A Sensing and Communication Integration Method and Device Based on Periodic Scanning Reference Signals

Abstract

The present invention provides a communication-sensing integrated method and device based on a periodic scanning reference signal, relating to the technical field of communication-sensing integration. The method includes: generating a reference signal with periodic scanning ability based on different beam widths and number of observation periods, and performing multiple observations on the target to be sensed to generate received signals for multiple periods; constructing a complete statistic for target angle estimation based on the received signals; deriving the trace of the Fisher information matrix according to the complete statistic; 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 number of observation periods, so as to achieve communication and target sensing. The present invention can achieve wide-angle or even omnidirectional target sensing. In particular, by optimizing the width of each directional beam and the number of observation periods, on the basis of ensuring the communication performance of users, the target sensing performance of the system is maximized.

Description

Technical Field

[0001] The present invention relates to the technical field of integrated communication and sensing, and particularly to an integrated communication and sensing method and device based on a periodic scanning reference signal. Background Art

[0002] In 5G and future networks, the integration of communication and sensing will endow communication networks with global sensing capabilities, enabling "one network for two uses" and effectively supporting innovative applications such as intelligent transportation and autonomous driving.

[0003] However, limited sensing distance and weak target active discovery ability have always been a major problem restricting the development of 5G integrated communication and sensing. On the one hand, since the realization of the sensing function depends on the echo signal reflected by the target, which has greater loss compared to the one-way communication signal, especially the application of high-frequency communication technologies such as millimeter wave and terahertz will further increase the signal propagation loss, severely limiting the sensing 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 relatively narrow and cannot achieve wide-angle coverage like the omnidirectional beam in MIMO radar, lacking the ability to actively discover targets in all directions, which is extremely disadvantageous for applications such as intelligent transportation and autonomous driving.

[0004] Existing 5G networks support various target positioning technologies based on signal TDOA (Time Difference of Arrival), RTT (Round-Trip Time), AoA (Angle of Arrival) measurement, etc. To further improve the target positioning ability 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-frequency resources and can obtain more accurate positioning information under the same conditions.

[0005] However, the above 5G positioning technologies generally adopt a request-response mode. That is, after a user initiates a positioning service request, the system configures based on the known user location information (such as beam direction) and sends a directional beam to sense the user. This mode relies on the prior knowledge of the user's location to obtain the beam direction, rather than actively discovering the target user through wide-angle beam scanning. Therefore, when the user's location is uncertain or the user is moving rapidly, the flexibility and adaptability of the system are limited. Since it requires the user's request to trigger, the system cannot autonomously detect and locate targets within a wide angle range, making it difficult to meet the requirements of real-time and active perception of the surrounding environment in future application scenarios such as vehicle-to-everything (V2X) and intelligent transportation. In addition, the request-response mode may lead to increased response latency and resource occupancy, especially in high-density user environments. Therefore, the existing technologies have obvious deficiencies in meeting future intelligent requirements, and there is an urgent need for a more flexible, low-latency and active discovery capable solution.

[0006] In order to reduce the mutual interference between communication and sensing functions, the prior art usually adopts a beam multiplexing strategy. Specifically, different beams are respectively assigned to communication and sensing functions to ensure that the two can operate independently. To achieve wide-angle target detection, the sensing beam is scanned periodically.

[0007] Although this communication-sensing integrated technology based on beam multiplexing can independently guarantee the performance of communication and sensing to a certain extent, it requires additional wireless resources and increases the power consumption of the system. Summary of the Invention

[0008] To solve the technical problem of the lack of active discovery ability for wide-angle targets in the existing communication-sensing integrated technology, an embodiment of the present invention provides a communication-sensing integrated method and device based on a periodically scanned reference signal. The technical solution is as follows:

[0009] On the one hand, a communication-sensing integrated method based on a periodically scanned reference signal is provided. This method is implemented by a communication-sensing integrated device, and the method includes:

[0010] S1. Generate a reference signal with periodic scanning ability based on different beam widths and different numbers of observation periods, and perform multiple observations on the target to be sensed according to the reference signal to generate received signals for multiple periods.

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

[0012] S3. According to the complete statistic, derive the trace of the Fisher information matrix.

