i ,···, a ( N / a -1)+ i , i =1,···, a -1.

4. The method according to claim 2, wherein The formula for spreading the transmission symbol matrix in each time-delay - Doppler grid using a spreading factor and then superimposing them in the time-delay - Doppler domain to obtain a transmission symbol matrix in the time-delay - Doppler domain is: ； ； Among them, represents the transmit symbol matrix in the time delay-Doppler domain, , is the transmit symbol matrix placed in the i-th time delay-Doppler grid, , represents the spreading factor vector corresponding to the transmit symbol matrix in the i-th time delay-Doppler grid, , represents the Kronecker product operation.

5. A synesthesia-integrated anti-interference transmission method, characterized in that, Executed by the sensing receiving end, for receiving the time - domain transmission symbol vector generated by claim 1, the method includes: Receiving the time - domain transmission symbol vector reflected by the sensing target, removing the cyclic prefix, and obtaining a time - domain received symbol matrix through a de - vectorization operation; Transforming the time - domain received symbol matrix to the frequency - time domain to obtain a frequency - time domain received symbol matrix; Setting all symbols in all time slots except the time slot where the sensing sequence is located in the frequency - time domain received symbol matrix to zero to obtain a frequency - time domain received sensing symbol matrix; Transforming the frequency - time domain received sensing symbol matrix to the time-delay - Doppler domain to obtain a time-delay - Doppler domain received sensing symbol matrix; Calculating a channel estimation value matrix according to the time-delay - Doppler domain received sensing symbol matrix and the sensing sequence in the time-delay - Doppler domain, where the sensing sequence is negotiated between the sensing receiving end and the transmitting end; Obtaining sensing parameters according to the channel estimation value matrix.

6. The method according to claim 5, wherein Receiving the time - domain transmission symbol vector reflected by the sensing target, removing the cyclic prefix, and obtaining a time - domain received symbol matrix through a de - vectorization operation further includes: Calculate the time-domain transmitted symbol vector using the formula to obtain the time-domain received symbol vector, where represents the time-domain received symbol vector, , M represents the set number of subcarriers, N represents the set number of time slots, is a diagonal block matrix, , , , , where α target represents the reflection coefficient of the sensing target, , where , l target and k target are the integer indices corresponding to the time delay and Doppler of the sensing target respectively, , is an M×M dimensional identity matrix, , represents the time-domain transmitted symbol vector, is the time-domain additive white Gaussian noise vector; Perform a quantization operation on the time-domain received symbol vector to obtain the time-domain received symbol matrix , .

7. The method according to claim 6, characterized in that The formula for setting all symbols in all time slots except the time slot where the sensing sequence is located in the frequency - time domain received symbol matrix to zero to obtain a frequency - time domain received sensing symbol matrix is: ； Among them, is the received symbol matrix in the frequency-time domain The symbol in the m-th row and n-th column of, and the received sensing symbol matrix in the frequency-time domain after the zeroing operation consists of a represents the number of grids in the delay-Doppler domain, and the frequency-time domain symbols carrying the sensing sequence are located in time slots n = 0, a, ···, a(N / a - 1).

8. The method according to claim 7, characterized in that, Obtaining sensing parameters according to the channel estimation value matrix further includes: Determining the element with the largest absolute value in the channel estimation value matrix, and using the index of this element as the integer index corresponding to the time delay and Doppler of the sensing target; Calculating the distance and speed of the sensing target according to the integer index corresponding to the time delay and Doppler of the sensing target.

9. A synaesthesia integrated anti-interference transmission method, characterized in that, Performed by a communication receiving end for receiving the time-domain transmission symbol vector generated by claim 1, the method comprising: Receiving the time-domain transmission symbol vector sent by a transmitting end, removing the cyclic prefix, and obtaining a time-domain received symbol matrix through a de-directional quantization operation; Transforming the time-domain received symbol matrix into the frequency-time domain to obtain a frequency-time domain received symbol matrix; Setting all symbols in all time slots except the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received estimated symbol matrix; Transforming the frequency-time domain received estimated symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain received estimated symbol matrix; Calculating a channel estimation value matrix according to the delay-Doppler domain received estimated symbol matrix and the sensing sequence in the delay-Doppler domain, where the sensing 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 received symbol matrix to zero to obtain a frequency-time domain received 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; Calculating the communication data in the delay-Doppler domain according to the delay-Doppler domain received communication symbol matrix and the channel estimation value matrix.

10. The method according to claim 9, characterized in that, Receiving the time-domain transmission symbol vector sent by a transmitting end, removing the cyclic prefix, and obtaining a time-domain received symbol matrix through a de-directional quantization operation further includes: Calculate using the formula to obtain a time-domain received symbol vector for the time-domain transmitted symbol vector, where represents the time-domain received symbol vector, , M represents the set number of subcarriers, N represents the set number of time slots, is a diagonal block matrix, , , , , where P represents the number of propagation paths between the transmitter and the communication receiver, h p represents the channel gain of the p-th propagation path, τ p represents the actual delay of the p-th propagation path, represents the delay index related to τ p , , where , v p represents the Doppler shift of the p-th propagation path, represents the Doppler index related to v p , , is an identity matrix, , represents the time-domain transmitted symbol vector, is the time-domain additive white Gaussian noise vector; Perform a quantization operation on the time-domain received symbol vector to obtain the time-domain received symbol matrix , .

