Sensitivity fusion method and device and storage medium

Abstract

The embodiment of the invention provides a sensing fusion method and device and a storage medium. The method comprises the following steps: acquiring a sensing demand; sending a sensing configuration to at least one sensing device according to the sensing demand; the sensing device belongs to at least one sensing level, and the sensing level is obtained based on division of a satellite-ground fusion network. According to the scheme provided by the embodiment of the invention, the equipment of one or more sensing levels can participate in the sensing process according to the sensing requirement, so that the sensing requirement can be met to the greatest extent, meanwhile, the feedback of the multiple sensing levels can be synthesized, the sensing of coarse and fine granularity can be realized, and a more complete result which better meets the requirement can be obtained.

Description

Technical Field

[0001] This application relates to the field of communication technologies, and in particular, to a communication and sensing integration method, apparatus, and storage medium. Background Art

[0002] The goal of communication and sensing integration is to use wireless sensing technologies such as radar and imaging to achieve the sensing of the position, attitude, and environmental information of objects such as non-target terminals, so as to obtain multi-dimensional and multi-level sensing data, expand the connection range of the mobile communication system from target terminals to objects and the environment, and truly realize the intelligent connection of all things. Through the deep integration of wireless communication and wireless sensing, the 6G system will further enhance its service capabilities as a new type of infrastructure, so as to better meet the needs of all aspects such as personal life, vertical industries, and social governance. Summary of the Invention

[0003] In view of the problems existing in the prior art, embodiments of this application provide a communication and sensing integration method, apparatus, and storage medium.

[0004] In a first aspect, an embodiment of this application provides a communication and sensing integration method, which is applied to a first device and includes:

[0005] Obtain sensing requirements;

[0006] According to the sensing requirements, send sensing configurations to at least one sensing device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground integrated network.

[0007] Optionally, in the communication and sensing integration method according to an embodiment of this application, the sensing configuration includes a sensing request sending configuration, and the sensing device is a sensing request sending device. Then, sending the sensing configuration to at least one sensing device includes:

[0008] Send the sensing request sending configuration to at least one of the sensing request sending devices.

[0009] Optionally, in the communication and sensing integration method according to an embodiment of this application, the sensing configuration includes a sensing response receiving configuration, and the sensing device is a sensing response receiving device. Then, sending the sensing configuration to at least one sensing device includes:

[0010] Send the sensing response receiving configuration to at least one of the sensing response receiving devices.

[0011] Optionally, in the communication and sensing integration method according to an embodiment of this application, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a sensing response sending device. Sending the sensing configuration to at least one sensing device includes:

[0012] Send the sensing response sending configuration and / or the sensing request sending configuration to the sensing response sending device.

[0013] Optionally, in the communication and sensing fusion method according to an embodiment of the present application, the sending the sensing configuration to at least one sensing device according to the sensing requirement includes:

[0014] Determine the sensing levels participating in the sensing process according to the sensing requirement;

[0015] Send the sensing configuration to at least one sensing device in at least one of the sensing levels.

[0016] Optionally, in the communication and sensing fusion method according to an embodiment of the present application, the sensing device includes: a sensing response receiving device. After sending the sensing configuration to at least one sensing device according to the sensing requirement, it further includes:

[0017] Receive the sensing response from at least one sensing response receiving device and / or the sensing result determined based on the sensing response.

[0018] Optionally, in the communication and sensing fusion method according to an embodiment of the present application, the sensing configuration further includes: the sensing sequence of at least one sensing level.

[0019] Optionally, in the communication and sensing fusion method according to an embodiment of the present application, the sensing levels are divided based on the sensing request sending device; the sensing levels include at least one of the following: star sensing layer, air sensing layer, macro sensing layer, micro sensing layer;

[0020] In the star sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of a terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal;

[0021] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

[0022] Optionally, in the communication and sensing fusion method according to an embodiment of the present application, the obtaining the sensing requirement includes:

[0023] Receive the sensed demand from a second device; the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network.

[0024] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the receiving the sensed demand from the second device includes:

[0025] In a case where the second device is a device external to the communication network, receive the sensed demand from the second device forwarded by a terminal or a network-side device of the communication network.

[0026] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the device sending the sensing request, or information of the device receiving the sensing response.

[0027] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the device receiving the sensing response.

[0028] In a second aspect, an embodiment of the present application further provides a communication-sensing fusion method, which is applied to a sensing device and includes:

[0029] Receive a sensing configuration sent by a first device; the sensing device belongs to at least one sensing layer, and the sensing layer is obtained by dividing a space-ground integrated network.

[0030] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the sensing configuration includes a sensing request sending configuration, the sensing device is a device sending the sensing request, and the receiving the sensing configuration sent by the first device includes:

[0031] Receive the sensing request sending configuration sent by the first device.

[0032] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the sensing configuration includes a sensing response receiving configuration, the sensing device is a device receiving the sensing response, and the receiving the sensing configuration sent by the first device includes:

[0033] Receive the sensing response receiving configuration sent by the first device.