[0013] wherein, the relationship expression between the trace of the Fisher information matrix, the beam width, and the number of observation periods is shown in the following formula (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, represents the block diagonal matrix formed by arranging the submatrix along the diagonal, that is , represents the number of observation periods, represents the number of detected targets, represents the number of symbol periods included in the single-beam duration of the reference signal, represents the number of elements of the receiving antenna array, represents the number of elements of the transmitting antenna array, and the coefficient , , represents the transmit power, represents the target 's radar cross section area, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, represents the height of the transmitting antenna from the ground, represents 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 position.

[0016] S4. Construct the correlation time of the communication channel.

[0017] S5. Under the constraint of the correlation time of the communication channel, maximize the trace of the Fisher information matrix to obtain the optimized beam width and number of observation periods, and realize communication and target perception.

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

[0019] S21. Construct the received signal from the th target received in the th observation period, as shown in the following formula (2):

[0020] (2)

[0021] Wherein, represents the received signal in the th observation period and the th symbol period, represents the effective radar channel gain of the th target in the th observation period, represents the receiving array response of target , represents the angle of the th target in the th observation period, represents the transmitting array response of target , represents the transpose operation, represents the transmitted signal vector in the th symbol period, represents the noise component.

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

[0023] (3)

[0024] Wherein, represents the complete statistic, represents the transmitting 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 statistic to obtain the simplified complete statistic, as shown in the following formula (4):

[0026] (4)

[0027] Wherein, represents the simplified complete statistic.

[0028] Optionally, in S3, according to the complete statistic, derive the trace of the Fisher information matrix, including:

[0029] S31. Construct the value of the diagonal element of the Fisher information matrix.

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

[0031] S33. Substitute the values of the diagonal elements of the Fisher information matrix into the expected value of the trace of the Fisher information matrix according to the probability density function of the target position, and obtain the relationship expression between the trace of the Fisher information matrix, the beam width, and the number of observation periods.

[0032] Optionally, constructing the values of the diagonal elements of the Fisher information matrix in S31 includes:

[0033] The Fisher information matrix The th diagonal element value is obtained from the th diagonal element value of the sub-matrix as shown in the following formula (5):

[0034] (5)

[0035] In the formula, represents the value of the th diagonal element of the Fisher information matrix , represents the value of the th diagonal element of the sub-matrix , where , , represents the modulo operation, represents the th observation period target distance to the transmitting antenna, represents the th target's angle in the th observation period.

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

[0037] (6)

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

[0039] Optionally, constructing the correlation time of the communication channel in S4 includes:

[0040] S41. Define the normalized channel correlation coefficient as the normalized cross-correlation coefficient of the channel impulse response within the time interval .

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

[0042] (7)

[0043] In the formula, represents taking the expectation under the random variable and represents the position of any target, represents the time instant and the impulse response of the communication channel at that time, represents the impulse response of the communication channel at time represents the time interval, represents the conjugate operation, represents the modulo operation.

[0044] S42. According to the normalized channel correlation coefficient , define the normalized channel correlation coefficient dropping to the preset threshold and the time interval at this time is the correlation time of the communication channel.

[0045] Among them, the correlation time of the communication channel is shown in the following formula (8):

[0046] (8)

[0047] In the formula, represents the correlation time of the communication channel.

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

[0049] (9)

[0050] In the formula, represents the correlation time of the communication channel, represents the symbol duration, and the constraint condition means that the channel correlation time must be greater than the single-beam duration, and the constraint condition represents the beam width can only take values from the set preset by the system , and the constraint represents the number of periods cannot exceed the maximum value .

[0051] On the other hand, a communication and sensing integrated device based on a periodic scanning reference signal is provided. This device is applied to the communication and sensing integrated method based on a periodic scanning reference signal. The device includes:

[0052] A reference signal module, which is used to generate a reference signal with periodic scanning ability based on different beam widths and different numbers of observation periods, and perform multiple observations on the target to be sensed according to the reference signal to generate received signals for multiple periods.

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

[0054] A derivation module, which is used to derive the trace of the Fisher information matrix according to the complete statistic.

