Target perception method and device applied to communication perception integrated system

Abstract

The invention provides a target perception method and device applied to a communication perception integrated system, and relates to the technical field of communication. The method comprises the following steps: determining a pointing scanning direction of a user channel matrix and an antenna array, and transmitting a beam signal based on the user channel matrix and the pointing scanning direction; an echo signal returned by an echo distance unit in the pointing scanning direction is received, and the probability that the echo distance unit is a real target and distance fine estimation of the echo distance unit are determined based on the echo signal; determining a judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding distance fine estimation; and determining the echo distance unit as a real target under the condition that the judgment score is within a real score range, so that the method can be applied to a communication perception integrated system to realize real and reliable target monitoring.

Description

Technical Field

[0001] The present invention relates to the field of communication technologies, and in particular, to a target perception method and apparatus applied to a communication perception integrated system. Background Art

[0002] Communication perception integration is one of the core technologies of the sixth-generation wireless network (6G). By integrating wireless communication and target perception functions, it has significant advantages in aspects such as spectrum resource reuse and hardware device sharing, providing efficient perception and communication capabilities for scenarios such as the low-altitude economy and intelligent transportation.

[0003] However, in the equipment supervision of the low-altitude economy, target devices often have non-cooperative or even adversarial characteristics. They often intercept communication signals and specifically tamper with echo parameters, constructing spoofing interference highly similar to real signals, misleading the system to determine the interference target as a real target. Currently, the related research in the field of communication perception integration focuses on technical optimization in non-adversarial scenarios. Therefore, there is an urgent need for a technology for communication perception integration to counter spoofing interference to achieve real and reliable target monitoring. Summary of the Invention

[0004] Aiming at the problems existing in the prior art, the present invention provides a target perception method and apparatus applied to a communication perception integrated system.

[0005] The present invention provides a target perception method applied to a communication perception integrated system, including: Determine the user channel matrix and the pointing scan direction of the antenna array, and transmit a beam signal based on the user channel matrix and the pointing scan direction; Receive the echo signal returned by the echo distance unit in the pointing scan direction, and determine the probability that the echo distance unit is a real target and the precise distance estimation of the echo distance unit based on the echo signal; Determine the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding precise distance estimation; When the judgment score is within the real score range, determine that the echo distance unit is a real target.

[0006] According to the target perception method applied to a communication perception integrated system provided by the present invention, the transmitting the beam signal based on the user channel matrix and the pointing scan direction includes: Determine the sensing subcarriers from multiple subcarriers, and determine the first beamforming vector of the sensing subcarriers based on the user channel matrix and the pointing scan direction; Determine the non-sensing subcarriers from multiple subcarriers, and determine the second beamforming vector of the non-sensing subcarriers based on the user channel matrix and the pointing scan direction; Design a beamforming matrix based on the first beamforming vector and the second beamforming vector, and transmit a beam signal.

[0007] According to a target sensing method applied to a communication and sensing integrated system provided by the present invention, the determining the first beamforming vector of the sensing subcarrier based on the user channel matrix and the pointing scanning direction includes: Determine the first beamforming vector of the sensing subcarrier based on that the signal strength of the user channel matrix and the sensing subcarrier is within a first sensing parameter range in the pointing scanning direction; The determining the second beamforming vector of the non-sensing subcarrier based on the user channel matrix and the pointing scanning direction includes: Determine the second beamforming vector of the non-sensing subcarrier based on that the signal strength of the user channel matrix and the non-sensing subcarrier is within a second sensing parameter range in the pointing scanning direction.

[0008] According to a target sensing method applied to a communication and sensing integrated system provided by the present invention, the determining the sensing subcarrier from multiple subcarriers includes: Rotate to determine the sensing subcarrier of the current time slot from multiple subcarriers.

[0009] According to a target sensing method applied to a communication and sensing integrated system provided by the present invention, determining the probability that the echo distance unit is a real target based on the echo signal includes: Perform transformation processing on the echo signal to obtain the time-frequency spectrum of the echo signal; Input the time-frequency spectrum into a real target detection network to obtain the probability that the echo distance unit output by the real target detection network is a real target; wherein, the real target detection network is trained by the time-frequency spectrum and the echo distance unit carrying labels.

[0010] According to a target sensing method applied to a communication and sensing integrated system provided by the present invention, the real target detection network includes a two-dimensional detection network and a dimension reduction network; The inputting the time-frequency spectrum into the real target detection network to obtain the probability that the echo distance unit output by the real target detection network is a real target includes: Input the time-frequency spectrum into the two-dimensional detection network to obtain the prediction result output by the two-dimensional detection network; the prediction result includes that the echo distance unit is a real target and the echo distance unit is an interference target; Input the prediction result and the time-frequency spectrum into the dimension reduction network to obtain the probability that the echo distance unit output by the dimension reduction network is a real target.

[0011] A target perception method applied to a communication and sensing integrated system according to the present invention, determining a judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding refined distance estimate, includes: Determine a time vector based on the refined distance estimate corresponding to the probability of the echo distance unit; Perform a weighting process on the refined distance estimate corresponding to the probability of the echo distance unit based on the time vector and the speed of light to obtain a scored distance corresponding to the probability of the echo distance unit; Determine the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding scored distance.