[0034] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a device sending the sensing response, and the receiving the sensing configuration sent by the first device includes:

[0035] Receive the sensing response sending configuration and / or the sensing request sending configuration sent by the first device.

[0036] Optionally, according to a method for communication and sensing integration in an embodiment of the present application, the sensing device includes: a sensing response receiving device. After receiving the sensing configuration sent by the first device, it further includes:

[0037] Send a sensing response to the first device; and / or,

[0038] Send a sensing result determined based on the sensing response to the first device.

[0039] Optionally, according to a method for communication and sensing integration in an embodiment of the present application, the sensing configuration further includes: the sensing order of at least one sensing level.

[0040] Optionally, according to a method for communication and sensing integration in an embodiment of the present application, the sensing levels are divided based on the sensing request sending device; the sensing levels include at least one of the following: satellite sensing layer, airspace sensing layer, macro sensing layer, micro sensing layer;

[0041] In the satellite sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device or a terminal of a terrestrial network; in the airspace sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device or a terminal of a terrestrial network; in the macro sensing layer, the sensing request sending device is a network-side device of a terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device or a terminal of a terrestrial network; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device or a terminal of a terrestrial network;

[0042] Wherein, the terminal is a terminal of a satellite network, a near-space network or a terrestrial network.

[0043] Optionally, according to a method for communication and sensing integration in an embodiment of the present application, the sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the sensing request sending device or information of the sensing response sending device.

[0044] Optionally, according to a method for communication and sensing integration in an embodiment of the present application, the sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the sensing response receiving device.

[0045] In a third aspect, an embodiment of the present application further provides a method for communication and sensing integration, which is applied to a second device and includes:

[0046] Send a sensing requirement to a first device; the sensing requirement is used for the first device to send sensing configurations to at least one sensing device; the sensing devices belong to at least one sensing layer, and the sensing layer is obtained by dividing based on a space-ground integrated network.

[0047] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network.

[0048] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the sending the sensing requirement to the first device includes:

[0049] When the second device is a device external to the communication network, forward the sensing requirement to the first device through a terminal or a network-side device of the communication network.

[0050] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the sensing layer is divided based on the sensing request sending device; the sensing layer includes at least one of the following: a satellite sensing layer, an air sensing layer, a macro sensing layer, and a micro sensing layer;

[0051] In the satellite sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a ground network, or a terminal; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a ground network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of a ground network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a ground network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a ground network, or a terminal;

[0052] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a ground network.

[0053] Optionally, for the communication-sensing fusion method according to an embodiment of the present application, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration, a sensing response receiving configuration, and the sensing sequence of the at least one sensing layer.

[0054] Fourthly, an embodiment of the present application further provides a first device, including a memory, a transceiver, and a processor, wherein:

[0055] A memory for storing a computer program; a transceiver for transceiving data under the control of the processor; a processor for reading the computer program in the memory and implementing the steps of the communication and sensing fusion method according to any one of the above first aspects.

[0056] In a fifth aspect, an embodiment of the present application further provides a sensing device, including a memory, a transceiver, and a processor, wherein:

[0057] A memory for storing a computer program; a transceiver for transceiving data under the control of the processor; a processor for reading the computer program in the memory and implementing the steps of the communication and sensing fusion method according to any one of the above second aspects.

[0058] In a sixth aspect, an embodiment of the present application further provides a second device, including a memory, a transceiver, and a processor, wherein:

[0059] A memory for storing a computer program; a transceiver for transceiving data under the control of the processor; a processor for reading the computer program in the memory and implementing the steps of the communication and sensing fusion method according to any one of the above third aspects.

[0060] In a seventh aspect, an embodiment of the present application further provides a communication and sensing fusion device applied to a first device, including:

[0061] An acquisition unit for acquiring sensing requirements;

[0062] A sending unit for sending sensing configurations to at least one sensing device according to the sensing requirements; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground fusion network.

[0063] In an eighth aspect, an embodiment of the present application further provides a communication and sensing fusion device applied to a sensing device, including:

[0064] A receiving unit for receiving the sensing configuration sent by the first device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground fusion network.

[0065] In a ninth aspect, an embodiment of the present application further provides a communication and sensing fusion device applied to a second device, including:

[0066] A sending unit for sending sensing requirements to the first device; the sensing requirements are used for the first device to send sensing configurations to at least one sensing device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground fusion network.

[0067] In a tenth aspect, an embodiment of the present application further provides a processor-readable storage medium storing a computer program for causing the processor to execute the steps of the communication and sensing fusion method described in the first aspect above.

[0068] In an eleventh aspect, an embodiment of the present application further provides a processor-readable storage medium storing a computer program for causing the processor to execute the steps of the communication and sensing fusion method described in the second aspect above.

[0069] In a twelfth aspect, an embodiment of the present application further provides a processor-readable storage medium storing a computer program for causing the processor to execute the steps of the communication and sensing fusion method described in the third aspect above.