[0055] Among them, the relational expression between the trace of the Fisher information matrix, the beam width, and the number of observation periods is shown in the following formula (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, represents the block diagonal matrix formed by arranging the submatrix along the diagonal, that is , represents the number of observation periods, represents the number of targets to be detected, represents the number of symbol periods included in the single-beam duration of the reference signal, represents the number of array elements of the receiving antenna array, represents the number of array elements of the transmitting antenna array, and the coefficient , , represents the transmit power, represents the target 's radar cross section, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, represents the height of the transmitting antenna from the ground, represents 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 position.

[0058] A construction module, which is used to construct the correlation time of the communication channel.

[0059] An optimization and decision-making module, which is used to maximize the trace of the Fisher information matrix under the constraints of the relevant time of the communication channel, obtain the optimized beam width and the number of observation periods, and realize communication and target perception.

[0060] Optionally, the signal reception and processing module is further used for:

[0061] S21. Construct the received signal from the th target in the th observation period, as shown in the following formula (2):

[0062] (2)

[0063] In the formula, represents the received signal in the th symbol period of the th observation period, represents the effective radar channel gain of the th target in the th observation period, represents the receiving array response of the target , represents the angle of the th target in the th observation period, represents the transmitting array response of the target , represents the transpose operation, represents the transmitted signal vector in the th symbol period, represents the noise component.

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

[0065] (3)

[0066] In the formula, represents the complete statistics, represents the transmitting 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 statistic.

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

[0071] S31. Construct the value of the diagonal element of the Fisher information matrix.

[0072] S32. Assume that the distribution of the target position 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, substitute the value of the diagonal element of the Fisher information matrix into the expectation of the trace of the Fisher information matrix to obtain the relationship expression between the trace of the Fisher information matrix, the beam width, and the number of observation periods.

[0074] Optionally, constructing the value of the diagonal element of the Fisher information matrix includes:

[0075] The Fisher information matrix The th diagonal element value of is obtained from the th diagonal element value of the submatrix

[0076] as shown in the following formula (5):

[0077] In the formula, represents the value of the th diagonal element of the Fisher information matrix , represents the value of the th diagonal element of the submatrix , where , , represents the modulo operation, represents the th observation period of the target to the distance of the transmitting antenna, represents the th target at the th observation period angle.

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

[0079] (6)

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

[0081] Optionally, the building module is further configured to:

[0082] S41. Define a normalized channel correlation coefficient as the normalized cross-correlation coefficient of the channel impulse response within the time interval .

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

[0084] (7)

[0085] In the formula, denotes taking the expectation under the random variable , denotes the position of any target, denotes the time instant of the communication channel impulse response, denotes the communication channel impulse response at time instant denotes the time interval, denotes the conjugate operation, denotes the modulo operation.

[0086] S42. According to the normalized channel correlation coefficient , define the time interval when the normalized channel correlation coefficient drops to a preset threshold as the correlation time of the communication channel.

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

[0088] (8)

[0089] In the formula, denotes the correlation time of the communication channel.

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

[0091] (9)

[0092] In the formula, denotes the correlation time of the communication channel, denotes the symbol duration, and the constraint condition denotes that the channel correlation time must be greater than the single-beam duration, and the constraint condition denotes the beam width can only take values from the set preset by the system, and the constraint denotes the number of periods Cannot exceed the maximum value .

[0093] On the other hand, a synesthesia integrated device is provided, and the synesthesia integrated device includes: a processor; a memory, on which computer-readable instructions are stored, and when the computer-readable instructions are executed by the processor, any one of the synesthesia integrated methods based on a periodic scanning reference signal as described above is implemented.

[0094] On the other hand, a computer-readable storage medium is provided, in which at least one instruction is stored, and the at least one instruction is loaded and executed by a processor to implement any one of the synesthesia integrated methods based on a periodic scanning reference signal as described above.

