Sensitivity integration method and device based on periodic scanning reference signal

Abstract

The invention provides a periodic scanning reference signal-based communication and inductance integration method and device, and relates to the technical field of communication and inductance integration. The method comprises the following steps: generating a reference signal with periodic scanning capability based on different beam widths and observation periods, and observing a to-be-sensed target for multiple times to generate receiving signals of multiple periods; according to the received signal, constructing a complete statistic for target angle estimation based on the received signal; deducing a trace of a Fisher information matrix according to the complete statistics; and maximizing the trace of the Fisher information matrix under the constraint of the correlation time of the communication channel to obtain the optimized beam width and observation period number, thereby realizing communication and target sensing. According to the method, wide-angle and even omnidirectional target sensing can be realized, and particularly, the target sensing performance of the system is maximized on the basis of ensuring the communication performance of the user by optimizing the width and the observation period number of each directional beam.

Description

Technical Field

[0001] The present invention relates to the technical field of synaesthesia integration, and in particular to a synaesthesia integration method and device based on periodic scanning reference signals. Background Art

[0002] In 5G and future networks, the integration of communication and perception will give communication networks full-domain perception capabilities, realize "one network, two uses", and effectively support innovative applications such as smart transportation and autonomous driving.

[0003] However, the limited perception distance and weak active target discovery capability have always been a major problem restricting the development of 5G synaesthesia integration. On the one hand, since the realization of the perception function depends on the echo signal reflected by the target, it has greater loss than the one-way communication signal, especially the application of high-frequency communication technologies such as millimeter waves and terahertz will further increase the propagation loss of the signal, which seriously limits the perception distance. On the other hand, communication systems such as 5G usually use MIMO (Multiple Input Multiple Output) technology to generate highly directional beams to increase the effective propagation distance of the signal and reduce interference between users. However, the width of the directional beam is narrow, and it cannot achieve wide-angle coverage like the omnidirectional beam in the MIMO radar. It does not have the ability to actively discover targets in all directions, which is extremely unfavorable for applications such as smart transportation and autonomous driving.

[0004] The existing 5G network supports a variety of target positioning technologies based on signal TDOA (Time Difference of Arrival), RTT (Round-Trip Time), AoA (Angle of Arrival) measurement, etc. In order to further improve the target positioning capability of 5G networks, the R16 standard introduced PRS (Positioning Reference Signal) and improved it in the R17 standard. Compared with SS (Synchronization Signal), CSI-RS (channel state information-reference signal), SRS (Sounding Reference Signal), etc., PRS has richer time and frequency resources and can obtain more accurate positioning information under the same conditions.

[0005] However, the above-mentioned 5G positioning technology generally adopts a request-response mode, that is, after the user initiates a positioning service request, the system is configured according to the known user location information (such as beam direction) and sends a directional beam to sense the user. This mode relies on prior knowledge of the user's location to obtain the beam direction, rather than actively discovering the target user through beam scanning in a wide angle range. Therefore, when the user's location is uncertain or moving quickly, the flexibility and adaptability of the system are limited. Since the system needs to be triggered by the user's request, it cannot autonomously detect and locate targets within a wide angle range, and it is difficult to meet the needs of real-time and active perception of the surrounding environment in future application scenarios such as Internet of Vehicles and intelligent transportation. In addition, the request-response mode may lead to response delays and increased resource usage, especially in high-density user environments. Therefore, the existing technology has obvious deficiencies in responding to future intelligent needs, and a more flexible, low-latency solution with active discovery capabilities is urgently needed.

[0006] In order to reduce the mutual interference between communication and perception functions, existing technologies usually adopt beam multiplexing strategies. Specifically, different beams are assigned to communication and perception functions respectively to ensure that the two can operate independently. In order to achieve target detection in a wide angle range, the perception beam will scan periodically.

[0007] Although this beam-reuse-based integrated synaesthesia technology can independently guarantee the performance of communication and perception to a certain extent, it requires additional wireless resources and will increase the power consumption of the system. Summary of the invention

[0008] In order to solve the technical problem of insufficient active detection capability of wide-angle targets in existing communication and perception integration technologies, an embodiment of the present invention provides a synaesthesia integration method and device based on periodic scanning reference signals. The technical solution is as follows:

[0009] On the one hand, a synaesthesia integration method based on a periodic scanning reference signal is provided, the method is implemented by a synaesthesia integration device, and the method includes:

[0010] S1. Generate a reference signal with periodic scanning capability based on different beam widths and different numbers of observation cycles, observe the target to be sensed multiple times according to the reference signal, and generate a receiving signal with multiple cycles.

[0011] S2. According to the received signals of multiple periods, a complete statistic for target angle estimation based on the received signals is constructed.

[0012] S3. Based on the complete statistics, derive the trace of the Fisher information matrix.

[0013] The relationship between the trace of the Fisher information matrix and the beam width and the number of observation cycles is shown in the following equation (1):

[0014] (1)

[0015] In the formula, represents the expectation of the trace of the Fisher information matrix, represents the trace of the Fisher information matrix, Represented by the submatrix The block diagonal matrix formed by the diagonal arrangement is , represents the number of observation periods, represents the number of detected targets, Indicates the number of symbol periods contained in a single beam duration of the reference signal. represents the number of elements in the receiving antenna array, Indicates the number of elements in the transmitting antenna array, coefficient , , Indicates the transmit power, Indicates the target The radar cross section, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, Indicates the height of the transmitting antenna from the ground. Indicates the distance from any target to the ground projection of the transmitting antenna. represents the angle of any target, represents the beam direction, Represents the probability density function of the target location.