[0012] A target perception method applied to a communication and sensing integrated system according to the present invention, determining the refined distance estimate of the echo distance unit based on the echo signal, includes: Determine the echo distance units that are candidate real targets from multiple echo distance units based on the probability that the echo distance units output by the real target detection network are real targets; Extract a rough distance estimate of the echo distance units that are candidate real targets from the echo signal, and determine a region to be processed according to the rough distance estimate; Perform a matched filtering process on the echo signal in the region to be processed to obtain the refined distance estimate of the echo distance units that are candidate real targets.

[0013] The present invention also provides a target perception device applied to a communication and sensing integrated system, including: a beam signal transmitting module, configured to determine a user channel matrix and a pointing scanning direction of an antenna array, and transmit a beam signal based on the user channel matrix and the pointing scanning direction; An echo signal processing module, configured to receive an echo signal returned by an echo distance unit in the pointing scanning direction, and determine the probability that the echo distance unit is a real target and the refined distance estimate of the echo distance unit based on the echo signal; A judgment score determination module, configured to determine a judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding refined distance estimate; A real target determination module, configured to determine that the echo distance unit is a real target when the judgment score is within a real score range.

[0014] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where when the processor executes the computer program, the target perception method applied to a communication and sensing integrated system as described in any one of the above is implemented.

[0015] The target perception method and device applied to the communication and sensing integrated system provided by the present invention transmit beam signals by determining the user channel matrix and the pointing scanning direction of the antenna array, and receive the echo signals returned by the echo distance units in the pointing scanning direction. Since the pointing scanning direction can be adjusted in real time and dynamically, the difficulty for the target device to construct interference signals is enhanced. Based on the echo signals, the probability that the echo distance unit is a real target and the precise distance estimation of the echo distance unit are determined. By combining the probability of the echo distance unit and the corresponding precise distance estimation, the judgment score of the echo distance unit is determined. When the judgment score is within the real score range, the precise distance between the echo distance unit belonging to the real target and the communication and sensing integrated system can be determined, so as to effectively distinguish real targets and interference targets and achieve real and reliable target monitoring. Description of the Drawings

[0016] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0017] Figure 1 It is a schematic flowchart of the target perception method applied to the communication and sensing integrated system provided by the present invention.

[0018] Figure 2 It is a schematic diagram of the confusion matrix of the real target detection network of the target perception method applied to the communication and sensing integrated system provided by the present invention.

[0019] Figure 3 It is a schematic diagram of the relationship between the detection performance and interference gain of the real target detection network of the target perception method applied to the communication and sensing integrated system provided by the present invention.

[0020] Figure 4 It is a schematic diagram of the relationship between the distance perception root mean square error and interference gain of the target perception method applied to the communication and sensing integrated system provided by the present invention.

[0021] Figure 5 It is a schematic structural diagram of the target perception device applied to the communication and sensing integrated system provided by the present invention.

[0022] Figure 6 It is a schematic structural diagram of the electronic device provided by the present invention. Detailed Embodiments

[0023] To make the objectives, technical solutions, and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0024] The following will describe Figures 1-5 the target sensing method and device of the present invention applied to a communication and sensing integrated system.

[0025] Figure 1 is a schematic flowchart of the target sensing method of the present invention applied to a communication and sensing integrated system. As Figure 1 shown, the method includes the following: Step 101: Determine the user channel matrix and the pointing scanning direction of the antenna array, and transmit a beam signal based on the user channel matrix and the pointing scanning direction.

[0026] The user channel matrix refers to a matrix obtained by the communication and sensing integrated system that characterizes the channel characteristics between communication users and the antenna array. Exemplarily, the user channel matrix can be composed of the channel responses of each user on multiple subcarriers and is used to reflect the transmission characteristics of signals on different subcarriers.

[0027] The pointing scanning direction refers to the spatial direction that the antenna array is aligned with at the current moment. It can be understood that the pointing scanning direction can be dynamically adjusted by the communication and sensing integrated system according to sensing or communication requirements. Exemplarily, if the communication and sensing integrated system does not receive an echo signal when transmitting a signal in a scanning direction, it can be determined that there is no target in this scanning direction, and the scanning direction can be adjusted to another direction to transmit a signal. If an echo signal is received, it can be determined that there is a target in this scanning direction.

[0028] The beam signal refers to a signal generated by beamforming technology in combination with the user channel matrix and the pointing scanning direction, which selectively enhances or suppresses signals in specific directions in space and can optimize communication efficiency and sensing accuracy.

[0029] Exemplarily, the approximate range where the target is located can be determined. For example, if the target is within -90° to 90°, 90° can be determined as the pointing scanning direction. Based on the user channel matrix and the pointing scanning direction, the beam signal is determined and transmitted in the 90° direction.

[0030] Step 102: Receive the echo signal returned by the echo distance unit in the pointing scanning direction, and determine the probability that the echo distance unit is a real target and the refined distance estimate of the echo distance unit based on the echo signal.

