Frequency band splicing method and related device

Abstract

The invention provides a frequency band splicing method and a related device. In the frequency band splicing method, both a first communication device and a second communication device participate in sending and processing of a sensing signal, and the second communication device extracts auxiliary information according to an echo signal corresponding to the sensing signal sent by the first communication device and feeds back the auxiliary information to the first communication device. And the first communication equipment fuses and splices the echo signals of different sensing signals according to the echo signals corresponding to the sensing signals sent by the second communication equipment and the auxiliary information, and performs CIR estimation according to the spliced UWB signals, thereby obtaining related information of a target.

Description

Technical Field

[0001] This application relates to the field of communications, and in particular, to a method for splicing frequency bands and related devices. Background Art

[0002] Ultra-wideband (UWB) technology refers to a technology that transmits data by sending and receiving extremely narrow pulses with a duration of nanoseconds or less than nanoseconds, thus having a bandwidth in the order of gigahertz (GHz). UWB technology can be used in the field of sensing.

[0003] A technical solution for realizing sensing through UWB technology is as follows: The sensing initiator sends a sensing signal, and the echo signal after the sensing signal is reflected or scattered by the target reaches the sensing responder. The sensing responder estimates the channel impulse response (CIR) based on the echo signal, and the sensing responder feeds back the CIR parameters to the sensing initiator. The sensing initiator can extract information such as the distance, angle, and speed of the sensing target according to the CIR parameters.

[0004] However, there are technical problems of inaccurate sensing when using the above technical solution for sensing. Summary of the Invention

[0005] This application provides a method for splicing frequency bands and related devices, aiming to improve the sensing accuracy of environmental sensing based on UWB technology.

[0006] In a first aspect, this application provides a method for splicing frequency bands, which is applied to a first communication device. The method includes:

[0007] Receiving first information from a second communication device, where the first information includes parameter information of a first echo signal, and the first echo signal is an echo signal of a first sensing signal; receiving a second echo signal, where the second echo signal is an echo signal of a second sensing signal; and determining an ultra-wideband (UWB) signal according to the second echo signal and the first information.

[0008] In the bistatic sensing mode, both the sensing responder and the sensing initiator send sensing signals, and both the sensing initiator and the sensing responder participate in the processing of the echo signal, so as to achieve a better frequency band splicing effect, improve the accuracy of CIR estimation of the communication device, and improve the sensing accuracy.

[0009] In addition, since the sensing signals are sent bidirectionally between the first communication device and the second communication device, the first communication device can extract more features of the target in the environment according to the spliced UWB signal, thereby improving the sensing accuracy.

[0010] In some implementations, the parameter information of the first echo signal includes at least one of the following information: the frequency band where the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier for indicating a frequency band splicing reference signal.

[0011] In some implementations, the first information further includes sensing information obtained based on the first echo signal.

[0012] In some implementations, the sensing information includes at least one of the following information: the number of scattering centers, the relative distance distribution between the scattering centers and the communication device that receives the first echo signal, or the geometric type parameter distribution of the scattering centers.

[0013] The second communication device processes the first echo signal in advance to obtain sensing information, which can improve the efficiency of the first communication device for frequency band splicing based on the first echo signal and the second echo signal.

[0014] In some implementations, the relative distance between any two of the scattering centers is greater than or equal to a second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to a third threshold.

[0015] The second communication device trims the redundant scattering centers according to the relative distance and energy of the scattering centers, which can avoid the influence of the redundant scattering centers on frequency band splicing and thus improve the sensing accuracy.

[0016] In some implementations, determining an ultra-wideband (UWB) signal according to the second echo signal and the first information includes:

[0017] Obtaining a first fitting signal, where the first fitting signal is a signal obtained by fitting the first echo signal through a first scattering center model; obtaining a second fitting signal, where the second fitting signal is a signal obtained by fitting the second echo signal through a second scattering center model, and the model order in the second scattering center model is the same as the model order in the first scattering center model; determining the UWB signal according to the first fitting signal and the second fitting signal.

[0018] In some implementations, the model order corresponding to the first echo signal is lower than the model order corresponding to the second echo signal, where the model order in the first scattering center model and the model order in the second scattering center model are the same as the model order corresponding to the first echo signal.

[0019] In some implementations, determining an ultra-wideband (UWB) signal according to the first fitting signal and the second fitting signal includes:

[0020] If the error between the first fitting signal and the first echo signal is less than or equal to the first threshold, and the error between the second fitting signal and the second echo signal is less than or equal to the first threshold, the third fitting signal is obtained by fitting the first echo signal through the third scattering center model, and the fourth fitting signal is obtained by fitting the second echo signal through the fourth scattering center model. The model order in the third scattering center model is the same as the model order in the fourth scattering center model, and the model order in the third scattering center model is less than the model order in the first scattering center model; the UWB signal is determined according to the third fitting signal and the fourth fitting signal.

[0021] In some implementation manners, determining the ultra-wideband (UWB) signal according to the first fitting signal and the second fitting signal includes:

[0022] If the error between the first fitting signal and the first echo signal is greater than the first threshold, and the error between the second fitting signal and the second echo signal is greater than the first threshold, the fifth fitting signal is obtained by fitting the first echo signal through the fifth scattering center model, and the sixth fitting signal is obtained by fitting the second echo signal through the sixth scattering center model. The model order in the sixth scattering center model is the same as the model order in the fifth scattering center model, and the model order in the fifth scattering center model is greater than the model order in the first scattering center model; the UWB signal is determined according to the fifth fitting signal and the sixth fitting signal.

[0023] When obtaining the UWB signal by splicing the first echo signal and the second echo signal, align the model orders of the scattering center models corresponding to the first echo signal and the second echo signal to ensure the accuracy of the estimated incoherent factor during the correlation processing, thereby improving the frequency band splicing effect and the sensing accuracy.

[0024] In a second aspect, the present application provides a frequency band splicing method, which is applied to a second communication device. The method includes:

[0025] Sending first information to a first communication device, where the first information includes parameter information of a first echo signal, and the first echo signal is an echo signal of a first sensing signal; sending a second sensing signal.

[0026] In some implementation manners, the parameter information of the first signal includes at least one of the following information: the frequency band where the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier for indicating a frequency band splicing reference signal.

[0027] In some implementation manners, the first information further includes sensing information obtained based on the first echo signal.

[0028] In some implementations, the sensing information includes at least one of the following information: the number of scattering centers, the relative distance distribution between the scattering centers and the second communication device, or the geometric type parameter distribution of the scattering centers.

[0029] In some implementations, the relative distance between any two of the scattering centers is greater than or equal to a second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to a third threshold.

[0030] In some implementations, there is a preset correlation between the frequency band to which the second sensing signal belongs and the first information.

[0031] When the frequency band to which the second sensing signal sent by the second communication device belongs is a preset optimal frequency band, splicing the first echo signal and the second echo signal can improve the splicing effect of the UWB signal, thereby improving the sensing accuracy.

[0032] In a third aspect, the present application provides a frequency band splicing device, which includes various functional modules for implementing any one of the frequency band splicing methods mentioned in the above implementations. Optionally, each module can be implemented in a software and / or hardware manner.

[0033] In a fourth aspect, the present application provides a frequency band splicing device, including a processor, which is coupled to a memory and can be used to execute instructions in the memory to implement any one of the frequency band splicing methods mentioned in the above implementations. Optionally, the device further includes a memory. Optionally, the device further includes a communication interface, and the processor is coupled to the communication interface.

[0034] In a fifth aspect, the present application provides a computer-readable medium, which stores program code for a device to execute, and the program code includes instructions for executing any one of the frequency band splicing methods mentioned in the above implementations.