[0016] S4. The relevant time for establishing the communication channel.

[0017] S5. Under the constraint of the correlation time of the communication channel, the trace of the Fisher information matrix is ​​maximized to obtain the optimized beam width and number of observation cycles to achieve communication and target perception.

[0018] Optionally, in S2, constructing a complete statistic for target angle estimation based on the received signals according to the received signals of the multiple periods includes:

[0019] S21, built on The observation period received from The received signal of a target is shown in the following formula (2):

[0020] (2)

[0021] In the formula, Indicated in The first observation period The received signal of symbol period is Indicates The first observation period The effective radar channel gain of a target, Indicates the target The receiving array response, Indicates The goal is The angle of the observation period, Indicates the target The send array response, represents the transpose operation, Indicates The transmitted signal vector of symbol periods is Represents the noise component.

[0022] S22. According to the complete statistics theory and the received signal, a complete statistics for target angle estimation based on the received signal is constructed, as shown in the following formula (3):

[0023] (3)

[0024] In the formula, represents the complete statistics, Indicates the send array response of any target, represents the covariance matrix of the transmitted signal, represents the conjugate operation, represents the noise term.

[0025] S23. Simplify the complete statistics to obtain the simplified complete statistics, as shown in the following formula (4):

[0026] (4)

[0027] In the formula, represents the simplified complete statistics.

[0028] Optionally, the trace of the Fisher information matrix is ​​derived from the complete statistics in S3, including:

[0029] S31. Construct the values ​​of the diagonal elements of the Fisher information matrix.

[0030] S32. Assume that the distribution of target positions is random and construct the expectation of the trace of the Fisher information matrix.

[0031] S33. According to the probability density function of the target position, the values ​​of the diagonal elements of the Fisher information matrix are substituted into the expectation of the trace of the Fisher information matrix to obtain the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation cycles.

[0032] Optionally, the values ​​of the diagonal elements of the Fisher information matrix constructed in S31 include:

[0033] Fisher Information Matrix No. The values ​​of the diagonal elements are given by the submatrix No. The values ​​of the diagonal elements are obtained as shown in the following formula (5):

[0034] (5)

[0035] In the formula, Represents the Fisher information matrix No. The values ​​of the diagonal elements, Represents a submatrix No. The values ​​of the diagonal elements, where , , represents the modulo operation, Indicates Observation period target The distance to the transmitting antenna, Indicates The goal is The angle of the observation period.

[0036] Optionally, the expectation of the trace of the Fisher information matrix in S32 is as shown in the following equation (6):

[0037] (6)

[0038] In the formula, represents the expectation of the trace of the Fisher information matrix.

[0039] Optionally, the relevant time for establishing the communication channel in S4 includes:

[0040] S41. Define the normalized channel correlation coefficient For time interval Normalized cross-correlation coefficient of the inner channel impulse response.

[0041] Among them, the normalized channel correlation coefficient , as shown in the following formula (7):

[0042] (7)

[0043] In the formula, Indicates that in the random variable Seek expectations, represents the position of any target, Indicates time The impulse response of the communication channel is express The impulse response of the communication channel at time Indicates the time interval, represents the conjugate operation, Represents the modulo operation.

[0044] S42, according to the normalized channel correlation coefficient , defines the normalized channel correlation coefficient Drops to a preset threshold The time interval between 1 and 2 is the correlation time of the communication channel.

[0045] The correlation time of the communication channel is as shown in the following formula (8):

[0046] (8)

[0047] In the formula, Indicates the relative time of the communication channel.

[0048] Optionally, in S5, the trace of the Fisher information matrix is ​​maximized under the constraint of the correlation time of the communication channel, as shown in the following equation (9):

[0049] (9)

[0050] In the formula, represents the correlation time of the communication channel, Indicates symbol duration, constraints Indicates that the channel correlation time must be greater than the duration of a single beam. The constraint condition Indicates beam width Only from the system preset collection Value, constraint Indicates the number of cycles Cannot exceed the maximum value .

[0051] On the other hand, a synaesthesia integration device based on a periodic scanning reference signal is provided, and the device is applied to a synaesthesia integration method based on a periodic scanning reference signal, and the device comprises:

[0052] The reference signal module is used to generate a reference signal with periodic scanning capability based on different beam widths and different numbers of observation cycles, and to perform multiple observations on the target to be sensed according to the reference signal to generate a receiving signal with multiple cycles.

[0053] The signal receiving and processing module is used to construct a complete statistic for target angle estimation based on the received signals according to the received signals of multiple periods.

[0054] The derivation module is used to derive the trace of the Fisher information matrix based on the complete statistics.