[0031] An echo signal refers to the signal reflected by an echo distance cell after receiving the beam signal transmitted by a communication and sensing integrated system and captured by the communication and sensing integrated system. For example, after the communication and sensing integrated system transmits a beam signal, an echo signal is received after a certain time delay.

[0032] An echo distance cell refers to a target at different distances from the communication and sensing integrated system in the pointing scan direction. It can be understood that the echo distance cells include real targets and interference targets.

[0033] The probability of a real target refers to the confidence level that a real target exists in the echo distance cell at a roughly determined distance after processing. For example, the echo distance cell at 10 meters from the communication and sensing integrated system is an interference target, the echo distance cell at 15 meters from the communication and sensing integrated system is a real target, and the echo distance cell at 20 meters from the communication and sensing integrated system includes both real and interference targets.

[0034] Precise distance estimation refers to a high-precision measurement value of the distance between an echo distance cell and the communication and sensing integrated system. For example, echo distance cells at 10.1 meters, 14.9 meters, 15.3 meters, and 20.1 meters from the communication and sensing integrated system.

[0035] Exemplarily, after receiving the echo signal returned by the echo distance cell in the pointing scan direction, the echo signal can be subjected to matched filtering to determine the precise distance estimation between each echo distance cell in the pointing scan direction and the communication and sensing integrated system.

[0036] Step 103: Determine the judgment score of the echo distance cell based on the probability of the echo distance cell and the corresponding precise distance estimation.

[0037] The judgment score refers to a quantization index obtained by comprehensively considering the probability that the echo distance cell is a real target and its precise distance estimation, and is used to finally determine whether the echo distance cell is a real target.

[0038] Step 104: When the judgment score is within the real score range, determine that the echo distance cell is a real target.

[0039] The real score range refers to a pre-set threshold interval used to distinguish whether an echo distance cell is a real target or an interference target. It can be understood that the determination method within the real score range and the specific threshold interval of the real score range can be adjusted according to actual scenario requirements and will not be further limited here.

[0040] Exemplarily, a detection threshold ξ can be set. If the judgment score is greater than the detection threshold ξ, it falls within the true score range, and the echo distance unit is determined to be a true target. If the judgment score is not greater than the detection threshold ξ, it falls outside the true score range, and the echo distance unit is determined to be an interference target.

[0041] The target perception method applied to the communication and sensing integrated system provided by the embodiments of the present invention transmits a beam signal by determining the user channel matrix and the pointing scanning direction of the antenna array, and receives the echo signal returned by the echo distance unit in the pointing scanning direction. Since the pointing scanning direction can be adjusted in real time and dynamically, it increases the difficulty for the target device to construct interference signals. Based on the echo signal, the probability that the echo distance unit is a true target and the precise distance estimation of the echo distance unit are determined. By combining the probability of the echo distance unit and the corresponding precise distance estimation, the judgment score of the echo distance unit is determined. When the judgment score is within the true score range, the precise distance between the echo distance unit belonging to the true target and the communication and sensing integrated system can be determined, so as to effectively distinguish between true targets and interference targets and achieve real and reliable target monitoring.

[0042] Based on the above embodiments, the transmitting the beam signal based on the user channel matrix and the pointing scanning direction includes: Determine the sensing subcarriers from multiple subcarriers, and determine the first beamforming vector of the sensing subcarriers based on the user channel matrix and the pointing scanning direction; Determine the non-sensing subcarriers from multiple subcarriers, and determine the second beamforming vector of the non-sensing subcarriers based on the user channel matrix and the pointing scanning direction; Design a beamforming matrix based on the first beamforming vector and the second beamforming vector, and transmit the beam signal.

[0043] The sensing subcarriers refer to specific frequency bands used for target detection, and the non-sensing subcarriers can also be called communication subcarriers, which refer to the frequency bands only used for data transmission. Exemplarily, one subcarrier can be determined from multiple subcarriers as the sensing subcarrier, and the subcarriers other than the determined sensing subcarrier are determined as non-sensing subcarriers.

[0044] It can be understood that the first and second here are mainly used to distinguish the beamforming vectors determined based on different types of subcarriers, and there are no relevant restrictions such as sequence.

[0045] Exemplarily, after determining the first beamforming vector and the second beamforming vector, the beamforming vector F can be obtained based on the first beamforming vector and the second beamforming vector l , and in combination with the signal s( t ) sent to each user, design a beamforming matrix, and control the antenna array to transmit a beam signal according to the beamforming matrix.

[0046] In this embodiment, by selecting sensing subcarriers and non-sensing subcarriers and designing their beamforming vectors respectively, the target weights of sensing and communication in beamforming are better balanced. Based on the first beamforming vector and the second beamforming vector, the overall beamforming matrix is designed to coordinate the beam patterns of different subcarriers, which can not only ensure the stability of the signal transmitted by the non-sensing subcarriers, but also increase the suppression of the interference target by the echo signal based on the sensing subcarriers, thereby improving the ability of the communication and sensing integrated system to distinguish real targets and interference targets.