[0070] In a thirteenth aspect, an embodiment of the present application further provides a non-transitory readable storage medium storing a computer program for causing the processor to execute the communication and sensing fusion method described in any one of the first, second, or third aspects above.

[0071] In a fourteenth aspect, an embodiment of the present application further provides a communication device storing a computer program for causing the communication device to execute the communication and sensing fusion method described in any one of the first, second, or third aspects above.

[0072] In a fifteenth aspect, an embodiment of the present application further provides a chip product storing a computer program for causing the chip product to execute the communication and sensing fusion method described in any one of the first, second, or third aspects above.

[0073] For the communication and sensing fusion method, device, and storage medium provided by the embodiments of the present application, a sensing requirement is obtained. Further, according to the sensing requirement, a sensing configuration is sent to at least one sensing device. The sensing devices belong to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground integrated network. The sensing devices implement sensing based on the received sensing configuration, that is, the sensing process is participated by the sensing devices of at least one sensing level, so that the sensing requirement can be met, and different granularities of sensing can be achieved based on at least one sensing level. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] To more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0075] Figure 1 It is a schematic diagram of the space-ground integrated network architecture provided by the embodiments of the present application;

[0076] Figure 2 It is one of the flow schematic diagrams of the communication and sensing integration method provided by the embodiments of the present application;

[0077] Figure 3 It is one of the scenario schematic diagrams of the communication and sensing integration method provided by the embodiments of the present application;

[0078] Figure 4 It is the mutual flow schematic diagram of the communication and sensing integration method provided by the embodiments of the present application;

[0079] Figure 5 It is the second flow schematic diagram of the communication and sensing integration method provided by the embodiments of the present application;

[0080] Figure 6 It is the third flow schematic diagram of the communication and sensing integration method provided by the embodiments of the present application;

[0081] Figure 7 It is the structural schematic diagram of the first device provided by the embodiments of the present application;

[0082] Figure 8 It is the structural schematic diagram of the sensing device provided by the embodiments of the present application;

[0083] Figure 9 It is the structural schematic diagram of the second device provided by the embodiments of the present application;

[0084] Figure 10 It is the first structural schematic diagram of the communication and sensing integration device provided by the embodiments of the present application;

[0085] Figure 11 It is the second structural schematic diagram of the communication and sensing integration device provided by the embodiments of the present application;

[0086] Figure 12 It is the third structural schematic diagram of the communication and sensing integration device provided by the embodiments of the present application. Detailed implementation manners

[0087] In the embodiments of the present application, the term "and / or" describes the association relationship of associated objects, indicating that there can be three relationships. For example, A and / or B can represent three cases: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally indicates that the associated objects before and after are in an "or" relationship.

[0088] In the embodiments of the present application, the term "plurality" refers to two or more, and other quantifiers are similar thereto.

[0089] Next, the technical solutions in the embodiments of the present application will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the protection scope of the present application.

[0090] The technical solutions provided in the embodiments of the present application can be applied to multiple systems, such as 5G systems or 6G systems, etc. For example, the applicable systems can be Global System of Mobile Communication (GSM) systems, Code Division Multiple Access (CDMA) systems, Wideband Code Division Multiple Access (WCDMA) General Packet Radio Service (GPRS) systems, Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5G New Radio (NR) systems, etc. Both terminal devices and network devices are included in these multiple systems. The system may also include a core network part, such as an Evolved Packet System (EPS), 5G System (5GS), etc.

[0091] The terminal device involved in the embodiments of the present application can be a device that provides voice and / or data connectivity to users, such as a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem, etc. In different systems, the name of the terminal device may also be different. For example, in a 5G system, the terminal device can be called a User Equipment (UE). The wireless terminal device can communicate with one or more core networks (CN) via a Radio Access Network (RAN). The wireless terminal device can be a mobile terminal device, such as a mobile phone (or a "cellular" phone) and a computer with a mobile terminal device. For example, it can be a portable, pocket-sized, handheld, computer-integrated, or vehicle-mounted mobile device, which exchanges language and / or data with the wireless access network. For example, devices such as Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). The wireless terminal device can also be called a system, a subscriber unit, a subscriber station, a mobile station, a mobile, a remote station, an access point, a remote terminal, an access terminal, a user terminal, a user agent, a user device, which is not limited in the embodiments of the present application.

[0092] The network device involved in the embodiments of the present application can be a base station or a core network device. The base station can include multiple cells that provide services to terminals. Depending on the specific application scenario, the base station can also be referred to as an access point, or it can be a device in the access network that communicates with wireless terminal devices through one or more sectors over the air interface, or other names. The network device can be used to mutually replace the received air frames and Internet Protocol (IP) packets, and act as a router between the wireless terminal device and the rest of the access network, where the rest of the access network can include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network device involved in the embodiments of the present application can be a network device (Base Transceiver Station, BTS) in the Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA), or a network device (NodeB) in Wide-band Code Division Multiple Access (WCDMA), or an evolved network device (evolutional Node B, eNB or e-NodeB) in the Long Term Evolution (LTE) system, a 5G base station (gNB) in the 5G network architecture (next generation system), or a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc. The embodiments of the present application do not limit this. In some network architectures, the network device can include a centralized unit (CU) node and a distributed unit (DU) node, and the centralized unit and the distributed unit can also be geographically separated and arranged.In some embodiments, the core network device may include, but is not limited to, at least one of the following: core network node, core network function, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Network Repository Function (NRF), Network Exposure Function (NEF), Application Function (AF), Sensing Requirement Function (SRF), Location Management Function (LMF), etc.