[0035] In a sixth aspect, the present application provides a computer program product, including a computer program, which when executed by a processor implements any one of the frequency band splicing methods mentioned in the above implementations. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The accompanying drawings herein are incorporated into the specification and form a part of the specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0037] Figure 1 Schematic diagrams of two application scenarios provided by the present application;

[0038] Figure 2 Schematic diagram of a sensing scenario in a bistatic sensing mode;

[0039] Figure 3 Schematic flow diagram of the frequency band splicing method provided by an embodiment of the present application;

[0040] Figure 4 Schematic flow diagram of the frequency band splicing method provided by an embodiment of the present application;

[0041] Figure 5 Schematic diagram of the effect of the fitting signal obtained by fitting the echo signal through the GTD model in the simulation experiment of the present application;

[0042] Figure 6 Comparison diagram of the effects before and after the correlation recovery processing of the upper and lower sidebands in the simulation experiment of the present application;

[0043] Figure 7 Schematic diagram of the frequency domain effect of the full-band UWB signal obtained by splicing the upper and lower sub-bands in the simulation experiment of the present application;

[0044] Figure 8 Schematic diagram of the time domain effect of the full-band UWB signal obtained by splicing the upper and lower sub-bands in the simulation experiment of the present application;

[0045] Figure 9 Schematic diagram of the model order corresponding to different echo signals before and after the scattering center clipping when the signal-to-noise ratio is 20 dB in the simulation experiment of the present application;

[0046] Figure 10 Schematic diagram of the model order corresponding to different echo signals before and after the scattering center clipping when the signal-to-noise ratio is 30 dB in the simulation experiment of the present application;

[0047] Figure 11 Comparison schematic diagram of the normalized mean square error under different algorithms in the simulation experiment of the present application;

[0048] Figure 12 Schematic structural diagram of the frequency band splicing device provided by an embodiment of the present application;

[0049] Figure 13 Schematic structural diagram of the frequency band splicing device provided by another embodiment of the present application;

[0050] Figure 14 Schematic structural diagram of the frequency band splicing device provided by yet another embodiment of the present application.

[0051] Through the above-mentioned drawings, specific embodiments of the present application have been shown, and there will be more detailed descriptions hereinafter. These drawings and textual descriptions are not intended to limit the scope of the concept of the present application in any way, but to illustrate the concept of the present application to those skilled in the art by referring to specific embodiments. Detailed implementation manners

[0052] Exemplary embodiments will be described in detail herein, and examples thereof are shown in the accompanying drawings. When the following description refers to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of apparatuses and methods consistent with some aspects of the present application as detailed in the appended claims.

[0053] The technical solution provided by this application can be applicable to a wireless personal area network (WPAN) based on UWB technology. For example, the method provided by this application can be applicable to Institute of Electrical and Electronics Engineers (IEEE) protocols, such as the IEEE 802.11be / Wi-Fi 7 / Extremely High Throughput (EHT) protocol, the IEEE 802.11bn / Wi-Fi 8 / Ultra High Reliability (UHR) protocol, the IEEE 802.15 / UWB protocol, or the IEEE 802.11bf / sensing / sensing protocol, or a future generation of UWB WPAN standard, which will not be listed one by one here. The method provided by this application can also be applied to various communication systems. For example, it can be an Internet of Things (IoT) system, a Vehicle to Everything (V2X) system, a Narrow Band Internet of Things (NB-IoT) system, devices applied to the vehicle-to-everything network, IoT nodes and sensors in the Internet of Things, smart cameras, smart remote controls, smart water meters and electricity meters in smart homes, and sensors in smart cities. It can also be applicable to a Long-Term Evolution (LTE) Frequency Division Duplex (FDD) system, an LTE Time Division Duplex (TDD), a Universal Mobile Telecommunication System (UMTS), a Worldwide Interoperability for Microwave Access (WiMAX) communication system, an LTE system, or a 5th-generation (5G) communication system, a 6th-generation (6G) communication system, etc.

[0054] Ultra-wideband (UWB) technology is a new type of wireless communication technology that transmits data using nanosecond-level non-sinusoidal narrow pulses. By modulating impulse pulses with very steep rise and fall times, the UWB pulse occupies a very wide spectrum range, resulting in a signal with a bandwidth on the order of GHz. The bandwidth used by UWB is typically above 1 GHz. Since UWB pulses are very narrow and have an extremely low radiation spectral density, UWB wireless communication systems have advantages such as strong multipath resolution ability, low power consumption, and strong confidentiality, which is conducive to coexisting with other systems, thereby improving spectrum utilization and system capacity. In addition, in short-distance communication applications, the transmit power of a UWB transmitter can usually be made lower than 1 milliwatt (mW). Theoretically, the interference generated by UWB signals is only equivalent to that of a broadband white noise. This helps for good coexistence between ultra-wideband and existing narrowband communications. Therefore, a UWB system can operate simultaneously with a narrowband (NB) communication system without interference. The method provided in this application can be implemented by a communication device in a wireless communication system. In a communication device, a module that implements the UWB system function can be called a UWB module (such as a module that can be used to transmit UWB pulses), and a module that implements the narrowband communication system function can be called a narrowband communication module. The UWB module and the narrowband communication module can be different devices or chips, etc. This application embodiment does not limit this. Of course, the UWB module and the narrowband communication module can also be integrated on a single device or chip. This application embodiment does not limit the implementation manner of the UWB module and the narrowband communication module in the communication device.

[0055] The method provided in this application can be implemented by a communication device in a wireless communication system, and this communication device can be a device involved in a UWB system. For example, this communication device can include, but is not limited to, a communication server, a router, a switch, a bridge, a computer, a mobile phone, etc. For another example, this communication device can include a central control point, such as a personal area network (PAN) or a PAN coordinator, etc. For another example, this communication device can include a user equipment (UE), and this user equipment can include various handheld devices, vehicle-mounted devices, wearable devices, Internet of Things devices, computing devices, or other processing devices connected to a wireless modem, etc. For another example, this communication device can include a chip, and this chip can be disposed in a communication server, a router, a switch, or a user terminal, etc. There is no need to list them all here.

[0056] Figure 1 It is a schematic diagram of two application scenarios provided for this application. In Figure 1In the system 101 shown in (A), multiple full function devices (FFDs) and multiple reduced function devices (RFDs) form a communication system with a star topology, where one FFD is the PAN controller. In the communication system with a star topology, the PAN controller transmits data to one or more other devices, that is, a one-to-many or many-to-one data transmission architecture can be established among multiple devices. In Figure 1 In the system 102 shown in (B), multiple FFDs and one RFD form a communication system with a peer to peer topology or a mesh topology, where one FFD is the PAN controller. In the communication system with a peer to peer topology, a many-to-many data transmission architecture can be established among multiple different devices. Figure 1 In (A) and Figure 1 In (B), both the FFD and the RFD can be understood as the devices shown in this application. Among them, the full function device and the reduced function device are relative. For example, the reduced function device cannot be a PAN coordinator. Another example is that compared with the full function device, the reduced function device may not have coordination ability or its communication rate is relatively lower than that of the full function device. It can be understood that Figure 1 The PAN coordinator shown in (B) is only an example, Figure 1 The other three full function devices shown in (B) can also be used as the PAN coordinator, which are not shown one by one here.

[0057] It should be understood that Figure 1 In (A) and Figure 1 In (B) are only simplified schematic diagrams for easy understanding and do not constitute a limitation on the application scenarios of this application. For example, the system 101 and / or the system 102 may further include other FFDs and / or RFDs, etc. Another example is that the PAN coordinator in the system 101 and / or the system 102 may also be a coordinator.