[0047] Based on any of the above embodiments, the determining the first beamforming vector of the sensing subcarriers based on the user channel matrix and the pointing scan direction includes: Determining the first beamforming vector of the sensing subcarriers based on that the signal strength of the user channel matrix and the sensing subcarriers is within the first sensing parameter range in the pointing scan direction; The determining the second beamforming vector of the non-sensing subcarriers based on the user channel matrix and the pointing scan direction includes: Determining the second beamforming vector of the non-sensing subcarriers based on that the signal strength of the user channel matrix and the non-sensing subcarriers is within the second sensing parameter range in the pointing scan direction.

[0048] The sensing parameter range refers to a preset signal strength threshold interval, which can also be said to be the sensing performance threshold parameter, and is used to judge whether the sensing subcarriers meet the minimum standard of the sensing detection performance requirements. For example, the sensing parameter range can be that the power in the target direction is not less than 20 dB and the error does not exceed ±1 dB.

[0049] It can be understood that the first sensing parameter range and the second sensing parameter range only indicate that they are different sensing parameter ranges, and there is no limiting relationship such as a sequence. Exemplarily, the first sensing parameter range can be a frequency threshold range, and the second sensing parameter range can be zero frequency. Among them, the frequency threshold of the first sensing parameter range can be set according to actual needs and will not be further limited here; the second sensing parameter range can also be a frequency threshold range close to zero frequency, and the specific threshold will not be further limited here either.

[0050] In one embodiment, let the selected sensing subcarrier number be l , for the subcarrier with the number l , a convex optimization solver can be used to solve the semidefinite programming problem to determine the first beamforming vector.

[0051] , , wherein, is an intermediate variable for solving the first beamforming vector of the k-th communication user on the l-th subcarrier, is the performance threshold parameter for sensing, is the performance threshold parameter for communication, , is the channel vector of the k-th communication user, is the channel vector of the k-th communication user conjugate transpose, represents the communication user receiver noise power, represents all the set of positive semi-definite matrices, trace(·) represents the rank operation of the matrix.

[0052] and can be specified according to specific design requirements.

[0053] Let the selected non-sensing subcarrier number be , For the subcarrier numbered , a convex optimization solver can be used to solve the positive semi-definite programming problem to determine the second beamforming vector.

[0054] , , wherein, is an intermediate variable for solving the second beamforming vector of the k-th communication user on the l-th subcarrier, , is the steering scanning direction of the transmitting array steering vector, is the conjugate transpose of the steering vector of the transmitting array pointing in the scanning direction θ .

[0055] For each optimal solution obtained by solving, , calculate the maximum eigenvalue and its corresponding eigenvector ; where the l includes the sensed subcarrier and the non-sensed subcarrier numbers; Calculate the beamforming vector Finally, construct the beamforming matrix , to transmit the beam signal, where , where represents the signal sent to the k-th communication user.

[0056] Based on any of the above embodiments, determining the sensed subcarrier from multiple subcarriers includes: Rotatingly determine the sensed subcarrier of the current time slot from multiple subcarriers.

[0057] A time slot refers to a time segment pre-divided in the communication and sensing integrated system. A time slot can correspond to a fixed duration for performing specific signal transmission or reception tasks. The specific time slot length can be set according to actual needs and is not further limited in this embodiment.

[0058] The current time slot refers to the time segment for determining the sensed subcarrier and the non-sensed subcarrier, so as to facilitate combining the communication user channel matrix and the pointing scan direction to prepare for transmitting the beam signal.

[0059] Exemplarily, time segments can be pre-divided in the communication and sensing integrated system and numbered to obtain the 1st time slot, the 2nd time slot,..., the 10th time slot, and the subcarriers can be numbered to obtain the 1st subcarrier, the 2nd subcarrier,..., the 9th subcarrier; the 1st subcarrier can be selected as the sensed subcarrier in the 1st time slot, and then the next numbered subcarrier can be selected as the sensed subcarrier in each next time slot. For example, the 2nd subcarrier can be selected as the sensed subcarrier in the 2nd time slot, and if all available subcarriers are used up, the 1st subcarrier can be re-selected as the sensed subcarrier; for example, the 1st subcarrier can be selected as the sensed subcarrier in the 10th time slot.

[0060] As mentioned above, the pointing scan direction is replaceable, and the communication user channel matrix can also be determined in real time. In this embodiment, by dynamically rotating the sensed subcarrier and combining the communication user channel matrix with the pointing scan direction, the dynamic range and uncertainty of the sensed frequency band can be further expanded, the difficulty of judging the rules such as the current sensed spectrum resources and duration of the sensing target for the communication and sensing integrated system can be increased, and real and reliable target monitoring can be facilitated.

[0061] Based on any of the above embodiments, determining the probability that the echo distance unit is a real target based on the echo signal includes: Performing transformation processing on the echo signal to obtain the time-frequency spectrum of the echo signal; Input the time-frequency spectrum into a real target detection network to obtain the probability that the echo range cell output by the real target detection network is a real target; wherein, the real target detection network is trained by using the time-frequency spectrum and echo range cells with labels.

[0062] The time-frequency spectrum refers to the time-frequency joint characterization result obtained by analyzing the echo signal. Exemplarily, the short-time Fourier transform can be performed on the echo signal to obtain the time-frequency spectrum of the echo signal.