[0055] The relationship between the trace of the Fisher information matrix and the beam width and the number of observation cycles is shown in the following equation (1):

[0056] (1)

[0057] In the formula, represents the expectation of the trace of the Fisher information matrix, represents the trace of the Fisher information matrix, Represented by the submatrix The block diagonal matrix formed by the diagonal arrangement is , represents the number of observation periods, represents the number of detected targets, Indicates the number of symbol periods contained in a single beam duration of the reference signal. represents the number of elements in the receiving antenna array, Indicates the number of elements in the transmitting antenna array, coefficient , , Indicates the transmit power, Indicates the target The radar cross section, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, Indicates the height of the transmitting antenna from the ground. Indicates the distance from any target to the ground projection of the transmitting antenna. represents the angle of any target, represents the beam direction, Represents the probability density function of the target location.

[0058] Building blocks for building relevant time for communication channels.

[0059] The optimization and decision module is used to maximize the trace of the Fisher information matrix under the constraint of the correlation time of the communication channel, obtain the optimized beam width and number of observation cycles, and realize communication and target perception.

[0060] Optionally, the signal receiving and processing module is further used to:

[0061] S21, built on The observation period received from The received signal of a target is shown in the following formula (2):

[0062] (2)

[0063] In the formula, Indicated in The first observation period The received signal of symbol period is Indicates The first observation period The effective radar channel gain of a target is Indicates the target The receiving array response, Indicates The goal is The angle of the observation period, Indicates the target The send array response, represents the transpose operation, Indicates The transmitted signal vector of symbol periods is Represents the noise component.

[0064] S22. According to the complete statistics theory and the received signal, a complete statistics for target angle estimation based on the received signal is constructed, as shown in the following formula (3):

[0065] (3)

[0066] In the formula, represents the complete statistics, Indicates the send array response of any target, represents the covariance matrix of the transmitted signal, represents the conjugate operation, represents the noise term.

[0067] S23. Simplify the complete statistics to obtain the simplified complete statistics, as shown in the following formula (4):

[0068] (4)

[0069] In the formula, represents the simplified complete statistics.

[0070] Optionally, the derivation module is further configured to:

[0071] S31. Construct the values ​​of the diagonal elements of the Fisher information matrix.

[0072] S32. Assume that the distribution of target positions is random and construct the expectation of the trace of the Fisher information matrix.

[0073] S33. According to the probability density function of the target position, the values ​​of the diagonal elements of the Fisher information matrix are substituted into the expectation of the trace of the Fisher information matrix to obtain the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation cycles.

[0074] Optionally, construct the values ​​of the diagonal elements of the Fisher information matrix, including:

[0075] Fisher Information Matrix No. The values ​​of the diagonal elements are given by the submatrix No. The values ​​of the diagonal elements are obtained as shown in the following formula (5):

[0076] (5)

[0077] In the formula, Represents the Fisher information matrix No. The values ​​of the diagonal elements, Represents a submatrix No. The values ​​of the diagonal elements, where , , represents the modulo operation, Indicates Observation period target The distance to the transmitting antenna, Indicates The goal is The angle of the observation period.

[0078] Optionally, the expectation of the trace of the Fisher information matrix is ​​as shown in equation (6):

[0079] (6)

[0080] In the formula, represents the expectation of the trace of the Fisher information matrix.

[0081] Optionally, the building block is further used to:

[0082] S41. Define the normalized channel correlation coefficient For time interval Normalized cross-correlation coefficient of the inner channel impulse response.

[0083] Among them, the normalized channel correlation coefficient , as shown in the following formula (7):

[0084] (7)

[0085] In the formula, Indicates that in the random variable Seek expectations, represents the position of any target, Indicates time The impulse response of the communication channel is express The impulse response of the communication channel at time Indicates the time interval, represents the conjugate operation, Represents the modulo operation.

[0086] S42, according to the normalized channel correlation coefficient , defines the normalized channel correlation coefficient Drops to a preset threshold The time interval between 1 and 2 is the correlation time of the communication channel.

[0087] The correlation time of the communication channel is as shown in the following formula (8):

[0088] (8)

[0089] In the formula, Indicates the relative time of the communication channel.

[0090] Optionally, the optimization and decision module is further used to:

[0091] (9)

[0092] In the formula, represents the correlation time of the communication channel, Indicates symbol duration, constraints Indicates that the channel correlation time must be greater than the duration of a single beam. The constraint condition Indicates beam width Only from the system preset collection Value, constraint Indicates the number of cycles Cannot exceed the maximum value .

[0093] On the other hand, a synaesthesia integration device is provided, comprising: a processor; a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, any one of the above-mentioned synaesthesia integration methods based on periodic scanning reference signals is implemented.

[0094] On the other hand, a computer-readable storage medium is provided, wherein at least one instruction is stored in the storage medium, and the at least one instruction is loaded and executed by a processor to implement any one of the above-mentioned synaesthesia integration methods based on periodic scanning reference signals.