[0093] To facilitate a clearer understanding of the embodiments of the present application, some related technical content will be introduced first.

[0094] The integration of communication and sensing, and the integration of satellite and terrestrial communication are two important research directions for 6G.

[0095] The goal of the integration of communication and sensing is to use wireless sensing technologies such as radar and imaging to achieve the perception of the position, attitude, and environmental information of non-target terminals and other objects, so as to obtain multi-dimensional and multi-level sensing data, expand the connection range of the mobile communication system from target terminals to objects and the environment, and truly realize the intelligent connection of all things. Through the deep integration of wireless communication and wireless sensing, the 6G system will further enhance its service capabilities as a new type of infrastructure, so as to better meet the needs of personal life, vertical industries, social governance, and other aspects.

[0096] The goal of space-ground integration is to build a globally-operated and fully-covered three-dimensional network, which is an organic integration of terrestrial mobile communication networks and high, medium, and low-earth orbit satellites, achieving seamless global coverage and access for anyone, anywhere, at any time. The space-ground integration architecture is as shown in Figure 1 shown below. Figure 1 The space-ground integration network in

[0097] This application embodiment mainly provides an architecture and a specific implementation mechanism for the combination of communication-sensing integration and space-ground integration, that is, how to support communication-sensing integration under the space-ground integration architecture.

[0098] Figure 2 is one of the flow schematic diagrams of the communication-sensing integration method provided by this application embodiment. As shown in Figure 2 shown below, this application embodiment provides a communication-sensing integration method, and its execution entity can be a first device. The first device can be a network device, for example, a core network device. This method includes:

[0099] Step 201, obtain sensing requirements;

[0100] Specifically, the sensing requirements can come from, for example, a sensing requirements server, a core network device, a sensing requirements application, a sensing requirements user terminal, etc. The first device can be an entity with demand collection and distribution functions, such as a sensing request function SRF, which is responsible for obtaining sensing requirements and then making reasonable configurations based on the sensing requirements and configuring them to sensing devices. The sensing devices perform the sensing process. The first device is equivalent to an interface entity between the sensing requirements and the communication network. Optionally, the sensing requirements server itself can be used as the first device, or a certain device in the core network of the communication network (which can be a newly added entity or a newly added function in an existing entity) can undertake the function of the first device.

[0101] Step 202, send sensing configurations to at least one sensing device according to the sensing requirements; the sensing devices belong to at least one sensing layer, and the sensing layer is obtained by dividing based on the space-ground integration network.

[0102] Specifically, in addition to the ground network, the space-ground integration network also includes a satellite network and a near-space network. In some scenarios, the satellite network and the near-space network can achieve sensing effects that the ground network cannot, such as sensing related to meteorology, sensing clouds, air pressure, etc., and sensing forest fires, etc. For example, when natural disasters occur and the ground network fails to function, the satellite network and the temporarily launched drone network can provide necessary sensing while providing a communication network.

[0103] In the embodiments of the present application, the space-ground integrated network is divided into at least one sensing level. According to the sensing requirements, a sensing configuration is sent to at least one sensing device. The sensing device belongs to at least one sensing level, and the sensing device can execute a sensing process based on the sensing configuration, such as sending a sensing request and receiving a sensing response.

[0104] Optionally, the combination of at least one sensing level can achieve sensing with different granularities.

[0105] The communication-sensing integration method provided by the embodiments of the present application obtains sensing requirements. Further, according to the sensing requirements, a sensing configuration is sent to at least one sensing device. The sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing the space-ground integrated network. The sensing device realizes sensing based on the received sensing configuration, that is, the sensing devices of at least one sensing level participate in the sensing process, so as to meet the sensing requirements, and different granularities of sensing can be realized based on at least one sensing level.

[0106] Optionally, the sensing level is divided based on the sensing request sending device; the sensing level includes at least one of the following: satellite sensing layer, air sensing layer, macro sensing layer, micro sensing layer;

[0107] In the satellite sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: satellite, near-space device, network-side device or terminal of the ground network; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: satellite, near-space device, network-side device or terminal of the ground network; in the macro sensing layer, the sensing request sending device is a network-side device of the ground network, and the sensing response receiving device is at least one of the following: satellite, near-space device, network-side device or terminal of the ground network; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: satellite, near-space device, network-side device or terminal of the ground network;

[0108] Wherein, the terminal is a terminal of a satellite network, a near-space network or a ground network.