[0063] In one embodiment, the real target detection network outputs a probability function , where v the value of the v th element represents the probability that the v th echo range cell is a real target.

[0064] The labels can include real targets and interference targets. Exemplarily, the echo range cells can include echo range cell 1, echo range cell 2, and echo range cell 3. Echo range cell 1 carries the label real target, echo range cell 2 carries the label real target, and echo range cell 3 carries the label interference target; the time-frequency spectrum is obtained by performing transformation processing on the echo signals corresponding to echo range cell 1, echo range cell 2, and echo range cell 3; the real target detection network is pre-trained based on this.

[0065] In this embodiment, the time-frequency spectrum of the echo signal is obtained by performing transformation processing on the echo signal. The time-frequency spectrum includes three-dimensional features of time, frequency, and energy, which can facilitate separating and presenting the real target features and interference target features hidden in the echo signal on the time-frequency plane, and identifying the feature differences between the real target and the interference target based on the pre-trained real target detection network, outputting the probability that each echo range cell is a real target, quantifying the matching degree between the features of each echo range cell and the real target features in real time, performing a rough filtering on the echo signal through physical characterization based on time-frequency transformation, and performing a fine classification on the echo signal in the feature space through the learning ability of the real target detection network. On the basis of the cooperation of the two, the accuracy of the probability that the output echo range cell is a real target is increased.

[0066] Based on any of the above embodiments, the real target detection network includes a two-dimensional detection network and a dimensionality reduction network.

[0067] The two-dimensional detection network is a detection network that predicts whether an echo range cell is a real target based on the time-frequency spectrum. Exemplarily, the two-dimensional detection network can perform pixel-by-pixel prediction on the time-frequency domain based on a convolutional neural network (CNN) architecture to distinguish whether the echo range cell is a real target or an interference target.

[0068] The dimension reduction network refers to a network that determines the probability that the echo distance unit is a real target based on the time-frequency spectrum and the prediction results output by the two-dimensional detection network. Exemplarily, the dimension reduction network can convert the time-frequency spectrum and the prediction results output by the two-dimensional detection network into a one-dimensional probability sequence in the distance dimension based on a neural network architecture.

[0069] The step of inputting the time-frequency spectrum into the real target detection network to obtain the probability that the echo distance unit output by the real target detection network is a real target includes: Inputting the time-frequency spectrum into the two-dimensional detection network to obtain the prediction results output by the two-dimensional detection network; the prediction results include that the echo distance unit is a real target and that the echo distance unit is an interfering target. Inputting the prediction results and the time-frequency spectrum into the dimension reduction network to obtain the probability that the echo distance unit output by the dimension reduction network is a real target.

[0070] In this embodiment, the two-dimensional detection network performs microscopic processing on the time-frequency spectrum to obtain the prediction results of the real target or the interfering target of the echo distance unit. The dimension reduction network further fuses the original distribution characteristics of the time-frequency spectrum and the prediction results, which can correct the local misjudgment caused by instantaneous noise in the two-dimensional detection network and focus on the feature integration in the time dimension. By performing cascade processing on the time-frequency spectrum through the two-dimensional detection network and the dimension reduction network, complementary mining of the feature space is carried out, further increasing the accuracy of the probability that the output echo distance unit is a real target.

[0071] The step of determining the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding precise distance estimation includes: Determining a time vector based on the precise distance estimation corresponding to the probability of the echo distance unit; Performing weighted processing on the precise distance estimation corresponding to the probability of the echo distance unit based on the time vector and the speed of light to obtain the scored distance corresponding to the probability of the echo distance unit; Determining the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding scored distance.

[0072] The time vector refers to the sequence of time markers corresponding to the time axis obtained by performing time-frequency analysis on the echo signal. The time vector can be used to map the discrete time index of the time-frequency spectrum to physical time.

[0073] Exemplarily, the judgment score of the echo distance unit with a precise distance estimation of can be calculated based on the following formula: where , is a parameter that controls the width of the window function and can be adjusted according to specific requirements. is the time vector obtained by performing the short-time Fourier transform, c is the speed of light, and S is the time-frequency spectrum obtained by the short-time Fourier transform. is the judgment score of the trained real target detection network for the v th echo distance unit. is the network parameter vector.

[0074] In this embodiment, based on the time vector and the speed of light, a weighted processing is performed on the distance fine estimation corresponding to the probability of the echo distance unit to obtain a scoring distance. On the basis that the real target feature and the interference target feature have a small difference in the time-frequency plane, the defect of the interference target is further amplified by using physical feasibility. Based on the scoring distance, the credibility of the probability is dynamically adjusted to determine the judgment score of the echo distance unit, thereby increasing the accuracy of the probability that the output echo distance unit is a real target.

[0075] In one embodiment, the determining the distance fine estimation of the echo distance unit based on the echo signal includes: Based on the probability that the echo distance unit output by the real target detection network is a real target, the echo distance unit determined as a candidate real target is determined from multiple echo distance units; Based on the echo signal, a rough distance estimation of the echo distance unit that is a candidate real target is extracted, and a processing area to be processed is determined according to the rough distance estimation; The echo signal in the processing area to be processed is subjected to matched filtering processing to obtain a distance fine estimation of the echo distance unit that is a candidate real target.