[0095] The beneficial effects brought about by the technical solution provided by the embodiment of the present invention include at least:

[0096] In the present invention, a joint optimization method of beam width and observation period number is proposed, which can maximize the target perception performance of the system on the basis of ensuring the user communication performance. Specifically, by constructing a complete statistic for target angle estimation based on the received signal, the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation periods is derived. On this basis, under the constraint of the communication channel correlation time (related to the beam width), the trace of the Fisher information matrix is ​​maximized, thereby maximizing the target perception performance of the system while ensuring the user communication performance. Compared with the existing 5G positioning method, the method proposed in the present invention can realize active discovery and perception of targets in a wide angle range through beam scanning, joint multi-period signals, etc. Compared with the synaesthesia integration method based on beam multiplexing, the method proposed in the present invention can realize the integration of communication and perception by using the existing reference signals of the system without increasing the system resource overhead. BRIEF DESCRIPTION OF THE DRAWINGS

[0097] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0098] Figure 1 It is a flow chart of a synaesthesia integration method based on a periodic scanning reference signal provided by an embodiment of the present invention;

[0099] Figure 2 This is a system architecture diagram of synaesthesia integration based on periodic scanning reference signals provided by an embodiment of the present invention;

[0100] Figure 3 It is a block diagram of a synaesthesia integration device based on a periodic scanning reference signal provided by an embodiment of the present invention;

[0101] Figure 4 It is a structural schematic diagram of a synaesthesia integrated device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0102] The technical solution of the present invention is described below in conjunction with the accompanying drawings.

[0103] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to indicate examples, illustrations or explanations. Any embodiment or design described as "example" in the present invention should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of the word "example" is intended to present the concept in a specific way. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or it can be either of the two.

[0104] In the embodiments of the present invention, "image" and "picture" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same. "of", "corresponding, relevant" and "corresponding" can sometimes be used interchangeably. It should be noted that when the difference between them is not emphasized, the meanings they intend to express are the same.

[0105] In the embodiments of the present invention, sometimes a subscript such as W1 may be written as a non-subscript such as W1. When the difference is not emphasized, the meanings to be expressed are the same.

[0106] In order to make the technical problems, technical solutions and advantages to be solved by the present invention more clear, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0107] The embodiment of the present invention provides a synaesthesia integration method based on periodic scanning reference signals, which can be implemented by a synaesthesia integration device, which can be a terminal or a server. Figure 1 The flowchart of the synaesthesia integration method based on the periodic scanning reference signal is shown, and the processing flow of the method may include the following steps:

[0108] S1. Generate a reference signal with periodic scanning capability based on different beam widths and different numbers of observation cycles, observe the target to be sensed multiple times according to the reference signal, and generate a receiving signal with multiple cycles.

[0109] In a feasible implementation, the present invention proposes a synaesthesia integrated architecture that utilizes a periodic scanning reference signal and combines a multi-periodic signal for target perception.

[0110] Specifically, a reference signal with periodic beam scanning capability can utilize a set of directional narrow beams in different directions to achieve active discovery and perception of targets over a wide angle range. On the other hand, given that a single duration of a reference signal in communication systems such as 5G is usually less than 1 ms, and accurate perception of target speed usually requires the perception signal to last for hundreds of milliseconds, the present invention proposes to utilize beams within multiple periods to observe the target multiple times, so as to alleviate the problem of low perception accuracy caused by the short single duration of the perception signal.

[0111] Among them, reference signals with periodic beam scanning capabilities include but are not limited to existing reference signals such as synchronization signals, positioning reference signals, and channel sounding reference signals in 5G New Radio (NR), as well as any other physical layer signals with periodic beam scanning capabilities. These signals can effectively realize active discovery and perception of targets in wide angles or even in all directions through their periodic beam scanning characteristics.

[0112] S2. According to the received signals of multiple periods, a complete statistic for target angle estimation based on the received signals is constructed.

[0113] Optionally, the above step S2 may include the following steps S21-S23:

[0114] S21, the receiving end is in The observation period received from The received signal expression of a target is as follows:

[0115] (2)

[0116] In the formula, Indicated in The first observation period The received signal of symbol period is Indicates The first observation period The effective radar channel gain of a target, Indicates the transmit power, Indicates the target The receiving array response, Indicates The goal is The angle (i.e., azimuth) of the observation period, Indicates the target The send array response, represents the transpose operation, Indicates The transmitted signal vector of symbol periods is represents the noise component. Considering the target mobility, the number of observed targets It is actually related to the beam width and the number of observation cycles.

[0117] S22. According to the complete statistics theory, when the noise component is an independent and identically distributed complex Gaussian random vector, based on the received signal The complete statistics for target angle estimation can be expressed as:

[0118] (3)

[0119] In the formula, represents the complete statistics, Indicates The first observation period The effective radar channel gain of a target is Indicates the send array response of any target, represents any target angle, represents the covariance matrix of the transmitted signal, represents the conjugate transpose, represents the conjugate operation, represents the noise term.

[0120] S23, when orthogonal coding is used, the complete statistics It can be further simplified to:

[0121] (4)

[0122] In the formula, represents the simplified complete statistics.

[0123] S3. Based on the complete statistics, derive the trace of the Fisher information matrix.

[0124] Optionally, the above step S3 may include the following steps S31-S33:

[0125] S31, use Indicates the use of complete statistics The sub-Fisher information matrix for target angle estimation, namely the Fisher information matrix Assuming that the transmitting and receiving antenna arrays use uniform linear arrays and the beam shape of the system is fan-shaped, then the sub-Fisher information matrix is No. The values ​​of the diagonal elements can be expressed as:

[0126] (5)

[0127] In the formula, Represents the sub-Fisher information matrix No. The values ​​of the diagonal elements, where , , represents the modulo operation, , Indicates the transmit power, Indicates the target Radar Cross Section (RCS), represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, represents the beam direction, Indicates Observation period target The distance to the transmitting antenna, Indicates The goal is The angle of the observation period.