[0109] Specifically, in other embodiments, the name of the sensing level may also be other names, and the embodiments of the present application do not limit this.

[0110] (1) Satellite Sensing Layer: The sensing request sending device is a satellite, i.e., the device that sends sensing signals. The satellite is not limited to being a geostationary earth orbit (GEO), medium earth orbit (MEO), or low earth orbit (LEO) satellite. The entity of the sensing response receiving device (i.e., the device that receives the sensing response) is not limited to a satellite and can also be a near-space device, a network-side device (such as a base station) of a terrestrial network, or a terminal;

[0111] (2) Near-Space Sensing Layer: The sensing request sending device is a near-space device, and the near-space device can be a near-space aircraft, such as an airship, balloon, drone, or airplane, etc.; the entity of the received sensing response is not limited to a near-space device and can also be a satellite (GEO / MEO / LEO), a network-side device (such as a base station) of a terrestrial network, or a terminal;

[0112] (3) Macro Sensing Layer: The sensing request sending device is a network-side device of a terrestrial network; the entity of the received sensing response is not limited to a network-side device of a terrestrial network and can also be a satellite (GEO / MEO / LEO), a near-space device (such as an airship, balloon, drone, or airplane, etc.), or a terminal;

[0113] (4) Micro Sensing Layer: The sensing request sending device is a terminal; the entity of the received sensing response is not limited to a terminal and can also be a satellite (GEO / MEO / LEO), a near-space device (such as an airship, balloon, drone, or airplane, etc.), or a network-side device of a network.

[0114] The terminal in each of the above sensing levels can be a terminal operating in a satellite network, a near-space network, or a terrestrial network.

[0115] It should be noted that the above sensing levels are divided based on the sensing request sending device. In other embodiments, they can also be divided based on other rules, and the embodiments of the present application are not limited thereto.

[0116] In the above embodiments, by dividing different sensing levels, in practical applications, based on different sensing requirements, sensing is achieved by combining at least one sensing level, and the sensing effect is better.

[0117] Optionally, step 201 can be implemented in the following manner:

[0118] Receive the sensing requirement from the second device; the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network.

[0119] Specifically, the first device can receive sensing requirements sent from a terminal, an internal device of the communication network, or a device external to the communication network. That is, the sensing requirement party can be a terminal of the communication network, a network device (core network device or access network device) of the communication network, or a device external to the communication network.

[0120] Optionally, when the second device is a device external to the communication network, receive the sensing requirements from the second device forwarded by a terminal or a network side device of the communication network.

[0121] Specifically, the sensing requirements from outside the communication network can also be sent to the first device through a core network device, an access network device, or a terminal. For example, Figure 3 the Sensing Requirement Center (SRC) in

[0122] As Figure 4 shown, this scenario includes a first device, a sensing request sending device, a sensed object, and a sensing response receiving device;

[0123] For the sensed object, there are the following two different solutions:

[0124] Case 1: The sensed object has no processing ability. That is, the sensed object only reflects the sensing request;

[0125] Case 2: The sensed object has processing ability: That is, after receiving the sensing request, the sensed object emits a sensing response by itself.

[0126] Optionally, the sensing configuration includes a sensing request sending configuration. If the sensing device is a sensing request sending device, then send the sensing configuration to at least one sensing device, including:

[0127] Send the sensing request sending configuration to at least one sensing request sending device.

[0128] Specifically, the sensing request sending device receives the sensing request sending configuration and sends a sensing request according to the sensing request sending configuration.

[0129] Optionally, the sensing configuration includes a sensing response receiving configuration. If the sensing device is a sensing response receiving device, then the sending of the sensing configuration to at least one sensing device includes:

[0130] Send the sensing response receiving configuration to at least one of the sensing response receiving devices.

[0131] Specifically, the sensing response receiving device receives the sensing response receiving configuration and receives the sensing response according to the sensing response receiving configuration.

[0132] Optionally, the sensing request sending device may also forward the sensing response receiving configuration, that is, forward the sensing response receiving configuration to the sensing response receiving device.

[0133] Optionally, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a sensing response sending device, and the sending the sensing configuration to at least one sensing device includes:

[0134] Sending the sensing response sending configuration and / or the sensing request sending configuration to the sensing response sending device.

[0135] Specifically, in the case where the sensed object has processing capabilities, the sensed object can be used as a sensing response sending device, can receive the sensing response sending configuration, and send a sensing response according to the sensing response sending configuration, or can receive the sensing request sending configuration and receive a sensing request according to the sensing request sending configuration.

[0136] Optionally, the sensing request sending device can forward the sensing response sending configuration to the sensed object, that is, receive the sensing response sending configuration sent by the first device and forward the sensing response sending configuration to the sensed object.

[0137] Optionally, the sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the sensing request sending device, or information of the sensing response sending device.

[0138] Optionally, the sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the sensing response receiving device.

[0139] In the above embodiments, by sending the sensing configuration to different sensing devices, sensing can be achieved, with low implementation complexity and high flexibility.