[0076] The rough distance estimation refers to an approximate value of the distance of the echo distance unit extracted based on the echo signal without precise signal processing such as matched filtering. Exemplarily, the rough distance estimation of the echo distance unit that is a candidate real target can be extracted based on the time-frequency spectrum and other methods based on the echo signal.

[0077] In this embodiment, by restricting the search range of the matched filtering for the rough distance estimation of the echo distance unit that is a candidate real target, the computational time consumption required for the matched filtering can be reduced, ensuring that the system meets the low-latency constraint.

[0078] To specifically illustrate the function of the target perception method provided in this embodiment applied to the communication and sensing integrated system, a specific example is provided below.

[0079] Determine the user channel matrix and the pointing scan direction of the antenna array; Determine the sensing subcarriers of the current time slot by rotating among multiple subcarriers, and determine the first beamforming vector of the sensing subcarriers based on the user channel matrix and the signal strength of the sensing subcarriers being within the first sensing parameter range in the pointing scan direction; determine the subcarriers other than the sensing subcarriers as non-sensing subcarriers, and determine the second beamforming vector of the non-sensing subcarriers based on the user channel matrix and the signal strength of the non-sensing subcarriers being within the second sensing parameter range in the pointing scan direction; design a beamforming matrix based on the first beamforming vector and the second beamforming vector, and transmit a beam signal; Receive the echo signal returned by the echo distance unit in the pointing scan direction, Determine the probability that the echo distance unit is a real target and the refined distance estimate of the echo distance unit based on the echo signal; Perform transformation processing on the echo signal to obtain the time-frequency spectrum of the echo signal; Input the time-frequency spectrum into the two-dimensional detection network of the real target detection network to obtain the prediction result output by the two-dimensional detection network; the prediction result includes that the echo distance unit is a real target and the echo distance unit is an interference target; input the prediction result and the time-frequency spectrum into the dimension reduction network to obtain the probability that the echo distance unit is a real target output by the dimension reduction network; Determine a time vector based on the refined distance estimate corresponding to the probability of the echo distance unit; perform weighted processing on the refined distance estimate corresponding to the probability of the echo distance unit based on the time vector and the speed of light to obtain the scored distance corresponding to the probability of the echo distance unit; determine the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding scored distance; When the judgment score is within the real score range, determine that the echo distance unit is a real target.

[0080] During an experiment, a jammer is used as an interference device. Figure 2 It is a schematic diagram of the confusion matrix of the real target detection network of the target sensing method applied to the communication and sensing integrated system provided by the present invention. As Figure 2 shown, the real target detection network provided by the present invention has extremely high identification accuracy for real targets and interference targets. Exemplarily, the echo distance unit with a real label can be predicted to obtain the predicted label of the echo distance unit to generate a schematic diagram of the confusion matrix of the real target detection network.

[0081] As Figure 3 shown, it can be seen that when the interference gain is lower than 25 dB, the F1-socre (F1 score), R d (Detection Rate), Rfa (False Alarm Rate) and 1 - R fa (false alarm suppression rate) are both relatively ideal. The detection performance of the real - target detection network of the target perception method applied to the communication - perception integrated system provided by the present invention remains almost unchanged. After the interference gain of the jammer continues to increase, its detection performance will decline with the increase of the interference gain. When the interference gain reaches 40 dB, the false alarm rate is still lower than 5%, while the detection rate drops to about 50%. It can be seen that the target perception method applied to the communication - perception integrated system provided by the present invention can achieve high - precision and low - false - alarm real - target detection within a large range of interference intensities.

[0082] As Figure 4 shown, under different interference intensities, the root - mean - square error of distance perception fluctuates little around 0.8×10 -4 meters. It can be seen that the target perception method applied to the communication - perception integrated system provided by the present invention can achieve a perception accuracy of more than millimeter - level for real targets. In addition, it can be seen that the increase of the interference gain has little effect on the distance perception accuracy. This is because the enhancement of interference only affects the discrimination of real targets, while for the targets that are correctly determined, the accuracy of their distance estimation is less affected.

[0083] Next, the target perception device applied to the communication - perception integrated system provided by the present invention will be described. The target perception device applied to the communication - perception integrated system described below can be mutually corresponding and referred to the target perception method applied to the communication - perception integrated system described above.

[0084] Figure 5 is a schematic structural diagram of the target perception device applied to the communication - perception integrated system provided by the present invention. As Figure 5 shown, the device includes: A beam signal transmitting module 501, configured to determine the user channel matrix and the pointing scanning direction of the antenna array, and transmit a beam signal based on the user channel matrix and the pointing scanning direction; An echo signal processing module 502, configured to receive the echo signal returned by the echo distance unit in the pointing scanning direction, and determine the probability that the echo distance unit is a real target and the refined distance estimation of the echo distance unit based on the echo signal; A judgment score determination module 503, configured to determine the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding refined distance estimation; A real - target determination module 504, configured to determine that the echo distance unit is a real target when the judgment score is within the real - score range.