[0058] According to the definition formula of range resolution, it can be known that there is an inverse proportional relationship between range resolution and the effective correlation bandwidth of the signal. That is, the wider the effective correlation bandwidth of the signal, the smaller the value of range resolution, and the smaller the value of range resolution means the stronger the resolution ability. Since the UWB signal has an extremely wide bandwidth and has a strong resolution ability for the wireless multipath environment, the physical world can be observed and understood based on the UWB signal. The basic principle of UWB sensing is that a pair of UWB devices are respectively used as the transmitting and receiving nodes. The transmitting node sends a sensing signal, and the receiving node completes the estimation of the channel impulse response (CIR) based on the received sensing signal. Information such as the distance, angle, and speed of the sensing target in the environment can be extracted according to the CIR parameters.

[0059] The devices involved in the UWB sensing process may include a sensing initiator and a sensing responder. Herein, the sensing initiator and the sensing responder are relative. For example, if the sensing initiator is the party that initiates the sensing process, then the sensing responder can be the party that makes a response according to the party that initiates the sensing process. For example, the sensing initiator can be the transmitting end of the sensing signal, and the sensing responder is the receiving end of the sensing signal. Another example is that the sensing initiator can be the receiving end of the sensing signal, and the sensing responder is the transmitting end of the sensing signal. It can be understood that the sensing signal sent by the sensing initiator first reaches the target and then reaches the sensing responder (for example, the sensing signal reaches the sensing responder after being reflected or scattered by the target, and the signal reaching the sensing responder after being reflected or scattered by the target is equivalent to the echo signal of the sensing signal).

[0060] Figure 2 It is a schematic diagram of the sensing scenario in the bistatic sensing mode. As Figure 2 shown, the bistatic sensing mode is a sensing scenario based on a sensing responder. The sensing initiator is a transmitter (TX) (or the device that sends the sensing signal), and the sensing responder is a receiver (RX) (or the device that receives the sensing signal). The sensing initiator sends the sensing signal, and the sensing responder performs CIR estimation based on the received sensing signal that has been reflected or scattered by the object to be sensed. When the sensing responder has the ability to extract target information based on the CIR parameters, the sensing initiator can obtain relevant information about the target in the environment through feedback information.

[0061] For low-cost and low-power UWB devices, limited by the performance of the analog to digital converter (ADC), the UWB device has no ability to send UWB signals. An effective solution is to synthesize UWB signals using multiple sub-band data in different frequency bands and complete CIR estimation based on the synthesized UWB signals. As an example, in the Figure 2 scenario shown, when the sensing initiator and the sensing responder are low-cost and low-power UWB devices, the sensing initiator can send multiple sensing packets. The sensing packet can be understood as a kind of pulsed sensing signal. The echo signals of the multiple pulsed sensing signals after being reflected or scattered by the target reach the sensing responder. The multiple echo signals are equivalent to multiple sub-band data. The sensing responder can splice the multiple echo signals to obtain a UWB signal, perform CIR estimation on the spliced UWB signal, and the sensing initiator obtains relevant information about the target in the environment through feedback information.

[0062] However, in the bistatic sensing mode, only a single device participates in the transmission of sensing signals, that is, the sensing signals are all sent by the sensing initiator and received by the sensing responder. The sensing responder performs CIR estimation according to the received sensing signals. Only a single device participates in the processing of sensing signals, resulting in poor effect of band splicing. On the other hand, since the sensing signals come from a single device, the sensing responder can only infer some features of the target in the environment based on the received sensing signals.

[0063] To solve the above problems, the present application provides a band splicing method and related devices, aiming to improve the sensing accuracy of environment sensing based on UWB technology.

[0064] In the technical solution proposed by the present application, both the sensing initiator and the sensing responder participate in the transmission of sensing signals. The sensing responder extracts auxiliary information from the echo signals corresponding to the sensing signals sent by the sensing initiator and feeds the auxiliary information back to the sensing initiator. The sensing initiator fuses and splices the echo signals of different sensing signals according to the echo signals corresponding to the sensing signals sent by the sensing responder and the auxiliary information, and performs CIR estimation according to the spliced UWB signals, so as to obtain relevant information about the target.

[0065] Hereinafter, without loss of generality, the interaction between the first communication device and the second communication device is taken as an example to detail the band splicing method provided by the embodiments of the present application. The first communication device and the second communication device are the sensing initiator and the sensing responder in the UWB sensing system. For example, the first communication device is the sensing initiator (initiator), and the second communication device is the sensing responder (responder), or the first communication device is the sensing responder (responder), and the second communication device is the sensing initiator (initiator), which is not limited herein.

[0066] As an example but not a limitation, the first communication device may be a device with communication capabilities in the WPAN, such as, FFD or RFD; similarly, the second communication device may also be a device with communication capabilities in the WPAN, such as, FFD or RFD.

[0067] Figure 3 It is a schematic flowchart of the band splicing method provided by an embodiment of the present application. As Figure 3 shown, this band splicing method is applied to the scenario of the bistatic sensing mode and includes the following steps:

[0068] S301, the second communication device sends first information to the first communication device, and the first information includes parameter information of the first echo signal. Correspondingly, the first communication device receives the first information from the second communication device.

[0069] In the bistatic sensing mode, the first communication device first sends a first sensing signal. Correspondingly, the second communication device receives the first echo signal after the first sensing signal is reflected or scattered by the target. Based on the received first echo signal, the second communication device can obtain the parameter information of the first echo signal. In an actual scenario, the target can usually be approximated as a set of discrete scattering centers. When the first sensing signal is scattered by the target, it is actually equivalent to the first sensing signal being affected by the target. Therefore, the second communication device can also obtain sensing information based on the first echo signal, and the sensing information is used to describe the relevant information of the scattering centers in the scenario.

[0070] In this step, the first information includes the parameter information of the first echo signal, and the second communication device sends the parameter information of the echo signal to the first communication device through the first information. Optionally, the first information may further include the sensing information obtained based on the first echo signal.

[0071] In some implementation manners, the parameter information of the first echo signal may include at least one of the following information: the frequency band where the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or the identifier for indicating the band stitching reference signal.

[0072] In some implementation manners, the sensing information may include at least one of the following information: the number of scattering centers, the relative distance distribution between the scattering centers and the communication device receiving the first echo signal, or the geometric type parameter distribution of the scattering centers.

[0073] As an example, the first information is in the form of a signaling, and the data formats for indicating the parameter information and the sensing information of the first echo signal are shown in Table 1.

[0074] Table 1

[0075]

[0076] Among them, the number of scattering centers (M) occupies the 0-5 bit positions of the signaling. Convert the binary value on the bit position corresponding to "M" into a decimal value. For example, if the bit position corresponding to "M" is (00000)2, after converting it into a decimal value, (00000)2 = (0) 10 , if the bit position corresponding to "M" is (11111)2, the corresponding decimal value is (11111)2 = (63) 10The number of scattering centers is a positive integer. Therefore, after converting the binary value of the corresponding bit of M to a decimal value, 1 needs to be added. Correspondingly, the value range of "M" is from 1 to 64, and the minimum change unit is 1. It can be understood that during the UWB sensing process, the data of the echo signal needs to be fitted through the scattering center model, and the number of scattering centers "M" is the order of the scattering center model corresponding to the fitting process.

[0077] The frequency band (N channel ) where the first echo signal is located occupies the 6th to 9th bits of the signaling. Convert the binary value of the corresponding bit of "N channel " to a decimal value. For example, if the corresponding bit of "N channel " is (0000)2, after converting it to a decimal value, (0000)2 = (0) 10 , and if the corresponding bit of "N channel " is (1111)2, the corresponding decimal value is (1111)2 = (15) 10 . Therefore, the value range of "N channel " is from 0 to 15, and the minimum change unit is 1. It should be noted that in the embodiments of the present application, a specific frequency band is defined for the first echo signal and divided into 16 different frequency bands from the 0th frequency band to the 15th frequency band. The value of the frequency band "N channel " where the first echo signal is located in Table 1 is used to indicate which specific N channel th frequency band the first echo signal is in. For example, if the value of the corresponding bit of "N channel " is (0011)2, it indicates that the frequency band where the first echo signal is located is the 3rd frequency band in the defined frequency band.