[0140] Optionally, after step 202, the following may further be included:

[0141] Receiving a sensing response and / or a sensing result determined based on the sensing response from at least one sensing response receiving device.

[0142] Specifically, the first device may also receive a sensing response (for example, the sensing response device obtains a first sensing response from the sensed object, determines a second sensing response according to the first sensing response, and sends the second sensing response to the first device) or a sensing result sent by the sensing response receiving device, where the sensing result may be determined by the sensing response receiving device based on the sensing response (for example, the sensing response device receives a sensing response from the sensed object and determines the sensing result according to the sensing response from the sensed object).

[0143] If a sensing response is received, the first device may determine a sensing result based on the sensing response.

[0144] Optionally, the sensing configuration may be sent to a device at one sensing level, and then sent by the device at this sensing level to other devices at other sensing levels; for example, if the determined sensing devices involve the star sensing layer and the macro sensing layer, but the sensing configuration is only sent to the devices at the star sensing layer, then the devices at the star sensing layer may forward the relevant sensing configuration (the sensing configuration related to the macro sensing layer) to the devices at the macro sensing layer; or, the sensing configuration may also be sent by one device at this sensing level to other devices at this sensing level.

[0145] Optionally, step 202 may be implemented in the following manner:

[0146] Determine the sensing levels participating in the sensing process according to the sensing requirements;

[0147] Send the sensing configuration to at least one sensing device in at least one sensing level.

[0148] Specifically, according to the sensing requirements, determine at least one sensing level participating in the sensing process, and send the sensing configuration to at least one sensing device in at least one sensing level. For example, it may be sent to all sensing devices in all sensing levels participating in the sensing process, or sent to some sensing devices in some sensing levels participating in the sensing process. Sensing devices in other sensing levels or the same sensing level can obtain the sensing configuration through forwarding.

[0149] In the above embodiments, according to the sensing requirements, determine the sensing levels participating in the sensing process, and thus be able to know the sensing devices participating in the sensing process, and send the sensing configuration to at least one sensing device, so as to be able to implement sensing, with low implementation complexity and high flexibility.

[0150] Optionally, for sensing networks at different levels, the achievable sensing accuracies may vary and can be combined with each other to obtain more complete sensing information. For example, a satellite network can obtain cloud information, and a river flow sensing module can obtain the actual river water flow. The two can be combined to predict future rainfall and future river flow.

[0151] Optionally, the sensing configuration further includes: the sensing sequence of at least one sensing level.

[0152] Specifically, the perception sequence can refer to the sequence of perception at different perception levels, that is, different perception levels can be configured for sequential perception. For example, the star perception layer can be configured first for large-scale and coarse-grained perception, and then based on the results of the star perception layer, the macro perception layer based on the ground station or the micro perception layer based on the terminal can be configured for small-scale and fine perception. Since the perception accuracy is inversely proportional to the bandwidth used for perception, the satellite can use a smaller bandwidth for coarse-grained perception, such as a perception accuracy of 2 meters, and then let the ground station use a large bandwidth for fine-grained perception, such as centimeter-level perception.

[0153] Taking drone intrusion detection as an example, the satellite can perform coarse-grained perception in multiple ground areas (airports, parks, or sensitive areas) to perceive whether a drone is approaching a specified area. If it is perceived that the drone is approaching the specified area, the ground base station in the corresponding ground area will be notified to perform more refined perception to confirm whether the drone has actually crossed the boundary and entered the specified area. In this way, the ground stations in multiple ground areas can usually refrain from performing drone detection or perform drone detection at a lower frequency, reducing power consumption; after receiving the satellite perception warning, increase the perception frequency for targeted perception.

[0154] In the above implementation, by comprehensively and on-demand utilizing the perception networks at different perception levels, a more complete and perfect perception result that matches the requirements can be obtained, and the perception effect is better.

[0155] Exemplarily, as Figure 3 shown, the method includes:

[0156] Step 1a: The AMF sends a perception requirement to the SRF;

[0157] Step 1b: The SRC sends a perception requirement to the SRF;

[0158] Step 2: The SRF obtains the perception requirement;

[0159] Step 3: The SRF determines the perception level and perception device based on the perception requirement;

[0160] Step 4: The SRF sends a perception configuration to at least one perception device at at least one perception level;

[0161] Step 5: The SRF receives the perception response and / or perception result;

[0162] Step 6a: The SRF sends the perception response and / or perception result to the AMF;

[0163] Step 6b: The SRF sends the perception response and / or perception result to the SRC.

[0164] Figure 5This is the second schematic flowchart of the communication-sensing fusion method provided by the embodiments of the present application. As Figure 5 shown, the embodiments of the application provide a communication-sensing fusion method, and the execution subject thereof may be a sensing device. The method includes:

[0165] Step 501, receiving a sensing configuration sent by a first device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground fusion network.

[0166] Optionally, the sensing configuration includes a sensing request sending configuration, the sensing device is a sensing request sending device, and the receiving the sensing configuration sent by the first device includes:

[0167] Receiving the sensing request sending configuration sent by the first device.