[0128] S32, due to the sub-Fisher information matrix The values ​​of the diagonal elements are related to the position distribution of the target (such as distance and angle). For the sake of generality, the present invention assumes that the target position distribution is random and considers the expectation of the Fisher information matrix trace:

[0129] (6)

[0130] In the formula, represents the expectation of the trace of the Fisher information matrix. is the submatrix , , a block diagonal matrix is ​​formed by arranging along the diagonal line, that is Tr() means finding the trace of the matrix. Indicates that in the random variable Find the expectation. Indicates the distance from any target to the transmitting antenna, Indicates the height of the transmitting antenna from the ground. represents the distance from any target to the ground projection of the transmitting antenna, then In the polar coordinate system, the projection of the transmitting antenna on the ground is the pole, then the random variable Indicates the position of any target (including the distance from the pole and angle ).

[0131] S33, the probability density function of the target position is , and Substituting the expression of into the above formula, the expectation of the Fisher information matrix trace can be further expressed as:

[0132] (1)

[0133] In the formula, represents the expectation of the trace of the Fisher information matrix, represents the trace of the Fisher information matrix, Represented by the submatrix The block diagonal matrix formed by the diagonal arrangement is , represents the number of observation periods, Indicates the number of symbol periods contained in a single beam duration of the reference signal. represents the number of elements in the receiving antenna array, Indicates the number of elements in the transmitting antenna array, the coefficient , represents the beam width, Indicates the height of the transmitting antenna from the ground. Indicates the distance from any target to the ground projection of the transmitting antenna. represents the angle of any target, represents the beam direction, represents the probability density function of the target location; represents the number of detected targets, , Indicates the transmit power, Indicates the target The radar cross section, represents the effective aperture of the receiving antenna, Represents the noise power.

[0134] S4. The relevant time for establishing the communication channel.

[0135] Optionally, the above step S4 may include the following steps S41-S42:

[0136] S41. Define the normalized channel correlation coefficient For time interval Normalized cross-correlation coefficient of the inner channel impulse response:

[0137] (7)

[0138] In the formula, Indicates that in the random variable Seek expectations, represents the position of any target, Indicates time The impulse response of the communication channel is express The impulse response of the communication channel at time Indicates the time interval, represents the conjugate operation, Indicates modulo operation. Normalized channel correlation coefficient It actually represents the degree of change of the channel state over time. The larger the normalized channel correlation coefficient The smaller.

[0139] S42, according to the normalized channel correlation coefficient , defines the normalized channel correlation coefficient Drops to a preset threshold The time interval is the relevant time of the communication channel:

[0140] (8)

[0141] In the formula, Represents the correlation time of the communication channel and is related to the beam width Considering the mobility of users, the choice of beam width has an important impact on the channel correlation time: if the beam width is too small, the beam alignment error will increase, thereby shortening the channel correlation time; if the beam width is too large, more multipath reflections will be introduced, which will also reduce the channel correlation time. Therefore, the correlation time of the communication channel is a convex function of the beam width. This means that there is an optimal beam width that can strike a balance between reducing beam alignment errors and multipath reflections, thereby maximizing the channel correlation time.

[0142] S5. Under the constraint of the correlation time of the communication channel, the trace of the Fisher information matrix is ​​maximized to obtain the optimized beam width and number of observation cycles to achieve communication and target perception.

[0143] Optionally, the trace of the Fisher information matrix is ​​maximized under the constraint of the communication channel correlation time (related to the beamwidth):

[0144] (9)

[0145] In the formula, the objective function represents the expectation of maximizing the trace of the Fisher information matrix in step S4 , Indicates the number of symbol periods contained in a single beam duration of the reference signal. Indicates symbol duration, channel-related time constraints Indicates that the channel correlation time must be greater than the duration of a single beam. The constraint condition Indicates beam width Only from the system preset collection Value, constraint Indicates the number of cycles Cannot exceed the maximum value .

[0146] The advantages of the present invention are specifically reflected in four aspects: first, the existing reference signal is used for target perception without the need for additional resource overhead, alleviating the wireless resource pressure of the system; second, compared with the data signal, the reference signal usually has a higher transmission power, which helps to improve the effective perception distance of the system; third, through beam scanning, the reference signal can achieve wide-angle coverage and active discovery of surrounding targets; fourth, given that the single duration of the reference signal in communication systems such as 5G is usually less than 1ms, and accurate perception of the target speed usually requires the perception signal to last for hundreds of milliseconds, the present invention proposes to use beams within multiple cycles to observe the target multiple times to alleviate the problem caused by the short duration of the perception signal, and on this basis proposes a planning and design method for two important parameters: the number of observations (i.e., the number of observation cycles) and the beam width.

[0147] A typical application scenario of the present invention is in a 5G communication system, specifically involving reference signals with periodic beam scanning capabilities, such as SS (Synchronization Signal) and SRS (Sounding Reference Signal). These signals can provide stable communication and perception services in a wide angle range through periodic directional narrow beam scanning.

[0148] In addition, the present invention is also applicable to scenarios where communication and perception functions are multiplexed using multiple beams. In this scenario, communication and perception functions are implemented using different beams, and the beam used for perception has a periodic scanning capability to ensure comprehensive monitoring of the surrounding environment. This design not only improves the flexibility of the system, but also effectively improves the accuracy and response speed of target detection.