[0078] The bandwidth (B) of the first echo signal occupies the 10th to 16th bits of the signaling, and its value satisfies the formula: B = (value1) 10 *5 + 100. Here, "(value1) 10 " is the decimal value obtained by converting the binary value of the corresponding bit of "B

[0079] ". For example, if the corresponding bit of "B" is (0000000)2, then the value of "B" is 100. If the corresponding bit of "B" is (1111111)2, then the value of "B" is 735. Therefore, the value range of "B" is from 100 megahertz (MHz) to 735 MHz, and the minimum change unit is 5 MHz. Here, "symbol1" is the first bit in the bits corresponding to "offset", that is, 0 or 1 in the 17 bits of the signaling, and "(value2) 10 " is the decimal value obtained by converting the binary value of the last 13 bits in the bits corresponding to "offset". For example, if the bits corresponding to "offset" are (10000000000001)2, then the value of "offset" is 0.1. If the bits corresponding to "offset" are (11111111111111)2, then the value of "offset" is 819.1. It should be noted that when the bits corresponding to "offset" are (00000000000000)2, the value of "offset" is -819.2. Therefore, the value range of "offset" is -819.2 MHz to 819.1 MHz, and the minimum change unit is 0.1 MHz. It should be noted that the frequency band where the first echo signal is located indicates the specific frequency band where the first echo signal is located at the N channel th frequency band. Here, the channel center frequency is the channel center frequency on the N channel th frequency band.

[0080] The number of sampling points (N) of the first echo signal occupies the 31st to 37th bits of the signaling. Convert the binary value on the bits corresponding to "N" to a decimal value. For example, if the bits corresponding to "N" are (0000000)2, after converting it to a decimal value, (0000000)2 = (0) 10 ; if the bits corresponding to "N" are (1111111)2, the corresponding decimal value is (1111111)2 = (127) 10 . Since the number of sampling points is a positive integer, after converting the binary value on the bits corresponding to "N" to a decimal value, it needs to be incremented by 1. Accordingly, the value range of "N" is 1 to 127, and the minimum change unit is 1.

[0081] The identifier (reference) used to indicate the band splicing reference signal occupies the 38th bit of the signaling. The value of "reference" is one of the two values 0 or 1. 0 or 1 can be used to indicate the sensing initiator or the sensing responder respectively. By "reference", it can be determined which sub-band on the specified side is used as the reference for splicing when splicing sub-bands.

[0082] The 39th bit of the signaling is an empty bit.

[0083] The real part (Re(s f )) of the first echo signal occupies the bit position of the signaling that satisfies the formula: 40 - (N * 16 + 39), where "N" is the number of sampling points of the first echo signal. "Re(sf ) The value of "" satisfies the formula: Here, "symbol2" is the 0 or 1 indicated by the first bit in the corresponding bit position of "Re(s f )", and "(value3) 10 " is the decimal value obtained by converting the binary value of the remaining bit positions except the first bit position in the corresponding bit position of "Re(s f )". It should be noted that if the corresponding bit position of "Re(s f )" is (000000000000)2, the value of "Re(s f )" is -1, the value range of "Re(s f )" is from -1 to (1 - 2 -15 )", and the minimum change unit of "Re(s f )" is 2 -15 . It can be understood that the real part of the first echo signal is the real part of the first echo signal in the frequency domain.

[0084] The imaginary part (Imag(s f )) of the first echo signal occupies the bit position of the signaling and satisfies the formula: (N * 16 + 40) - (N * 32 + 39), where "N" is the number of sampling points of the first echo signal. The value of "Imag(s f )" satisfies the formula: Here, "symbol3" is the 0 or 1 indicated by the first bit in the corresponding bit position of "Imag(s f )", and "(value4) 10 " is the decimal value obtained by converting the binary value of the remaining bit positions except the first bit position in the corresponding bit position of "Imag(s f )". It should be noted that if the corresponding bit position of "Imag(s f )" is (000000000000)2, the value of "Imag(s f )" is -1, the value range of "Imag(s f )" is from -1 to (1 - 2 -15 )", and the minimum change unit of "Imag(s f )" is 2 -15 . It can be understood that the imaginary part of the first echo signal is the imaginary part of the first echo signal in the frequency domain.

[0085] The relative distance distribution (r k)The bit position occupied by the signaling satisfies the formula: (N * 32 + 40) - (N * 32 + 39 + M * 13), where "N" is the number of sampling points of the first echo signal and "M" is the number of scattering centers. "r k " takes values that satisfy the formula: Here, "symbol4" is 0 or 1 indicated by the first bit in the corresponding bits of "r k ", and "(value5) 10 " is the decimal value obtained by converting the binary value of the remaining bits except the first bit in the corresponding bits of "r k ". It should be noted that if the corresponding bits of "r k " are (0000000000000)2, the value of "r k " is -2 -4 ", the value range of "r k " is from -2 -4 to (2 4 - 2 -8 ), the minimum change unit of "r k " is 2 -8 meters (m).

[0086] The distribution of the geometric type parameters of the scattering centers (α k ) occupies a bit position in the signaling that satisfies the formula: (N * 32 + 40 + M * 13) - (N * 32 + 39 + M * 16). The value range of "α k " is [-2, -1, -1 / 2, 0, 1 / 2, 1, 3 / 2, 2], and different values correspond to different geometric structure types. For example, when "α k " takes the value of -1, it means that the geometric type of the scattering center is corner diffraction, and when "α k " takes the value of -0.5, it means that the geometric type of the scattering center is edge diffraction.

[0087] According to the data structure shown in Table 1, the signaling length corresponding to the first information is between 11 bytes and 645 bytes.

[0088] It can be understood that Table 1 is only an example data structure. Under the condition that both the perception initiator and the perception responder can extract the parameter information and / or perception information of the echo signal from it, the specific bit positions and quantities occupied by each parameter in the signaling corresponding to the first information can be adjusted.

[0089] S302, the second communication device sends a second perception signal. Correspondingly, the first communication device receives the second echo signal after the second perception signal is reflected or scattered by the target.

[0090] It can be understood that the sensing signals that interact between the sensing initiator and the sensing responder in the embodiments of the present application will pass through a target. For the sake of convenience of description, the process of the sensing signals passing through the target is not shown in the process schematic diagram. For example, the sensing signal sent by the sensing initiator is reflected or scattered by the target, and the corresponding echo signal reaches the sensing responder, which is simply described as: the sensing initiator sends a sensing signal, and correspondingly, the sensing responder receives the echo signal after the sensing signal is reflected or scattered by the target.

[0091] S303. The first communication device determines an ultra-wideband (UWB) signal according to the second echo signal and the first information.

[0092] In this step, according to the parameter information of the first echo signal included in the first information, it is equivalent to the first communication device receiving the first echo signal. Since the time delay and initial phase between the first echo signal and the second communication device are different from the time delay and initial phase between the second echo signal and the first communication device, the first echo signal and the second echo signal are incoherent with each other. Therefore, when fusing and splicing the first echo signal and the second echo signal, it is first necessary to perform correlation recovery processing on the data of the two echo signals.

[0093] The first echo signal and the second echo signal are equivalent to two different sub-bands. The common method for correlation recovery between sub-bands is: First, establish a suitable frequency band model for fitting the sub-band frequency domain data; then, estimate the non-correlation factor between the sub-bands with one of the sub-bands as a reference; finally, compensate it to the non-reference sub-band until the sub-bands reach the best match.