[0168] Optionally, the sensing configuration includes a sensing response receiving configuration, the sensing device is a sensing response receiving device, and the receiving the sensing configuration sent by the first device includes:

[0169] Receiving the sensing response receiving configuration sent by the first device.

[0170] Optionally, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a sensing response sending device, and the receiving the sensing configuration sent by the first device includes:

[0171] Receiving the sensing response sending configuration and / or the sensing request sending configuration sent by the first device.

[0172] Optionally, the sensing device includes: a sensing response receiving device, and after receiving the sensing configuration sent by the first device, it further includes:

[0173] Sending a sensing response to the first device; and / or,

[0174] Sending a sensing result determined based on the sensing response to the first device.

[0175] Optionally, the sensing configuration further includes: the sensing order of the at least one sensing level.

[0176] Optionally, the sensing level is divided based on the sensing request sending device; the sensing level includes at least one of the following: a satellite sensing layer, an air sensing layer, a macro sensing layer, a micro sensing layer;

[0177] In the satellite sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of a terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal;

[0178] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

[0179] Optionally, the sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the sensing request sending device, or information of the sensing response sending device.

[0180] Optionally, the sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the sensing response receiving device.

[0181] It should be noted here that the above communication-sensing fusion method provided by the embodiments of the present application has the same implementation principle as all the method steps implemented by the above method embodiments with the first device as the execution subject, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0182] Figure 6 is the third flow diagram of the communication-sensing fusion method provided by the embodiments of the present application. As Figure 6 shown, the embodiments of the present application provide a communication-sensing fusion method, and its execution subject can be a second device. The method includes:

[0183] Step 601, sending a sensing requirement to the first device; the sensing requirement is used for the first device to send a sensing configuration to at least one sensing device; the sensing device belongs to at least one sensing layer, and the sensing layer is obtained by dividing based on a satellite-ground integrated network.

[0184] Optionally, the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device outside the communication network.

[0185] Optionally, the sending the sensing requirement to the first device includes:

[0186] When the second device is a device outside the communication network, the perception requirement is forwarded to the first device through a terminal or a network-side device of the communication network.

[0187] Optionally, the perception levels are divided based on the perception request sending device; the perception levels include at least one of the following: star perception layer, air perception layer, macro perception layer, and micro perception layer.

[0188] In the star perception layer, the perception request sending device is a satellite, and the perception response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of the ground network, or a terminal; in the air perception layer, the perception request sending device is a near-space device, and the perception response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of the ground network, or a terminal; in the macro perception layer, the perception request sending device is a network-side device of the ground network, and the perception response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of the ground network, or a terminal; in the micro perception layer, the perception request sending device is a terminal, and the perception response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of the ground network, or a terminal.

[0189] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a ground network.

[0190] Optionally, the perception configuration includes at least one of the following: perception request sending configuration, perception response sending configuration, perception response receiving configuration, and the perception sequence of the at least one perception level.

[0191] It should be noted here that the above communication and sensing fusion method provided in the embodiments of the present application has the same implementation principle as all the method steps implemented in the above method embodiments with the first device as the execution subject, and can achieve the same technical effects. Therefore, the same parts and beneficial effects in this embodiment as those in the method embodiments will not be specifically described herein.

[0192] Figure 7 is a schematic structural diagram of the first device provided in the embodiments of the present application, as Figure 7 shown, the first device includes a memory 720, a transceiver 700, and a processor 710, wherein:

[0193] The memory 720 is used to store computer programs; the transceiver 700 is used to transmit and receive data under the control of the processor 710; the processor 710 is used to read the computer programs in the memory 720 and perform the following operations:

[0194] Obtain perception requirements;

[0195] Sending a sensing configuration to at least one sensing device according to the sensing requirement; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-terrestrial integration network.

[0196] Specifically, the transceiver 700 is configured to receive and send data under the control of the processor 700.

[0197] Among them, in Figure 7 , the bus architecture may include any number of interconnected buses and bridges, specifically various circuits of one or more processors represented by the processor 710 and the memory represented by the memory 720 are linked together. The bus architecture can also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, so they will not be further described herein. The bus interface provides an interface. The transceiver 700 may be multiple components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables, and other transmission mediums. The processor 710 is responsible for managing the bus architecture and general processing, and the memory 720 may store data used by the processor 710 when performing operations.

[0198] The processor 710 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0199] Optionally, the sensing configuration includes a sensing request sending configuration, and the sensing device is a sensing request sending device, then the sending the sensing configuration to at least one sensing device includes:

[0200] Sending the sensing request sending configuration to at least one of the sensing request sending devices.

[0201] Optionally, the sensing configuration includes a sensing response receiving configuration, and the sensing device is a sensing response receiving device, then the sending the sensing configuration to at least one sensing device includes:

[0202] Sending the sensing response receiving configuration to at least one of the sensing response receiving devices.