[0095] The beneficial effects brought by the technical solutions provided in the embodiments of the present invention at least include:

[0096] In the present invention, a joint optimization method for beam width and number of observation periods is proposed, which can maximize the target sensing performance of the system while ensuring the communication performance of users. Specifically, by constructing a complete statistic for target angle estimation based on the received signal, a 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, so as to maximize the target sensing performance of the system while ensuring the communication performance of users. Compared with the existing 5G positioning methods, the method proposed in the present invention can realize the active discovery and sensing of targets in a wide angle range through beam scanning, joint multi-period signals, etc. Compared with the synesthesia integrated method based on beam multiplexing, the method proposed in the present invention can utilize the existing reference signals of the system to realize the integration of communication and sensing without increasing the system resource overhead. Description of the Drawings

[0097] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can also obtain other drawings without creative efforts based on these drawings.

[0098] Figure 1 is a flowchart of a synesthesia integrated method based on a periodic scanning reference signal provided by an embodiment of the present invention;

[0099] Figure 2 is a system architecture diagram of a synesthesia integrated based on a periodic scanning reference signal provided by an embodiment of the present invention;

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

[0101] Figure 4 It is a schematic structural diagram of a communication and sensing integrated device provided by an embodiment of the present invention. Specific implementation manners

[0102] Next, the technical solutions in the present invention will be described with reference to the accompanying drawings.

[0103] In the embodiments of the present invention, words such as "exemplarily" and "for example" are used to represent examples, illustrations or explanations. Any embodiment or design solution described as an "example" in the present invention should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of the word "example" is intended to present concepts in a specific manner. In addition, in the embodiments of the present invention, the meaning expressed by "and / or" can be both, or either one of the two can be selected.

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

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

[0106] To make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following will be described in detail with reference to the accompanying drawings and specific embodiments.

[0107] The embodiments of the present invention provide a communication and sensing integration method based on a periodic scanning reference signal. This method can be implemented by a communication and sensing integrated device, and this communication and sensing integrated device can be a terminal or a server. As Figure 1 shown in the flowchart of the communication and sensing integration method based on a periodic scanning reference signal, the processing flow of this method can include the following steps:

[0108] S1. Generate a reference signal with periodic scanning ability based on different beam widths and different numbers of observation periods, and perform multiple observations on the target to be sensed according to the reference signal to generate received signals for multiple periods.

[0109] In a feasible implementation manner, the present invention proposes a communication and sensing integration architecture that uses a periodic scanning reference signal and combines multi-period signals for target sensing.

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

[0111] Among them, the reference signal with periodic beam scanning capabilities includes, but is 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. Through their periodic beam scanning characteristics, these signals can effectively achieve active target discovery and sensing in a wide angle or even a full direction.

[0112] S2. Construct a complete statistic for target angle estimation based on the received signals in multiple periods.

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

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

[0115] (2)

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

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

[0118] (3)

[0119] where denotes the complete statistic, denotes the th effective radar channel gain of the th target in the th observation period, denotes the covariance matrix of the transmitted signal, denotes the conjugate transpose, denotes the conjugate operation, denotes the noise term.

[0120] S23. When using the orthogonal coding method, the complete statistic can be further simplified to:

[0121] (4)

[0122] where denotes the simplified complete statistic.

[0123] S3. Derive the trace of the Fisher information matrix based on the complete statistic.

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

[0125] S31. Use to denote the sub - Fisher information matrix for target angle estimation using the complete statistic , that is, the sub - matrix of the Fisher information matrix . Assume that the transmitting and receiving antenna arrays use uniform linear arrays and the beam shape of the system is fan - shaped. Then, the value of the th diagonal element of the sub - Fisher information matrix can be expressed as:

[0126] (5)

[0127] where Denotes the value of the -th diagonal element of the sub-Fisher information matrix, where , , , denotes the modulo operation, , denotes the transmit power, denotes the radar cross section (RCS) of the target, denotes the effective aperture of the receiving antenna, denotes the noise power, denotes the beam width, denotes the beam direction, denotes the -th distance from the target to the transmitting antenna in the -th observation period, denotes the -th target's angle in the -th observation period.

[0128] S32. Since the values of the diagonal elements of the sub-Fisher information matrix are related to the target's position distribution (such as distance and angle), without loss of generality, the present invention assumes that the target position distribution is random and considers the expectation of the trace of the Fisher information matrix:

[0129] (6)

[0130] In the formula, denotes the expectation of the trace of the Fisher information matrix. The matrix is a block diagonal matrix composed of sub-matrices , , arranged along the diagonal, i.e., . Tr() denotes taking the trace of the matrix, denotes taking the expectation under the random variable . Denote the distance from any target to the transmitting antenna as , denotes the height of the transmitting antenna from the ground, denotes the distance from any target to the ground projection of the transmitting antenna, then . In the polar coordinate system, let the ground projection of the transmitting antenna be the pole, then the random variable denotes the position of any target (including the distance from the pole and the angle ).