[0094] As an example, the first communication device processes the data of the first echo signal based on the generalized likelihood algorithm, obtains the first scattering center and information such as the relative distance of the scattering center and the geometric type of the scattering center, and further processes the data of the first echo signal based on the relevant information of the first scattering center, so as to obtain the second scattering center and its relevant information. Iteratively process the data of the first echo signal in the above manner until the calculated generalized likelihood ratio is less than a preset error rate threshold. According to the number of scattering centers obtained by processing the first echo signal and their relevant information, the first communication device can use the geometrical theory of diffraction (GTD) model to fit the data of the first echo signal. The GTD model satisfies the following formula:

[0095]

[0096] where s(f n ) represents the value in the frequency domain after the echo signal is fitted by the GTD model, M represents the number of scattering centers, that is, the order of the GTD model, Am is the intensity coefficient of the m-th scattering center, i.e., the complex amplitude, α m is the geometric type parameter of the m-th scattering center, r m is the relative distance between the m-th scattering center and the reference point, f n represents the frequency of the signal sampling point, and f0 is the starting frequency of the signal.

[0097] It can be understood that when the first information includes the perception information obtained based on the first echo signal, the first communication device can directly perform fitting processing on the data of the first echo signal based on the perception information.

[0098] Similarly, based on the number of scattering centers and their related information obtained by the first communication device from processing the second echo signal, the GTD model is used to perform fitting processing on the data of the second echo signal. The signals obtained by fitting the first echo signal and the signals obtained by fitting the second echo signal are subjected to coherent processing. During the coherent processing, the reference subband is determined according to the identifier "reference" in the first information for indicating the band splicing reference signal, and the non-correlation factor is compensated to the non-reference subbands until the subbands reach the best match.

[0099] After the first communication device realizes the correlation recovery processing between the first echo signal and the second echo signal, it uses the data of the two subbands after correlation to perform an initial estimation of the scattering center model parameters, and simultaneously estimates based on the non-coherent parameters of the initial values of the scattering centers and the scattering center model parameters.

[0100] The first communication device reconstructs the missing frequency band by using the estimated scattering center model parameters, performs interpolation processing on the data between the subband frequencies, and performs extrapolation processing on the data outside the subband frequencies, so as to obtain the fused UWB full-frequency band signal.

[0101] It can be understood that the first communication device can be the perception initiator, and the second communication device is the perception responder. When their identities are swapped, that is, when the first communication device is the perception responder and the second communication device is the perception initiator, the band splicing method proposed in this application is also applicable to this situation.

[0102] In this embodiment, both the perception responder and the perception initiator in the bistatic perception mode send perception signals, and both the perception initiator and the perception responder participate in the processing of the echo signal, so as to achieve a better band splicing effect, improve the accuracy of the communication device for CIR estimation, and improve the perception accuracy. In addition, since the first communication device and the second communication device send perception signals bidirectionally, the first communication device can extract more features of the target in the environment based on the spliced UWB signal, thereby improving the perception accuracy.

[0103] In the above embodiments, the first echo signal and the second echo signal are fitted by the same scattering center model. However, the order of the scattering center model corresponding to the first echo signal and the order of the scattering center model corresponding to the second echo signal may not be the same. For example, when the first echo signal is processed based on the generalized likelihood algorithm, M1 scattering centers can be obtained. When the first echo signal is fitted by the GTD model, the order of the GTD model corresponding to the first echo signal is M1. When the second echo signal is processed based on the generalized likelihood algorithm, M2 scattering centers can be obtained. When the second echo signal is fitted by the GTD model, the order of the GTD model corresponding to the second echo signal is M2, and M1 and M2 may not be the same.

[0104] When the orders of the scattering center models corresponding to the two echo signals are not equal, during the process of restoring the correlation based on the signals fitted from the two echo signals, the accuracy of the estimated incoherent factor decreases, resulting in poor coherent processing effect, thus affecting the frequency band stitching effect and reducing the sensing accuracy. To solve this problem, before performing the correlation restoration processing on the signal obtained by fitting the first echo signal and the signal obtained by fitting the second echo signal, the frequency band stitching method proposed in this application ensures that the model order of the scattering center model corresponding to the first echo signal is the same as the model order of the scattering center model corresponding to the second echo signal.

[0105] Figure 4 It is a schematic flowchart of the frequency band stitching method provided by an embodiment of this application. Next, in combination with Figure 4 , an implementation manner of the first communication device determining the ultra-wideband (UWB) signal according to the second echo signal and the first information is introduced. It can be understood that step S303 may include S401 to S403.

[0106] S401, obtain a first fitted signal, where the first fitted signal is a signal obtained by fitting the first echo signal with a first scattering center model.

[0107] S402, obtain a second fitted signal, where the second fitted signal is a signal obtained by fitting the second echo signal with a second scattering center model, and the model order in the second scattering center model is the same as the model order in the first scattering center model.

[0108] According to Figure 3 In the steps of the embodiment shown, before the first communication device fits the echo signal with the scattering center model, it is first necessary to obtain the number of scattering centers and the relevant information corresponding to each scattering center according to the echo signal. The number of scattering centers is equivalent to the model order corresponding to the echo signal. When fitting the echo signal with the formula of the scattering center model, the above-obtained number of scattering centers and the relevant information corresponding to each scattering center need to be applied.

[0109] In the above steps S401 and S402, the model order in the formula of the first scattering center model is the number of scattering centers obtained based on the processing of the first echo signal, and the model order in the formula of the second scattering center model is the number of scattering centers obtained based on the processing of the second echo signal. The model order in the first scattering center model is the same as the model order in the second scattering center model, that is, the model orders of the two scattering center models are aligned.

[0110] In some implementation manners, when the number of scattering centers obtained based on the processing of the first echo signal is not equal to the number of scattering centers obtained based on the processing of the second echo signal, the lower of the two numbers is used as the model order in the first scattering center model and the second scattering center model. As a possible implementation manner, when the number of scattering centers obtained based on the processing of the first echo signal is less than the number of scattering centers obtained based on the processing of the second echo signal, it is equivalent to that the model order corresponding to the first echo signal is lower than the model order corresponding to the second echo signal. At this time, the model order of the first scattering center model and the model order of the second scattering center model are the same as the model order corresponding to the first echo signal.

[0111] For example: The first communication device processes the data of the first echo signal based on the generalized likelihood algorithm, obtains M1 scattering centers and the relative distance distribution and geometric type parameter distribution corresponding to the M1 scattering centers. The model order corresponding to the first echo signal is M1, and the model order of the first GTD model used for fitting the first echo signal corresponds to M1 order. Similarly, the model order corresponding to the second echo signal can be determined to be M2. When M1 < M2, the model order of the second GTD model used for fitting the second echo signal is also M1 order. Considering that when obtaining scattering centers based on the generalized likelihood algorithm, other scattering centers are iteratively obtained based on the first scattering center. When the model order of the second GTD model is M1 order, the remaining (M2 - M1) scattering centers are equivalent to being cropped.

[0112] S403. Determine the ultra-wideband UWB signal according to the first fitting signal and the second fitting signal.

[0113] It can be understood that performing splicing processing on the echo signal and performing splicing processing on the fitting signals obtained after fitting processing the echo signal are actually the same thing. In this step, the first communication device performs correlation recovery processing on the first fitting signal and the second fitting signal, uses the correlated sub-band data to estimate the parameters of the scattering center model, and finally uses the estimated model parameters to reconstruct the missing frequency band, and forms the fused UWB signal by means of interpolation and extrapolation. The specific process is the same as that in step S303 and will not be elaborated here.

[0114] The first communication device may also calculate the error between the first fitting signal and the first echo signal, and the error between the second fitting signal and the second echo signal. In some implementations, when the error between the first fitting signal and the first echo signal is less than or equal to the first threshold, and the error between the second fitting signal and the second echo signal is less than or equal to the first threshold, the third scattering center model is used to fit the first echo signal to obtain a third fitting signal, and the fourth scattering center model is used to fit the second echo signal to obtain a fourth fitting signal. The model order in the third scattering center model is the same as the model order in the fourth scattering center model, and the model order in the third scattering center model is less than the model order in the first scattering center model. The first communication device determines the UWB signal based on the third fitting signal and the fourth fitting signal.