[0085] Based on any of the above embodiments, the beam signal transmitting module 501 includes: A first beamforming vector determination unit, configured to determine sensing subcarriers from multiple subcarriers, and determine a first beamforming vector of the sensing subcarriers based on the user channel matrix and the pointing scan direction; A second beamforming vector determination unit, configured to determine non-sensing subcarriers from multiple subcarriers, and determine a second beamforming vector of the non-sensing subcarriers based on the user channel matrix and the pointing scan direction; A beam signal transmitting unit, configured to design a beamforming matrix based on the first beamforming vector and the second beamforming vector, and transmit a beam signal.

[0086] Based on any of the above embodiments, the first beamforming vector determination unit is specifically configured to determine the first beamforming vector of the sensing subcarriers based on that the signal strength of the sensing subcarriers is within a first sensing parameter range in the pointing scan direction based on the user channel matrix; The second beamforming vector determination unit is specifically configured to determine the second beamforming vector of the non-sensing subcarriers based on that the signal strength of the non-sensing subcarriers is within a second sensing parameter range in the pointing scan direction based on the user channel matrix.

[0087] Based on any of the above embodiments, the target sensing device applied to the communication and sensing integrated system further includes: a rotation module, configured to rotate and determine the sensing subcarriers of the current time slot from multiple subcarriers.

[0088] Based on any of the above embodiments, the echo signal processing module 502 includes a probability determination unit, configured to: Perform transformation processing on the echo signal to obtain the time-frequency spectrum of the echo signal; Input the time-frequency spectrum into a real target detection network to obtain the probability that the echo distance unit of the real target detection network output is a real target; wherein, the real target detection network is trained by using the time-frequency spectrum and the echo distance unit carrying labels.

[0089] Based on any of the above embodiments, the real target detection network includes a two-dimensional detection network and a dimension reduction network; The probability determination unit is specifically configured to: Input the time-frequency spectrum into the two-dimensional detection network to obtain a prediction result output by the two-dimensional detection network; the prediction result includes that the echo distance unit is a real target and the echo distance unit is an interference target; Input the prediction result and the time-frequency spectrum into the dimension reduction network to obtain the probability that the echo distance unit of the dimension reduction network output is a real target.

[0090] Based on any of the above embodiments, the determination score determination module 503 is specifically configured to: Determine a time vector based on the distance fine estimate corresponding to the probability of the echo distance unit; Perform a weighting process on the distance fine estimate corresponding to the probability of the echo distance unit based on the time vector and the speed of light to obtain a scoring distance corresponding to the probability of the echo distance unit; Determine the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding scoring distance.

[0091] Based on any of the above embodiments, the echo signal processing module 502 includes a distance fine estimate determination unit, which is configured to: Determine the echo distance units that are candidate true targets from multiple echo distance units based on the probability that the echo distance units output by the true target detection network are true targets; Based on the rough distance estimate of the echo distance units that are extracted from the echo signal and are candidate true targets, determine a region to be processed according to the rough distance estimate; Perform a matched filtering process on the echo signal in the region to be processed to obtain a distance fine estimate of the echo distance units that are candidate true targets.

[0092] Figure 6 The structural schematic diagram of an electronic device is exemplified, as Figure 6 shown. The electronic device may include: a processor 610, a communication interface 620, a memory 630, and a communication bus 640. Among them, the processor 610, the communication interface 620, and the memory 630 communicate with each other through the communication bus 640. The processor 610 can call the logical instructions in the memory 630 to execute the target perception method applied to the communication and sensing integrated system. The method includes: determining the user channel matrix and the pointing scanning direction of the antenna array, and transmitting a beam signal based on the user channel matrix and the pointing scanning direction; receiving the echo signal returned by the echo distance unit in the pointing scanning direction, and determining the probability that the echo distance unit is a true target and the distance fine estimate of the echo distance unit based on the echo signal; determining the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding distance fine estimate; when the judgment score is within the true score range, determining that the echo distance unit is a true target.

[0093] In addition, when the logical instructions in the above-mentioned memory 630 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 such an 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 can 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 aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0094] On the other hand, the present invention also provides a computer program product. The computer program product includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the target perception method applied to the communication and perception integrated system provided by the above-mentioned various methods. The method includes: determining the user channel matrix and the pointing scanning direction of the antenna array, and transmitting a beam signal based on the user channel matrix and the pointing scanning direction; receiving the echo signal returned by the echo distance unit in the pointing scanning direction, and determining the probability that the echo distance unit is a real target and the refined distance estimation of the echo distance unit based on the echo signal; determining the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding refined distance estimation; when the judgment score is within the real score range, determining that the echo distance unit is a real target.

[0095] On another aspect, the present invention also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it is implemented to execute the target perception method applied to the communication and perception integrated system provided by the above-mentioned various methods. The method includes: determining the user channel matrix and the pointing scanning direction of the antenna array, and transmitting a beam signal based on the user channel matrix and the pointing scanning direction; receiving the echo signal returned by the echo distance unit in the pointing scanning direction, and determining the probability that the echo distance unit is a real target and the refined distance estimation of the echo distance unit based on the echo signal; determining the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding refined distance estimation; when the judgment score is within the real score range, determining that the echo distance unit is a real target.