[0131] S33. Denote the probability density function of the target position as , and substituting the expression of into the above formula, the expectation of the trace of the Fisher information matrix 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, represents the block diagonal matrix formed by arranging the submatrix along the diagonal, that is , represents the number of observation periods, represents the number of symbol periods included in the single beam duration of the reference signal, represents the number of array elements of the receiving antenna array, represents the number of array elements of the transmitting antenna array, and the coefficient , represents the beam width, represents the height of the transmitting antenna from the ground, represents 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 position; represents the number of detected targets, , represents the transmit power, represents the target 's radar cross section, represents the effective aperture of the receiving antenna, represents the noise power.

[0134] S4. Construct the correlation time of the communication channel.

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

[0136] S41. Define the normalized channel correlation coefficient as the normalized cross - correlation coefficient of the channel impulse response within the time interval :

[0137] (7)

[0138] In the formula, represents taking the expectation under the random variable , represents the position of any target, represents the moment The impulse response of the communication channel at denotes the impulse response of the communication channel at denotes the time interval, denotes the conjugate operation, denotes the modulo operation. The normalized channel correlation coefficient actually characterizes the degree of change of the channel state over time. Therefore, the time interval is larger, the normalized channel correlation coefficient is smaller.

[0139] S42. According to the normalized channel correlation coefficient , define the time interval when the normalized channel correlation coefficient drops to the preset threshold as the correlation time of the communication channel:

[0140] (8)

[0141] In the formula, denotes the correlation time of the communication channel and is related to the beam width . Considering the mobility of the user, the selection of the beam width has an important impact on the channel correlation time: if the beam width is too small, it will lead to an increase in beam alignment error, thus shortening the channel correlation time; if the beam width is too large, it will introduce more multipath reflections, which will also reduce the channel correlation time. Therefore, the communication channel correlation time is a convex function of the beam width. This means that there is an optimal beam width that can balance between reducing beam alignment error and multipath reflections, thereby maximizing the channel correlation time.

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

[0143] Optionally, under the constraint of the communication channel correlation time (related to the beam width), maximize the trace of the Fisher information matrix:

[0144] (9)

[0145] In the formula, the objective function denotes the expectation of maximizing the trace of the Fisher information matrix in step S4 , denotes the number of symbol periods included in the single-beam duration of the reference signal, denotes the symbol duration, and the channel correlation time constraint denotes that the channel correlation time must be greater than the single-beam duration, and the constraint condition Indicates the beam width Can only take values from the system preset set and is constrained Indicates the number of periods Cannot exceed the maximum value .

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

[0147] A typical application scenario of the present invention is in a 5G communication system, specifically related to 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 within a wide angle through periodic directional narrow beam scanning.

[0148] In addition, the present invention is also applicable to scenarios where communication and perception functions are multiplexed with multiple beams. In this scenario, the communication and perception functions are respectively implemented using different beams, and the beam used for perception has periodic scanning capabilities 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 for beam width and number of observation periods is proposed, which can maximize the target perception performance of the system while ensuring the communication performance of users. 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, so as to maximize the target perception performance of the system while ensuring the communication performance of users. Compared with the existing 5G positioning methods, the method proposed in the present invention can actively discover and perceive targets in a wide angle range through beam scanning, joint multi-period signals, etc. Compared with the communication and sensing integration method based on beam multiplexing, the method proposed in the present invention can utilize the existing reference signals of the system to achieve communication and sensing integration without increasing the system resource overhead.

[0150] Figure 2 is a block diagram of a communication and sensing integration device based on periodic scanning reference signals shown according to an exemplary embodiment. This device is used for the communication and sensing integration method based on periodic scanning reference signals. Refer to Figure 2 and this device includes a reference signal module 310, a signal reception and processing module 320, a derivation module 330, a construction module 340, and an optimization and decision-making module 350. Among them:

[0151] The reference signal module 310 is used to generate a reference signal with periodic scanning ability based on different beam widths and different numbers of observation periods, and perform multiple observations on the target to be sensed according to the reference signal to generate received signals of multiple periods.