[0115] It can be understood that when the error between the fitting signal and the echo signal is less than or equal to the preset first threshold, it is equivalent to that there is an overfitting problem when the first communication device fits the echo signal through the scattering center model, that is, the number of scattering centers corresponding to the model order in the scattering center model is higher than the actual number of scattering centers in the environment. Therefore, it is necessary to reduce the model order of the scattering center model and refit the echo signal. Therefore, the model order in the third scattering center model is less than the model order in the first scattering center model. At the same time, to ensure that the model orders of the two scattering center models are aligned, the model order in the fourth scattering center model is the same as the model order in the third scattering center model.

[0116] In some implementations, when the error between the first fitting signal and the first echo signal is greater than the first threshold, and the error between the second fitting signal and the second echo signal is greater than the first threshold, the fifth scattering center model is used to fit the first echo signal to obtain a fifth fitting signal, and the sixth scattering center model is used to fit the second echo signal to obtain a sixth fitting signal. The model order in the fifth scattering center model is the same as the model order in the sixth scattering center model, and the model order in the fifth scattering center model is greater than the model order in the first scattering center model. The first communication device determines the UWB signal based on the fifth fitting signal and the sixth fitting signal.

[0117] When the error between the fitting signal and the echo signal is greater than the first threshold, it is equivalent to an underfitting problem when the first communication device performs fitting processing on the echo signal through the scattering center model, that is, the number of scattering centers corresponding to the model order in the scattering center model is lower than the number of scattering centers actually existing in the environment. Therefore, it is necessary to increase the model order of the scattering center model to re-fit the echo signal. Therefore, the model order in the fifth scattering center model is greater than the model order in the first scattering center model. At the same time, to ensure that the model orders of the two scattering center models are aligned, the model order in the fifth scattering center model is the same as the model order in the sixth scattering center model.

[0118] It should be noted that when one of the errors between the two fitting signals and their corresponding echo signals is less than or equal to the first threshold, while the other error is greater than the first threshold, the first communication device adjusts the model order of the scattering center model corresponding to the echo signal in the case of an underfitting problem.

[0119] It can be understood that the process of adjusting the model order of the scattering center model corresponding to the echo signal in the above implementation manner is actually a trial process. When the echo signal is fitted through the new scattering center model, if there is still an underfitting problem or an overfitting problem, the model order of the scattering center model corresponding to the echo signal is further adjusted until the underfitting problem changes to an overfitting problem, or until the overfitting problem changes to an underfitting problem.

[0120] As an example, the error between the fitting signal and the echo signal can be the normalized mean square error. For example: the model orders of the first scattering center model and the second scattering center model are both M1. It can be calculated that the normalized mean square error between the first fitting signal and the first echo signal is greater than the first threshold, and the normalized mean square error between the second fitting signal and the second echo signal is greater than the first threshold. The first communication device can process the echo signal based on the generalized likelihood algorithm to obtain the scattering centers and their corresponding relevant parameters. Therefore, based on the generalized likelihood algorithm, according to the M1th scattering center obtained by processing the first echo signal, the (M1 + 1)th scattering center and its relevant parameters can be obtained. The first echo signal is fitted by the GTD model with the model order of M1 + 1 to obtain a new model fitting signal, and the normalized mean square error between the new model fitting signal and the first echo signal is calculated. If the normalized mean square error is greater than the first threshold, then according to the (M1 + 1)th scattering center, the (M1 + 2)th scattering center and its relevant parameters are obtained. The first echo signal is fitted by the GTD model with the model order of M1 + 2 to obtain a new model fitting signal, and the normalized mean square error between the new model fitting signal and the first echo signal is calculated until the normalized mean square error between the new model fitting signal and the first echo signal is less than or equal to the second threshold. The above processing method is also applicable to the second echo signal.

[0121] In this embodiment, when the UWB signal is obtained by splicing the first echo signal and the second echo signal, the model orders of the scattering center models corresponding to the first echo signal and the model orders of the scattering center models corresponding to the second echo signal are aligned to ensure the accuracy of the estimated incoherent factor in the correlation processing, thereby improving the frequency band splicing effect and the sensing accuracy.

[0122] It should be noted that the above method for adjusting the model order of the scattering center model to align the model orders is not only applicable to the bistatic sensing mode scenario, but also applicable to other modes in UWB sensing.

[0123] In some implementation manners, Figure 3 In the shown embodiment, the second communication device can also perform clipping processing on the sensing information obtained based on the first echo signal, including: merging the scattering centers with a relative distance less than the second threshold, and / or removing the scattering centers with too low energy. Among them, the second communication device can obtain multiple scattering centers and their relevant information according to the first echo signal, and these relevant information include the relative distance between each scattering center in the multiple scattering centers and other scattering centers and the echo energy corresponding to each scattering center.

[0124] When the relative distance between one scattering center and another scattering center is less than a preset second threshold, the scattering center with a closer relative distance to the second communication device and its related information are retained among the two scattering centers, and the other scattering center and its related information are removed. The above processing method can be understood as merging the two scattering centers. And / or,

[0125] When the echo energy corresponding to a scattering center is less than a preset third threshold, the scattering center and its related information are removed.

[0126] Correspondingly, in the first information sent by the second communication device to the first communication device, when the first information includes perception information obtained based on the first echo signal, the relative distance between any two scattering centers in the perception information is greater than or equal to the second threshold, and / or, the energy value corresponding to any one of the scattering centers is greater than or equal to the third threshold.

[0127] In this implementation, the second communication device can avoid the influence of redundant scattering centers on band stitching by trimming redundant scattering centers according to the relative distance and energy of the scattering centers, thereby improving the perception accuracy.

[0128] In some implementations, Figure 3 In the illustrated embodiment, there is a preset correlation between the frequency band of the second perception signal sent by the second communication device and the first information. As an example, through a large number of experimental calculations, it can be known that the distribution of targets in the environment and the frequency band of the perception signal will affect the band stitching effect. The band stitching method proposed in this application can classify the frequency band of the first echo signal and the geometric type of the scattering center, and preset a corresponding optimal frequency band for each category according to the experimental results. After the second communication device obtains the parameter information of the first echo signal and the geometric type corresponding to the scattering center, it can find the closest classification from the preset classifications, and determine the optimal frequency band corresponding to the closest classification according to the preset correlation. The second communication device can send the second perception signal on this frequency band.

[0129] In this implementation, when the frequency band of the second perception signal is the preset optimal frequency band, the stitching effect of the UWB signal can be improved when stitching according to the first echo signal and the second echo signal, thereby improving the perception accuracy.

[0130] The beneficial effects of the band stitching method proposed in this application are introduced below through simulation experiments. In this simulation experiment, the first echo signal is used as the reference signal for band stitching, and the set simulation scenario is shown in Table 2:

[0131] Table 2

[0132] Simulation environment parameters Value Scattering center position [5.0 5.2 5.4] Gap bandwidth 2 GHz Sub-bandwidth 0.5 GHz Full-bandwidth 3 GHz Gap center frequency 5 GHz Frequency interval 10 MHz Signal-to-noise ratio 30 dB

[0133] Among them, since the first echo signal is used as the reference signal, there are 3 scattering centers in the simulation scenario, which are 5.0 m, 5.2 m, and 5.4 m away from the second communication device respectively. The defined full-bandwidth is 3 GHz, the bandwidths of the first echo signal and the second echo signal are 0.5 GHz, the gap bandwidth between the two echo signals is 2 GHz, the center frequency of the gap is 5 GHz, the frequency interval of the sampling points is 10 MHz, and the communication signal-to-noise ratio is 30 decibels (dB).