[0096] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0097] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0098] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A target perception method applied to a communication perception integrated system, characterized in that: include: Determine a user channel matrix and a pointing scanning direction of an antenna array, and transmit a beam signal based on the user channel matrix and the pointing scanning direction; Receiving an echo signal returned by the echo distance unit in the pointing scanning direction, and determining the probability that the echo distance unit is a real target and an accurate distance estimation of the echo distance unit based on the echo signal; Determining a judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding distance precision estimate; When the judgment score is within the true score range, the echo range unit is determined to be a true target.

2. The target perception method applied to the communication perception integrated system according to claim 1 is characterized in that: The transmitting a beam signal based on the user channel matrix and the pointing scanning direction comprises: Determine a sensing subcarrier from a plurality of subcarriers, and determine a first beamforming vector of the sensing subcarrier based on the user channel matrix and the pointing scanning direction; Determine a non-perceiving subcarrier from the plurality of subcarriers, and determine a second beamforming vector of the non-perceiving subcarrier based on the user channel matrix and the pointing scanning direction; A beamforming matrix is ​​designed based on the first beamforming vector and the second beamforming vector, and a beam signal is transmitted.

3. The target perception method applied to the communication perception integrated system according to claim 2 is characterized in that: The determining a first beamforming vector of a sensing subcarrier based on the user channel matrix and the pointing scanning direction comprises: Determine a first beamforming vector of the sensing subcarrier based on the user channel matrix and the signal strength of the sensing subcarrier being within a first sensing parameter range in the pointing scanning direction; The determining a second beamforming vector of a non-perceiving subcarrier based on the user channel matrix and the pointing scanning direction comprises: Based on the user channel matrix and the signal strength of the non-perceiving subcarrier being within a second perception parameter range in the pointing scanning direction, a second beamforming vector of the non-perceiving subcarrier is determined.

4. The target perception method applied to the communication perception integrated system according to claim 2 is characterized in that: The determining of a perceptual subcarrier from a plurality of subcarriers comprises: The sensing subcarrier of the current time slot is determined in rotation from multiple subcarriers.

5. The target perception method applied to the communication perception integrated system according to claim 1 is characterized in that: Determining the probability that the echo range unit is a real target based on the echo signal includes: Performing transformation processing on the echo signal to obtain a time-frequency spectrum of the echo signal; The time-frequency spectrum is input into a real target detection network to obtain the probability that the echo distance unit output by the real target detection network is a real target; wherein the real target detection network is trained by the time-frequency spectrum and the echo distance unit carrying the label.

6. The target perception method applied to the communication perception integrated system according to claim 5 is characterized in that: The real target detection network includes a two-dimensional detection network and a dimension reduction network; The step of inputting the time-frequency spectrum into a real target detection network to obtain the probability that the echo distance unit output by the real target detection network is a real target includes: Inputting the time-frequency spectrum into the two-dimensional detection network to obtain a prediction result output by the two-dimensional detection network; the prediction result includes that the echo distance unit is a real target and that the echo distance unit is an interference target; The prediction result and the time-frequency spectrum are input into the dimension reduction network to obtain the probability that the echo distance unit output by the dimension reduction network is a real target.

7. The target perception method applied to the communication perception integrated system according to claim 6 is characterized in that: The determining the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding distance precision estimation includes: Determine the time vector based on the accurate distance estimation corresponding to the probability of the echo range unit; Performing weighted processing on the distance precision estimation corresponding to the probability of the echo distance unit based on the time vector and the speed of light to obtain the scoring distance corresponding to the probability of the echo distance unit; The judgment score of the echo distance unit is determined based on the probability of the echo distance unit and the corresponding score distance.

8. The target perception method applied to the communication perception integrated system according to claim 1 is characterized in that: Determining a precise distance estimate of the echo distance unit based on the echo signal includes: Determining the echo range unit as a candidate real target from the plurality of echo range units based on the probability that the echo range unit output by the real target detection network is a real target; Extracting a rough distance estimate of the echo range unit of the candidate real target based on the echo signal, and determining a to-be-processed area according to the rough distance estimate; Matched filtering is performed on the echo signal of the area to be processed to obtain an accurate distance estimate of the echo range unit of the candidate real target.

9. A target sensing device applied to a communication sensing integrated system, characterized in that: include: A beam signal transmitting module, used to determine a user channel matrix and a pointing scanning direction of an antenna array, and transmit a beam signal based on the user channel matrix and the pointing scanning direction; An echo signal processing module, used for receiving the echo signal returned by the echo distance unit in the pointing scanning direction, and determining the probability that the echo distance unit is a real target and the distance precision estimation of the echo distance unit based on the echo signal; A judgment score determination module, configured to determine the judgment score of the echo distance unit based on the probability of the echo distance unit and the corresponding distance precision estimate; The real target determination module is used to determine that the echo distance unit is a real target when the judgment score is within the real score range.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, it implements the target perception method applied to the communication perception integrated system as described in any one of claims 1 to 8.

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