[0152] The signal reception 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 the 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 signals, derives the Fisher information matrix, calculates the correlation time of the channel, etc., for subsequent optimization and decision-making module processing.

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

[0154] Among them, the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation periods is shown in the following formula (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, represents the sub-matrix Arranged along the diagonal to form a block diagonal matrix, i.e., , represents the number of observation periods, represents the number of targets to be detected, represents the number of symbol periods included in the single-beam duration of the reference signal, represents the number of elements in the receiving antenna array, represents the number of elements in the transmitting antenna array, and the coefficient , , represents the transmit power, represents the target 's radar cross section area, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, represents the height of the transmitting antenna from the ground, represents 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 position.

[0157] Building block 340 is used to construct the correlation time of the communication channel.

[0158] Optimization and decision-making 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 periods, so as to maximize the target perception performance of the system on the basis of ensuring the communication performance of users.

[0159] As Figure 3 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] Target perception module is used to perform target discovery and parameter estimation by using signal characteristics, etc.

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

[0162] Figure 4 FIG. is a schematic structural diagram of a communication and sensing integrated device provided by an embodiment of the present invention, as Figure 4 shown, the communication and sensing integrated device may include the above Figure 2 shown communication and sensing integrated device based on periodic scanning reference signals. Optionally, the communication and sensing integrated device 410 may include a first processor 2001.

[0163] Optionally, the communication and sensing integrated device 410 may further include a memory 2002 and a transceiver 2003.

[0164] Wherein, the first processor 2001 is connected to the memory 2002 and the transceiver 2003, such as through a communication bus.

[0165] Next, in conjunction with Figure 4 each component of the communication and sensing integrated device 410 will be specifically introduced:

[0166] Among them, the first processor 2001 is the control center of the communication and sensing integrated device 410, which can be a single processor or a collective term for multiple processing elements. For example, the first processor 2001 is one or more central processing units (CPUs), or can be 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 digital signal processors (DSPs), or one or more field programmable gate arrays (FPGAs).

[0167] Optionally, the first processor 2001 can execute various functions of the integrated communication and sensing device 410 by running or executing software programs stored in the memory 2002 and calling data stored in the memory 2002.

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

[0169] In a specific implementation, as an example, the integrated communication and sensing device 410 may also include multiple processors, such as Figure 4 the first processor 2001 and the second processor 2004 shown in

[0170] Among them, the memory 2002 is used to store software programs for implementing the solution of the present invention and is controlled by the first processor 2001 for execution. The specific implementation manner can refer to the above method embodiments and will not be elaborated 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 may also be 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 compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium that can be used to carry or store 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 be coupled to the first processor 2001 through an interface circuit ( Figure 4 not shown in

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

[0173] Optionally, the transceiver 2003 may include a receiver and a transmitter ( Figure 4 not shown separately). Among them, the receiver is used to implement the receiving function, and the transmitter is used to implement the transmitting function.

[0174] Optionally, the transceiver 2003 may be integrated with the first processor 2001 or exist independently and be coupled to the first processor 2001 through the interface circuit ( Figure 4 not shown) of the integrated communication and sensing device 410. The embodiments of the present invention do not make specific limitations on this.

[0175] It should be noted that Figure 4 the structure of the integrated communication and sensing device 410 shown does not constitute a limitation on the router. The actual knowledge structure recognition device may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0176] In addition, for the technical effects of the integrated communication and sensing device 410, reference may be made to the technical effects of the integrated communication and sensing method based on the periodic scanning reference signal described in the above method embodiments, which will not be elaborated here.

[0177] It should be understood that the first processor 2001 in the embodiments of the present invention may be a central processing unit (CPU), and this processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or this 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 ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (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 but not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink 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 combination thereof. When implemented using 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 processes or functions described in the embodiments of the present invention are generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. 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.) means. 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 a data center that contains one or more collections of available media. The available media can be magnetic media (such as floppy disks, hard disks, magnetic tapes), optical media (such as DVDs), or semiconductor media. The semiconductor media can be a solid-state drive.