[0134] Figure 5 This is a schematic diagram of the effect of the fitting signal obtained by fitting the echo signal through the GTD model in the simulation experiment of this application. As Figure 5 shown, its abscissa represents frequency, and the ordinate represents the real part value of the signal in the frequency domain. The first echo signal occupies 3.5 GHz to 4 GHz, which is equivalent to the lower sideband of two subbands. The second echo signal occupies 6 GHz to 6.5 GHz, which is equivalent to the upper sideband of two subbands. According to Figure 5 it can be seen that the fitting degree between the fitting signal and the echo signal is high, indicating that the fitting effect of the upper and lower subbands is good.

[0135] Figure 6 This is a comparison diagram of the effects before and after the correlation recovery processing of the upper and lower sidebands in the simulation experiment of this application. Figure 6 The abscissa in is the number of sampling points, and the ordinate is the phase of the signal. The first fitting signal is equivalent to the lower sideband, and the second fitting signal is equivalent to the upper sideband. Figure 6 In (A) is the phase change diagram before the first fitting signal and the second fitting signal are not subjected to correlation recovery processing. Figure 6 In (B) is the phase change diagram after the first fitting signal and the second fitting signal are subjected to correlation recovery processing. According to Figure 6 it can be seen that when the model order of the first scattering center model is the same as that of the second scattering center model, after the correlation recovery processing of the first fitting signal and the second fitting signal, the fitting signals with very poor original correlation can be transformed into strongly correlated fitting signals.

[0136] Figure 7 This is a schematic diagram of the frequency-domain effect of the full-band UWB signal obtained by splicing the upper and lower subbands in the simulation experiment of this application. Figure 7 The abscissa in represents frequency, and the ordinate represents the real part value of the signal in the frequency domain. The ideal signal is the ultra-wideband UWB signal directly obtained without considering subband splicing in the simulation experiment. As Figure 7 shown, the full-band UWB signal obtained by splicing the first fitting signal and the second fitting signal fits well with the ideal UWB signal in the frequency domain, indicating that a very good splicing effect has been achieved.

[0137] Figure 8This is a schematic diagram of the time-domain effect of the full-band UWB signal obtained by splicing the upper and lower sub-bands in the simulation experiment of this application. Figure 8 The abscissa in [Figure] represents the relative distance, and the ordinate represents the amplitude of the signal in the time domain. As Figure 8 shown, the full-band UWB signal obtained by splicing the first fitting signal and the second fitting signal fits well with the ideal UWB signal in the time domain. At the same time, according to the three peaks of the full-band splicing signal, it can be determined that there are three scattering centers in the environment, and the corresponding abscissa coordinates are the relative distances between each scattering center and the second communication device.

[0138] Figure 9 This is a schematic diagram of the model order corresponding to different echo signals before and after being trimmed by the scattering center when the signal-to-noise ratio is 20 dB in the simulation experiment of this application. As Figure 9 shown, its abscissa is the model order, and the ordinate is the cumulative distribution function of the model order. According to Figure 9 (A) in [Figure], if the scattering centers obtained by processing the echo signal are not trimmed, the model orders corresponding to the first echo signal and the second echo signal are mostly different, and the model order is not stable. According to Figure 9 (B) in [Figure], after trimming the scattering centers obtained by processing the echo signal, the influence of redundant scattering centers on the frequency band splicing can be avoided. Therefore, the model orders corresponding to the first echo signal and the second echo signal are the same and the model order is very stable.

[0139] Figure 10 This is a schematic diagram of the model order corresponding to different echo signals before and after being trimmed by the scattering center when the signal-to-noise ratio is 30 dB in the simulation experiment of this application. Figure 10 Similar to Figure 9 , according to Figure 10 (A) in [Figure], in the case of a larger signal-to-noise ratio, if the scattering centers obtained by processing the echo signal are not trimmed, the model order corresponding to the echo signal is more unstable. According to Figure 10 (B) in [Figure], in the case of a larger signal-to-noise ratio, the trimming process of the scattering center proposed in this application can still effectively avoid the influence of redundant scattering centers on the frequency band splicing.

[0140] Figure 11 This is a schematic diagram comparing the normalized mean square errors under different algorithms in the simulation experiment of this application. Figure 11 The abscissa in [Figure] is the normalized mean square error, and the ordinate is the cumulative distribution function of the normalized mean square error, where the normalized mean square error is the normalized mean square error between the full-band UWB signal obtained by splicing and the ideal UWB signal. Figure 11The generalized likelihood ratio algorithm in [it] is an exemplary algorithm for processing echo signals in the prior art. The scatterer trimming algorithm includes the model order alignment processing and the scatterer center trimming processing in the above embodiments. According to Figure 11 it can be known that the scatterer trimming algorithm proposed in this application has much higher accuracy in band splicing than the algorithm based on the generalized likelihood ratio at different signal-to-noise ratios.

[0141] Figure 12 FIG. is a schematic structural diagram of a band splicing device provided by an embodiment of this application. As Figure 12 shown, the device 1200 in this embodiment may include: a sending module 1201, a receiving module 1202, and a processing module 1203. The device 1200 may be used to implement Figure 3 or Figure 4 the operations implemented by the first communication device in the method shown.

[0142] For example, the sending module 1201 may be used to send a first sensing signal for sensing a target object in the environment.

[0143] The receiving module 1202 may be used to receive first information from a second communication device. The first information includes parameter information of a first echo signal, and the first echo signal is an echo signal of the first sensing signal; the receiving module 1202 may also be used to receive a second echo signal, and the second echo signal is an echo signal of a second sensing signal.

[0144] The processing module 1203 is used to determine an ultra-wideband (UWB) signal according to the second echo signal and the first information.

[0145] Figure 13 FIG. is a schematic structural diagram of a band splicing device provided by another embodiment of this application. As Figure 13 shown, the device 1300 in this embodiment may include: a receiving module 1301, a sending module 1302, and a processing module 1303. The device 1300 may be used to implement Figure 3 the operations implemented by the second communication device in the method shown.

[0146] For example, the receiving module 1301 may be used to receive a first echo signal after the first sensing signal is reflected or scattered by a target.

[0147] The sending module 1302 may be used to send first information to the first communication device. The first information includes parameter information of the first echo signal, and the first echo signal is an echo signal of the first sensing signal; the sending module 1303 may also be used to send a second sensing signal.

[0148] The processing module 1303 may be used to obtain sensing information based on the first echo signal.

[0149] In some implementations, the processing module 1303 can also be used to crop redundant scattering centers according to the relative distance and energy of the scattering centers.

[0150] It should be understood that the apparatuses 1200 and 1300 are embodied in the form of functional modules. The term "module" can refer to a software module, an application specific integrated circuit, an electronic circuit, a processor (such as a shared processor, a dedicated processor, or a group of processors, etc.) for executing one or more software or firmware programs, a memory, a combined logic circuit, and / or other suitable components that support the described functions.

[0151] The above apparatuses 1200 and 1300 have the functions of implementing the respective processes and / or steps corresponding to any of the foregoing method embodiments; the above functions can be implemented by software or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions.

[0152] Figure 14 FIG. is a schematic structural diagram of a frequency band splicing apparatus provided in another embodiment of the present application. Figure 14 The illustrated apparatus 1400 can be used to execute the methods performed by the frequency band splicing apparatus in any of the foregoing methods.

[0153] As Figure 14 shown, the apparatus 1400 of this embodiment includes: a memory 1401, a processor 1402, a communication interface 1403, and a bus 1404. Among them, the memory 1401, the processor 1402, and the communication interface 1403 are communicatively connected to each other through the bus 1404.

[0154] The memory 1401 can be a read only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1401 can store a program. When the program stored in the memory 1401 is executed by the processor 1402, the processor 1402 is used to execute any of the foregoing methods.