[0149] In an embodiment of the present invention, a joint optimization method of beam width and observation cycle number is proposed, which can maximize the target perception performance of the system on the basis of ensuring the user communication performance. Specifically, by constructing a complete statistic for target angle estimation based on the received signal, the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation cycles is derived. On this basis, under the constraint of the communication channel correlation time (related to the beam width), the trace of the Fisher information matrix is ​​maximized, thereby maximizing the target perception performance of the system while ensuring the user communication performance. Compared with the existing 5G positioning method, the method proposed in the present invention can realize active discovery and perception of targets in a wide angle range through beam scanning, joint multi-period signals, etc. Compared with the synaesthesia integration method based on beam multiplexing, the method proposed in the present invention can realize the integration of communication and perception by using the existing reference signals of the system without increasing the system resource overhead.

[0150] Figure 2 1 is a block diagram of a synaesthesia integration device based on a periodic scanning reference signal according to an exemplary embodiment, wherein the device is used in a synaesthesia integration method based on a periodic scanning reference signal. Figure 2 The device includes a reference signal module 310, a signal receiving and processing module 320, a derivation module 330, a construction module 340 and an optimization and decision module 350. Among them:

[0151] The reference signal module 310 is used to generate a reference signal with periodic scanning capability based on different beam widths and different observation cycle numbers, and to perform multiple observations on the target to be sensed according to the reference signal to generate a receiving signal with multiple cycles.

[0152] The signal receiving and processing module 320 is used to construct a complete statistic for target angle estimation based on the received signals of multiple periods. Specifically, it receives and processes echo signals from multiple periods and adjusts the number of observation periods as needed. On the one hand, it performs noise filtering and extracts useful signal features for subsequent target perception and estimation module processing; on the other hand, it constructs a complete statistic for target angle estimation based on the received signal, derives the Fisher information matrix, calculates the correlation time of the channel, etc., for subsequent optimization and decision module processing.

[0153] The derivation module 330 is used to derive the trace of the Fisher information matrix according to the complete statistics.

[0154] The relationship between the trace of the Fisher information matrix and the beam width and the number of observation cycles is shown in the following equation (1):

[0155] (1)

[0156] In the formula, represents the expectation of the trace of the Fisher information matrix, represents the trace of the Fisher information matrix, Represented by the submatrix The block diagonal matrix formed by the diagonal arrangement is , represents the number of observation periods, represents the number of detected targets, Indicates the number of symbol periods contained in a single beam duration of the reference signal. represents the number of elements in the receiving antenna array, Indicates the number of elements in the transmitting antenna array, coefficient , , Indicates the transmit power, Indicates the target The radar cross section, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, Indicates the height of the transmitting antenna from the ground. Indicates the distance from any target to the ground projection of the transmitting antenna. represents the angle of any target, represents the wave beam direction, Represents the probability density function of the target location.

[0157] The construction module 340 is used to construct the relevant time of the communication channel.

[0158] The optimization and decision module 350 is used to maximize the trace of the Fisher information matrix under the constraint of the correlation time of the communication channel, and realize the joint optimization of the beam width and the number of observation cycles, so as to maximize the target perception performance of the system on the basis of ensuring the user communication performance.

[0159] like Figure 3 As shown, the device of the present invention may further include a beam scanning control module for controlling the scanning direction and width of the beam.

[0160] The target perception module is used to perform target discovery and parameter estimation using signal features, etc.

[0161] In an embodiment of the present invention, a joint optimization method of beam width and observation cycle number is proposed, which can maximize the target perception performance of the system on the basis of ensuring the user communication performance. Specifically, by constructing a complete statistic for target angle estimation based on the received signal, the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation cycles is derived. On this basis, under the constraint of the communication channel correlation time (related to the beam width), the trace of the Fisher information matrix is ​​maximized, thereby maximizing the target perception performance of the system while ensuring the user communication performance. Compared with the existing 5G positioning method, the method proposed in the present invention can realize active discovery and perception of targets in a wide angle range through beam scanning, joint multi-period signals, etc. Compared with the synaesthesia integration method based on beam multiplexing, the method proposed in the present invention can realize the integration of communication and perception by using the existing reference signals of the system without increasing the system resource overhead.

[0162] Figure 4 is a structural schematic diagram of a synaesthesia integrated device provided by an embodiment of the present invention, such as Figure 4 As shown, the synaesthesia integrated device may include the above Figure 2 The synaesthesia integration device based on the periodic scanning reference signal is shown. Optionally, the synaesthesia integration device 410 may include a first processor 2001 .

[0163] Optionally, the synaesthesia integration device 410 may further include a memory 2002 and a transceiver 2003 .

[0164] The first processor 2001, the memory 2002 and the transceiver 2003 may be connected via a communication bus.

[0165] Combine the following Figure 4 The components of the synaesthesia integrated device 410 are specifically introduced as follows:

[0166] The first processor 2001 is the control center of the synaesthesia integrated device 410, and may be a processor or a general term for multiple processing elements. For example, the first processor 2001 is one or more central processing units (CPUs), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention, such as one or more microprocessors (digital signal processors, DSPs), or one or more field programmable gate arrays (field programmable gate arrays, FPGAs).