[0180] It should be understood that the term "and / or" in this document is merely a description of the association relationship between associated objects, indicating that there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. Here, A and B can be singular or plural. In addition, the character " / " in this document generally represents an "or" relationship between the associated objects before and after, but it may also represent an "and / or" relationship, which can be specifically understood by referring to the context before and after.

[0181] In the present invention, "at least one" means one or more, and "a plurality" means two or more. "At least one of the following" or its similar expressions refer 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 represent: a, b, c, a - b, a - c, b - c, or a - b - c, where a, b, and c can be single or multiple.

[0182] It should be understood that in various embodiments of the present invention, the sequence numbers of the above processes do not imply 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 the present invention.

[0183] 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 herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present invention.

[0184] Those skilled in the art can clearly understand that for the convenience and conciseness of description, the specific working processes of the devices, apparatuses, and units described above can refer to the corresponding processes in the foregoing method embodiments, and will not be elaborated herein.

[0185] In 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 merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For example, 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be in an electrical, mechanical, or other form.

[0186] The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they can be located in one place, or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

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

[0188] When the above-mentioned 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, in essence, or the part that contributes to the prior art or a 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 various embodiments of the present invention. The foregoing storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs.

[0189] As described above, the above are only specific implementation manners of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention can easily think of changes or substitutions, which should all be covered by the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Claims

1. A communication-sensing integrated method based on a periodic scanning reference signal, characterized in that The method includes: S1. Generate a reference signal with periodic scanning ability based on different beam widths and different numbers of observation periods, and perform multiple observations on the target to be sensed according to the reference signal to generate received signals for multiple periods; S2. Construct a complete statistic for target angle estimation based on the received signals according to the received signals for multiple periods; S3. Derive the trace of the Fisher information matrix according to the complete statistic; Among them, the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation periods is shown in the following formula (1): （1） where, denotes the expectation of the trace of the Fisher information matrix, denotes the trace of the Fisher information matrix, denotes the block diagonal matrix formed by arranging the submatrix along the diagonal, i.e., , denotes the number of observation periods, denotes the number of targets to be detected, denotes the number of symbol periods included in the single beam duration of the reference signal, denotes the number of array elements of the receiving antenna array, denotes the number of array elements of the transmitting antenna array, and the coefficient , , denotes the transmit power, denotes the target 's radar cross section area, denotes the effective aperture of the receiving antenna, denotes the noise power, denotes the beam width, denotes the height of the transmitting antenna from the ground, denotes the distance from any target to the ground projection of the transmitting antenna, denotes the angle of any target, denotes the beam direction, denotes the probability density function of the target position; S4. Construct the correlation time of the communication channel; S5. Maximize 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 the number of observation periods, and realize communication and target sensing.

2. The integrated communication and sensing method based on periodic scanning reference signals according to claim 1, wherein The step of constructing a complete statistic for target angle estimation based on the received signals for multiple periods in S2 includes: S21. Construct the received signal from the th target in the th observation period, as shown in Equation (2) below: （2） In the formula, represents the received signal in the -th observation period and the -th symbol period, represents the effective radar channel gain of the -th target in the -th observation period, represents the receiving array response of target , represents the angle of the -th target in the -th observation period, represents the transmitting array response of target , represents the transpose operation, represents the transmitted signal vector in the -th symbol period, represents the noise component; S22. Construct a complete statistic for target angle estimation based on the received signals according to the complete statistic theory and the received signals, as shown in the following formula (3): （3） wherein, represents the complete statistic, represents the transmit array response of any target, represents the covariance matrix of the transmit signal, represents the conjugate operation, represents the noise term; S23. Simplify the complete statistic to obtain the simplified complete statistic, as shown in the following formula (4): （4） In the formula, represents the simplified complete statistic.

3. The integrated communication and sensing method based on periodic scanning reference signals according to claim 1, characterized in that, The step of deriving the trace of the Fisher information matrix according to the complete statistic in S3 includes: S31. Construct the values of the diagonal elements of the Fisher information matrix; S32. Assume that the distribution of the target position is random and construct the expectation of the trace of the Fisher information matrix; S33. Substitute the values of the diagonal elements of the Fisher information matrix into the expectation of the trace of the Fisher information matrix according to the probability density function of the target position to obtain the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation periods.