[0155] The processor 1402 can be a general-purpose central processing unit (CPU), a microprocessor, an application specific integrated circuit, or one or more integrated circuits for executing related programs.

[0156] The processor 1402 can also be an integrated circuit chip with signal processing capabilities. In the implementation process, the various related steps in the embodiments of the present application can be completed by the integrated logic circuit in the hardware of the processor 1402 or by instructions in software form.

[0157] The above-mentioned processor 1402 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. It can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor, or the processor may also be any conventional processor, etc.

[0158] The steps of the method disclosed in combination with the embodiments of the present application may be directly embodied as being executed and completed by a hardware decoding processor, or may be executed and completed by a combination of hardware and software modules in the decoding processor. The software module may be located in a mature storage medium in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. This storage medium is located in the memory 1401, and the processor 1402 reads the information in the memory 1401 and combines its hardware to complete the functions required to be executed by the units included in the device of the present application.

[0159] The communication interface 1403 may use, but is not limited to, a transceiver device such as a transceiver to implement the communication between the device 1400 and other devices or apparatuses.

[0160] The bus 1404 may include a path for transmitting information between various components of the device 1400 (for example, the memory 1401, the processor 1402, the communication interface 1403).

[0161] The embodiments of the present application further provide a computer-readable storage medium, in which computer instructions are stored. When the processor executes the computer instructions, the various steps in the methods in the above embodiments are implemented.

[0162] The embodiments of the present application further provide a computer program product, including computer instructions, which when executed by the processor implement the various steps in the methods in the above embodiments.

[0163] It should be noted that the modules or components shown in the above embodiments may be one or more integrated circuits configured to implement the above methods. For example: one or more application-specific integrated circuits, or, one or more microprocessors, or, one or more field programmable gate arrays, etc. Again, when a certain module above is implemented in the form of a processing element calling program code, the processing element may be a general-purpose processor, such as a central processing unit or other processors such as controllers that can call program code. Again, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0164] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, software modules, or any combination thereof. When implemented using software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the processes or functions according to the embodiments of the present application 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 wire (such as coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (such as infrared, wireless, microwave, etc.). The computer-readable storage medium can be any available medium that the computer can access or a data storage device such as a server or data center that includes one or more integrated available media. The available medium can be a magnetic medium (such as a floppy disk, hard disk, magnetic tape), an optical medium (such as a DVD), or a semiconductor medium (such as a solid state disk (SSD)), etc.

[0165] After considering the specification and practicing the content disclosed herein, those skilled in the art will readily conceive of other embodiments of the present application. The present application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of the present application and include known common knowledge or conventional technical means in the technical field not disclosed in the present application. The specification and embodiments are only regarded as exemplary, and the true scope and spirit of the present application are pointed out by the following claims.

[0166] It should be understood that the present application is not limited to the exact structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the present application is only limited by the appended claims.

Claims

1. A frequency band splicing method, applied to a first communication device, characterized in that, The method includes: Receiving first information from a second communication device, where the first information includes parameter information of a first echo signal, and the first echo signal is an echo signal of a first sensing signal; Receiving a second echo signal, where the second echo signal is an echo signal of a second sensing signal; Determining an ultra-wideband (UWB) signal according to the second echo signal and the first information.

2. The method according to claim 1, characterized in that, The parameter information of the first echo signal includes at least one of the following: the frequency band where the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier for indicating a band splicing reference signal.

3. The method according to claim 1 or 2, characterized in that, The first information further includes sensing information obtained based on the first echo signal.

4. The method according to claim 3, characterized in that, The sensing information includes at least one of the following: the number of scattering centers, the relative distance distribution between the scattering centers and the communication device that receives the first echo signal, or the geometric type parameter distribution of the scattering centers.

5. The method according to claim 4, characterized in that, The relative distance between any two of the scattering centers is greater than or equal to a second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to a third threshold.

6. The method according to any one of claims 1 to 4, characterized in that, The determining the ultra-wideband (UWB) signal according to the second echo signal and the first information includes: Obtaining a first fitting signal, where the first fitting signal is a signal obtained by fitting the first echo signal through a first scattering center model; Obtaining a second fitting signal, where the second fitting signal is a signal obtained by fitting the second echo signal through a second scattering center model, and the model order in the second scattering center model is the same as the model order in the first scattering center model; Determining the UWB signal according to the first fitting signal and the second fitting signal.

7. The method according to claim 6, characterized in that, The model order corresponding to the first echo signal is lower than the model order corresponding to the second echo signal, where the model order in the first scattering center model and the model order in the second scattering center model are the same as the model order corresponding to the first echo signal.

8. The method according to claim 6 or 7, characterized in that, The determining the ultra-wideband (UWB) signal according to the first fitting signal and the second fitting signal includes: If the error between the first fitting signal and the first echo signal is less than or equal to a first threshold, and the error between the second fitting signal and the second echo signal is less than or equal to the first threshold, fitting the first echo signal through a third scattering center model to obtain a third fitting signal, and fitting the second echo signal through a fourth scattering center model to obtain a fourth fitting signal, where the model order in the third scattering center model is the same as the model order in the fourth scattering center model, and the model order in the third scattering center model is less than the model order in the first scattering center model; Determining the UWB signal according to the third fitting signal and the fourth fitting signal.

9. The method according to any one of claims 6 to 8, characterized in that, Determining the ultra-wideband (UWB) signal based on the first fitting signal and the second fitting signal includes: If the error between the first fitting signal and the first echo signal is greater than a first threshold, and the error between the second fitting signal and the second echo signal is greater than the first threshold, fitting the first echo signal through a fifth scattering center model to obtain a fifth fitting signal, and fitting the second echo signal through a sixth scattering center model to obtain a sixth fitting signal. The model order in the sixth scattering center model is the same as the model order in the fifth scattering center model, and the model order in the fifth scattering center model is greater than the model order in the first scattering center model; Determining the UWB signal according to the fifth fitting signal and the sixth fitting signal.

10. A frequency band splicing method, applied to a second communication device, characterized in that, The method includes: Sending first information to a first communication device, where the first information includes parameter information of a first echo signal, and the first echo signal is an echo signal of a first sensing signal; Sending a second sensing signal.

11. The method according to claim 10, characterized in that, The parameter information of the first signal includes at least one of the following information: the frequency band where the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier for indicating a band splicing reference signal.

12. The method according to claim 10 or 11, characterized in that, The first information further includes sensing information obtained based on the first echo signal.

13. The method according to claim 12, characterized in that, The sensing information includes at least one of the following information: the number of scattering centers, the relative distance distribution between the scattering centers and the second communication device, or the geometric type parameter distribution of the scattering centers.

14. The method according to claim 13, characterized in that, The relative distance between any two of the scattering centers is greater than or equal to a second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to a third threshold.

15. The method according to any one of claims 10 to 14, characterized in that, There is a preset association relationship between the frequency band of the second sensing signal and the first information.

16. A frequency band splicing device, characterized in that, The band splicing device includes a functional module for implementing the band splicing method according to any one of claims 1 to 9, or includes a functional module for implementing the band splicing method according to any one of claims 10 to 15.

17. A frequency band splicing device, characterized in that, It includes: A processor and a memory; The memory stores computer execution instructions; The processor executes the computer execution instructions stored in the memory, so that the band splicing device executes the band splicing method according to any one of claims 1 to 9, or the band splicing method according to any one of claims 10 to 15.

18. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer execution instructions, and when the computer execution instructions are executed by a processor, they are used to implement the band splicing method according to any one of claims 1 to 10, or the band splicing method according to any one of claims 10 to 15.

19. A computer program product, characterized in that, It includes a computer program, and when the computer program is executed by a processor, it implements the band splicing method according to any one of claims 1 to 9, or any one of claims 10 to 15.

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