[0167] Optionally, the first processor 2001 may execute various functions of the synaesthesia integration device 410 by running or executing a software program stored in the memory 2002 and calling data stored in the memory 2002 .

[0168] In a specific implementation, as an embodiment, the first processor 2001 may include one or more CPUs, such as Figure 4 CPU0 and CPU1 are shown in FIG.

[0169] In a specific implementation, as an embodiment, the synaesthesia integration device 410 may also include multiple processors, such as Figure 4 The first processor 2001 and the second processor 2004 are shown in FIG. Each of these processors may be a single-core processor (single-CPU) or a multi-core processor (multi-CPU). The processor here may refer to one or more devices, circuits, and / or processing cores for processing data (e.g., computer program instructions).

[0170] The memory 2002 is used to store the software program for executing the solution of the present invention, and is controlled to be executed by the first processor 2001. The specific implementation method can refer to the above method embodiment, which will not be repeated here.

[0171] Optionally, the memory 2002 may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory 2002 may be integrated with the first processor 2001, or may exist independently and access the first processor 2001 through the interface circuit ( Figure 4 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0172] The transceiver 2003 is used to communicate with a network device or a terminal device.

[0173] Optionally, the transceiver 2003 may include a receiver and a transmitter ( Figure 4 The receiver is used to implement a receiving function, and the transmitter is used to implement a sending function.

[0174] Optionally, the transceiver 2003 may be integrated with the first processor 2001, or may exist independently and communicate with the first processor 2001 through the interface circuit ( Figure 4 (not shown) is coupled to the first processor 2001, which is not specifically limited in this embodiment of the present invention.

[0175] It should be noted that Figure 4 The structure of the synaesthesia integration device 410 shown in the figure does not constitute a limitation on the router, and the actual knowledge structure recognition device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0176] In addition, the technical effects of the synaesthesia integration device 410 can refer to the technical effects of the synaesthesia integration method based on the periodic scanning reference signal described in the above method embodiment, which will not be repeated here.

[0177] It should be understood that the first processor 2001 in the embodiment of the present invention may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0178] It should also be understood that the memory in the embodiments of the present invention may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), and direct rambus RAM (DR RAM).

[0179] The above embodiments can be implemented in whole or in part by software, hardware (such as circuits), firmware or any other combination. When implemented by software, the above embodiments can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions or computer programs. When the computer instructions or computer programs are loaded or executed on a computer, the process or function described in the embodiment of the present invention is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center by wired (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that contains one or more available media sets. The available medium can be a magnetic medium (for example, a floppy disk, a hard disk, a tape), an optical medium (for example, a DVD), or a semiconductor medium. The semiconductor medium can be a solid-state hard disk.

[0180] It should be understood that the term "and / or" in this article is only a description of the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone. A and B can be singular or plural. In addition, the character " / " in this article generally indicates that the associated objects before and after are in an "or" relationship, but it may also indicate an "and / or" relationship. Please refer to the context for specific understanding.

[0181] In the present invention, "at least one" means one or more, and "plurality" means two or more. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple.

[0182] It should be understood that in various embodiments of the present invention, 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 invention.

[0183] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. 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 be beyond the scope of the present invention.

[0184] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described equipment, devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0185] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, apparatuses 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 device, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0186] 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 solution of this embodiment.

[0187] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0188] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to perform all or part of the steps of the methods described in various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program codes.

[0189] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A synaesthesia integration method based on periodic scanning reference signal, characterized in that: The method comprises: S1. Generate a reference signal with periodic scanning capability based on different beam widths and different observation cycle numbers, observe the target to be sensed multiple times according to the reference signal, and generate a receiving signal with multiple cycles; S2. constructing a complete statistic for target angle estimation based on the received signals according to the received signals of the multiple periods; S3. deriving the trace of the Fisher information matrix based on the complete statistic; The relationship between the trace of the Fisher information matrix and the beam width and the number of observation cycles is shown in the following formula (1): （1） In the formula, represents the expectation of the trace of the Fisher information matrix, represents the trace of the Fisher information matrix, Represented by the submatrix The block diagonal matrix formed by the diagonal arrangement is , represents the number of observation periods, represents the number of detected targets, Indicates the number of symbol periods contained in a single beam duration of the reference signal. represents the number of elements in the receiving antenna array, Indicates the number of elements in the transmitting antenna array, coefficient , , Indicates the transmit power, Indicates the target The radar cross section, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, Indicates the height of the transmitting antenna from the ground. Indicates the distance from any target to the ground projection of the transmitting antenna. represents the angle of any target, represents the beam direction, represents the probability density function of the target location; S4, the relevant time for establishing the communication channel; S5. Under the constraint of the correlation time of the communication channel, the trace of the Fisher information matrix is ​​maximized to obtain the optimized beam width and number of observation cycles to achieve communication and target perception.