4. The integrated communication and sensing method based on periodic scanning reference signals according to claim 3, wherein The step of constructing the values of the diagonal elements of the Fisher information matrix in S31 includes: Fisher information matrix The value of the th diagonal element is obtained from the value of the th diagonal element of the submatrix, as shown in Equation (5) below: （5） In the formula, represents the value of the -th diagonal element of the Fisher information matrix, represents the value of the -th diagonal element of the sub-matrix, where , , represents the modulo operation, represents the distance from the -th observation period target to the transmitting antenna, represents the angle of the -th target in the 5. The integrated communication and sensing method based on periodic scanning reference signals according to claim 4, wherein The expectation of the trace of the Fisher information matrix in S32 is shown in the following formula (6): （6） In the formula, represents the expectation of the trace of the Fisher information matrix.

6. The integrated communication and sensing method based on periodic scanning reference signals according to claim 1, wherein The step of constructing the correlation time of the communication channel in S4 includes: S41. Define the normalized channel correlation coefficient as the normalized cross-correlation coefficient of the channel impulse response within the time interval ; Among them, the normalized channel correlation coefficient is shown in the following formula (7): （7） wherein, denotes taking the expectation with respect to the random variable , and represents the position of any target Indicates the moment of the communication channel impulse response Indicates the communication channel impulse response at the moment Indicates the time interval Indicates the conjugate operation Indicates the modulo operation; S42. Define the time interval when the normalized channel correlation coefficient drops to a preset threshold as the correlation time of the communication channel according to the normalized channel correlation coefficient . ​​​ 7. The integrated communication and sensing method based on periodic scanning reference signals according to claim 1, wherein The step of maximizing the trace of the Fisher information matrix under the constraint of the correlation time of the communication channel in S5 is shown in the following formula (9): （9） Wherein, represents the correlation time of the communication channel, represents the symbol duration, and the constraint indicates that the channel correlation time must be greater than the single-beam duration, and the constraint represents the beam width can only take values from the set preset by the system and the constraint represents the number of periods shall not exceed the maximum value .

8. A communication and sensing integrated device based on a periodic scanning reference signal, the communication and sensing integrated device based on a periodic scanning reference signal is used to implement the communication and sensing integrated method based on a periodic scanning reference signal according to any one of claims 1-7, characterized in that, The device includes: A reference signal module, configured to generate a reference signal with periodic scanning ability based on different beam widths and different numbers of observation periods, and perform multiple observations on the target to be sensed according to the reference signal to generate received signals for multiple periods; A signal receiving and processing module, configured to construct a complete statistic for target angle estimation based on the received signals for multiple periods; A derivation module, configured to derive the trace of the Fisher information matrix according to the complete statistic; Among them, the relationship expression between the trace of the Fisher information matrix and the beam width and the number of observation periods is shown in the following formula (1): （1） wherein, represents the expectation of the trace of the Fisher information matrix, represents the trace of the Fisher information matrix, represents the block diagonal matrix formed by arranging the sub-matrix along the diagonal, i.e., , represents the number of observation periods, represents the number of targets to be detected, represents the number of symbol periods included in the single beam duration of the reference signal, represents the number of elements of the receiving antenna array, represents the number of elements of the transmitting antenna array, and the coefficient , , represents the transmit power, represents the target 's radar cross section area, represents the effective aperture of the receiving antenna, represents the noise power, represents the beam width, represents the height of the transmitting antenna from the ground, represents 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 position; A construction module, configured to construct the correlation time of the communication channel; An optimization and decision-making module is used to maximize the trace of the Fisher information matrix under the constraints of the relevant time of the communication channel, obtain the optimized beam width and the number of observation periods, and achieve communication and target perception.

9. A synaesthesia integration device, characterized in that, The integrated communication and sensing device includes: A processor; A memory, on which computer-readable instructions are stored. 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, Program code is stored in the computer-readable storage medium, and the program code can be called by the processor to execute the method according to any one of claims 1 to 7.

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