11. The method according to claim 10, wherein The formula for setting all symbols in all time slots except the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received estimated symbol matrix is: ； Among them, is the received symbol matrix in the frequency-time domain the symbol in the m-th row and n-th column of, and the received estimated symbol matrix in the frequency-time domain after the zeroing operation is composed of , where a represents the number of grids in the delay-Doppler domain, and the frequency-time domain symbols carrying the sensing sequence are located in time slots n = 0, a, ···, a(N / a - 1).

12. The method according to claim 11, wherein The formula for setting all symbols in the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received communication symbol matrix is: ； Among them, the frequency-time domain received communication symbol matrix after the zeroing operation is composed of .

13. An anti-interference transmission device with synaesthesia integration, characterized in that, The apparatus includes: A delay-Doppler domain grid placement unit for respectively placing the sensing sequence and the communication data in different delay-Doppler domain grids to obtain a transmission symbol matrix in each delay-Doppler grid, where the sensing sequence is agreed upon by the transmitting end and the communication receiving end and / or the sensing receiving end; A spreading and superposition unit for spreading the transmission symbol matrix in each delay-Doppler grid using a spreading factor and then performing superposition in the delay-Doppler domain to obtain a delay-Doppler domain transmission symbol matrix; A frequency-time domain conversion unit for transforming the delay-Doppler domain transmission symbol matrix into the frequency-time domain to obtain a frequency-time domain transmission symbol matrix, where the sensing sequence and the communication data in the frequency-time domain transmission symbol matrix are interleaved in time slots in the frequency-time domain; A time-domain transformation unit for adding a cyclic prefix to the frequency-time domain transmission symbol matrix and then transforming it into the time domain to obtain a time-domain transmission symbol matrix; A transmitting unit for obtaining a time-domain transmission symbol vector through a quantization operation on the time-domain transmission symbol matrix, and the time-domain transmission symbol vector reaches the communication receiving end through a wireless channel, and / or The time-domain transmitted symbol vector arrives at the sensing receiving end after being reflected by the sensing target; The structure of the delay-Doppler domain grid is as follows: ； Among them, represents the i th time-delay Doppler domain grid, i = 0, ···, a -1, M represents the set number of subcarriers, Δ f is the subcarrier spacing, T is the duration of each time slot, a represents the number of time-delay Doppler domain grids, N represents the set number of time slots; Placing the sensing sequence and communication data in different delay-Doppler domain grids respectively further includes: Place the perception sequence in the time delay-Doppler domain grid ; Place the communication data in the time delay-Doppler domain grid therein.

14. An anti-interference transmission device with synesthesia integration, characterized in that, The device is used to receive the time-domain transmitted symbol vector generated by claim 1, and the device includes: A receiving unit, configured to receive the time-domain transmitted symbol vector reflected by the sensing target, remove the cyclic prefix, and obtain a time-domain received symbol matrix through a de-vector operation; A frequency-time domain conversion unit, configured to transform the time-domain received symbol matrix into the frequency-time domain to obtain a frequency-time domain received symbol matrix; A sensing sequence retention unit, configured to set all symbols in all time slots except the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received sensing symbol matrix; A delay-Doppler domain conversion unit, configured to transform the frequency-time domain received sensing symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain received sensing symbol matrix; A channel estimation value matrix calculation unit, configured to calculate a channel estimation value matrix according to the delay-Doppler domain received sensing symbol matrix and the sensing sequence in the delay-Doppler domain, where the sensing sequence is negotiated and agreed upon between the sensing receiving end and the transmitting end; A sensing parameter determination unit, configured to obtain sensing parameters according to the channel estimation value matrix.

15. An interference-resistant transmission device with synesthesia integration, characterized in that, The device is used to receive the time-domain transmitted symbol vector generated by claim 1, and the device includes: A receiving unit, configured to receive the time-domain transmitted symbol vector sent by the transmitting end, remove the cyclic prefix, and obtain a time-domain received symbol matrix through a de-quantization operation; A frequency-time domain conversion unit, configured to transform the time-domain received symbol matrix into the frequency-time domain to obtain a frequency-time domain received symbol matrix; A sensing sequence retention unit, configured to set all symbols in all time slots except the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received estimation symbol matrix; A delay-Doppler domain conversion unit, configured to transform the frequency-time domain received estimation symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain received estimation symbol matrix; A channel estimation value matrix calculation unit, configured to calculate a channel estimation value matrix according to the delay-Doppler domain received estimation symbol matrix and the sensing sequence in the delay-Doppler domain, where the sensing sequence is negotiated and agreed upon between the communication receiving end and the transmitting end; A communication data retention unit, configured to set all symbols in the time slot where the sensing sequence is located in the frequency-time domain received symbol matrix to zero to obtain a frequency-time domain received communication symbol matrix; The delay-Doppler domain conversion unit is further configured to transform the frequency-time domain received communication symbol matrix into the delay-Doppler domain to obtain a delay-Doppler domain received communication symbol matrix; A communication data calculation unit, configured 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.

16. A synaesthetic integrated anti-interference transmission system, characterized in that, The system includes a transmitting end, and also includes at least one of a communication receiving end and a sensing receiving end; When performing anti-interference transmission for integrated communication and sensing, the transmitting end executes the method according to any one of claims 1-4; When performing anti-interference transmission for integrated communication and sensing, the sensing receiving end executes the method according to any one of claims 5-8; When performing anti-interference transmission for integrated communication and sensing, the communication receiving end executes the method according to any one of claims 9-12.

17. A computer device, comprising a memory, a processor, and a computer program stored on the memory, characterized in that, When the processor executes the computer program, the method according to any one of claims 1 to 12 is implemented.

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