2. The synaesthesia integration method based on periodic scanning reference signal according to claim 1 is characterized in that: The step of constructing, according to the received signals of the plurality of periods, a complete statistic for estimating a target angle based on the received signals in S2, includes: S21, built on The observation period received from The received signal of a target is shown in the following formula (2): （2） In the formula, Indicated in The first observation period The received signal of symbol period is Indicates The first observation period The effective radar channel gain of a target, Indicates the target The receiving array response, Indicates The goal is The angle of the observation period, Indicates the target The send array response, represents the transpose operation, Indicates The transmitted signal vector of symbol periods is represents the noise component; S22. According to the complete statistics theory and the received signal, a complete statistics for target angle estimation based on the received signal is constructed, as shown in the following formula (3): （3） In the formula, represents the complete statistics, Indicates the send array response of any target, represents the covariance matrix of the transmitted signal, represents the conjugate operation, represents the noise term; S23, simplifying the complete statistics to obtain a simplified complete statistics, as shown in the following formula (4): （4） In the formula, represents the simplified complete statistics.

3. The synaesthesia integration method based on periodic scanning reference signal according to claim 1 is characterized in that: The step S3 in which the trace of the Fisher information matrix is ​​derived according to the complete statistic includes: S31, construct the values ​​of the diagonal elements of the Fisher information matrix; S32, assuming that the distribution of target positions is random, construct the expectation of the trace of the Fisher information matrix; S33. According to the probability density function of the target position, the values ​​of the diagonal elements of the Fisher information matrix are substituted into the expectation of the trace of the Fisher information matrix to obtain the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation cycles.

4. The synaesthesia integration method based on periodic scanning reference signal according to claim 3 is characterized in that: The values ​​of the diagonal elements of the Fisher information matrix constructed in S31 include: Fisher Information Matrix No. The values ​​of the diagonal elements are given by the submatrix No. The values ​​of the diagonal elements are obtained as shown in the following formula (5): （5） In the formula, Represents the Fisher information matrix No. The values ​​of the diagonal elements, Represents a submatrix No. The values ​​of the diagonal elements, where , , represents the modulo operation, Indicates Observation period target The distance to the transmitting antenna, Indicates The goal is The angle of the observation period.

5. The synaesthesia integration method based on periodic scanning reference signal according to claim 4 is characterized in that: The expectation of the trace of the Fisher information matrix in S32 is shown in the following equation (6): （6） In the formula, represents the expectation of the trace of the Fisher information matrix.

6. The synaesthesia integration method based on periodic scanning reference signal according to claim 1, characterized in that: The relevant time for establishing the communication channel in S4 includes: S41. Define the normalized channel correlation coefficient For time interval Normalized cross-correlation coefficient of the inner channel impulse response; Among them, the normalized channel correlation coefficient , as shown in the following formula (7): （7） In the formula, Indicates that in the random variable Seek expectations, represents the position of any target, Indicates time The impulse response of the communication channel is express The impulse response of the communication channel at time Indicates the time interval, represents the conjugate operation, Represents modulo operation; S42, according to the normalized channel correlation coefficient , defines the normalized channel correlation coefficient Drops to a preset threshold The time interval is the correlation time of the communication channel; The correlation time of the communication channel is as shown in the following formula (8): （8） In the formula, Indicates the relative time of the communication channel.

7. The synaesthesia integration method based on periodic scanning reference signal according to claim 1, characterized in that: In S5, the trace of the Fisher information matrix is ​​maximized under the constraint of the correlation time of the communication channel, as shown in the following equation (9): （9） In the formula, represents the correlation time of the communication channel, Indicates symbol duration, constraints Indicates that the channel correlation time must be greater than the duration of a single beam. The constraint condition Indicates beam width Only from the system preset collection Value, constraint Indicates the number of cycles Cannot exceed the maximum value .

8. A synaesthesia integration device based on a periodic scanning reference signal, the synaesthesia integration device based on a periodic scanning reference signal is used to implement the synaesthesia integration method based on a periodic scanning reference signal as claimed in any one of claims 1 to 7, characterized in that: The device comprises: A reference signal module, used to generate a reference signal with periodic scanning capability based on different beam widths and different observation cycle numbers, and to perform multiple observations on the target to be sensed according to the reference signal to generate a receiving signal with multiple cycles; A signal receiving and processing module, configured to construct, according to the received signals of the plurality of periods, a complete statistic for estimating the target angle based on the received signals; A derivation module, used for deriving the trace of the Fisher information matrix according to the complete statistic; The relationship between the trace of the Fisher information matrix and the beam width and the number of observation cycles is shown in the following formula (1): （1） In the formula, represents the expectation of the trace of the Fisher information matrix, represents the trace of the Fisher information matrix, Represented by the submatrix The block diagonal matrix formed by the diagonal arrangement is , represents the number of observation periods, represents the number of detected targets, Indicates the number of symbol periods contained in a single beam duration of the reference signal. represents the number of elements in the receiving antenna array, Indicates the number of elements in the transmitting antenna array, coefficient , , Indicates the transmit power, Indicates the target The radar cross section, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, Indicates the height of the transmitting antenna from the ground. Indicates the distance from any target to the ground projection of the transmitting antenna. represents the angle of any target, represents the beam direction, represents the probability density function of the target location; A building block for building the relevant time of the communication channel; The optimization and decision module is used to maximize the trace of the Fisher information matrix under the constraint of the correlation time of the communication channel, obtain the optimized beam width and observation cycle number, and realize communication and target perception.

9. A synaesthesia integrated device, characterized in that: The synaesthesia integration device comprises: processor; A memory having computer-readable instructions stored thereon, wherein when the computer-readable instructions are executed by the processor, the method according to any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores program codes, which can be called by a processor to execute the method according to any one of claims 1 to 7.

Images