[0203] Optionally, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a sensing response sending device, and sending the sensing configuration to at least one sensing device includes:

[0204] Sending the sensing response sending configuration and / or the sensing request sending configuration to the sensing response sending device.

[0205] Optionally, sending the sensing configuration to at least one sensing device according to the sensing requirement includes:

[0206] Determining a sensing level participating in the sensing process according to the sensing requirement;

[0207] Sending the sensing configuration to at least one sensing device in at least one of the sensing levels.

[0208] Optionally, the sensing device includes: a sensing response receiving device, and after sending the sensing configuration to at least one sensing device according to the sensing requirement, it further includes:

[0209] Receiving a sensing response from at least one sensing response receiving device and / or a sensing result determined based on the sensing response.

[0210] Optionally, the sensing configuration further includes: the sensing sequence of at least one sensing level.

[0211] Optionally, the sensing level is divided based on a sensing request sending device; the sensing level includes at least one of the following: a star sensing layer, an air sensing layer, a macro sensing layer, a micro sensing layer;

[0212] In the star sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device or a terminal of a ground network; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device or a terminal of a ground network; in the macro sensing layer, the sensing request sending device is a network-side device of a ground network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device or a terminal of a ground network; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device or a terminal of a ground network;

[0213] Wherein, the terminal is a terminal of a satellite network, a near-space network or a ground network.

[0214] Optionally, obtaining the sensing requirement includes:

[0215] Receive the sensed demand from a second device; the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network.

[0216] Optionally, the receiving the sensed demand from the second device includes:

[0217] In the case where the second device is a device external to the communication network, receive the sensed demand from the second device forwarded by a terminal or a network-side device of the communication network.

[0218] Optionally, the sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the device sending the sensing request, or information of the device receiving the sensing response.

[0219] Optionally, the sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the device receiving the sensing response.

[0220] It should be noted here that the above-mentioned first device provided in the embodiments of the present application can implement all the method steps implemented by the method embodiments with the first device as the execution subject, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0221] Figure 8 is a schematic structural diagram of a sensing device provided in the embodiments of the present application, as Figure 8 shown, the sensing device includes a memory 820, a transceiver 800, and a processor 810, where:

[0222] The memory 820 is used to store computer programs; the transceiver 800 is used to send and receive data under the control of the processor 810; the processor 810 is used to read the computer programs in the memory 820 and perform the following operations:

[0223] Receive the sensing configuration sent by a first device; the sensing device belongs to at least one sensing layer, and the sensing layer is obtained by dividing a satellite-ground integrated network.

[0224] Specifically, the transceiver 800 is used to receive and send data under the control of the processor 800.

[0225] Among them, in Figure 8Among them, the bus architecture may include any number of interconnected buses and bridges, and various circuits represented by one or more processors represented by processor 810 and a memory represented by memory 820 are specifically linked together. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, and thus will not be further described herein. The bus interface provides an interface. The transceiver 800 may be a plurality of components, that is, including a transmitter and a receiver, and provides a unit for communicating with various other devices on a transmission medium, and these transmission media include transmission media such as wireless channels, wired channels, and optical cables. The processor 810 is responsible for managing the bus architecture and general processing, and the memory 820 may store data used by the processor 810 when performing operations.

[0226] The processor 810 may be a central processing unit (CPU), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD), and the processor may also adopt a multi-core architecture.

[0227] Optionally, the sensing configuration includes a sensing request sending configuration, the sensing device is a sensing request sending device, and the receiving the sensing configuration sent by the first device includes:

[0228] Receiving the sensing request sending configuration sent by the first device.

[0229] Optionally, the sensing configuration includes a sensing response receiving configuration, the sensing device is a sensing response receiving device, and the receiving the sensing configuration sent by the first device includes:

[0230] Receiving the sensing response receiving configuration sent by the first device.

[0231] Optionally, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a sensing response sending device, and the receiving the sensing configuration sent by the first device includes:

[0232] Receiving the sensing response sending configuration and / or the sensing request sending configuration sent by the first device.

[0233] Optionally, the sensing device includes: a sensing response receiving device, and after receiving the sensing configuration sent by the first device, it further includes:

[0234] Send a sensing response to the first device; and / or,

[0235] Send a sensing result determined based on the sensing response to the first device.

[0236] Optionally, the sensing configuration further includes: the order of precedence of sensing for the at least one sensing level.

[0237] Optionally, the sensing levels are divided based on the device that sends the sensing request; the sensing levels include at least one of the following: star sensing layer, air sensing layer, macro sensing layer, micro sensing layer;

[0238] In the star sensing layer, the device that sends the sensing request is a satellite, and the device that receives the sensing response is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the air sensing layer, the device that sends the sensing request is a near-space device, and the device that receives the sensing response is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the macro sensing layer, the device that sends the sensing request is a network-side device of a terrestrial network, and the device that receives the sensing response is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the micro sensing layer, the device that sends the sensing request is a terminal, and the device that receives the sensing response is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal;

[0239] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

[0240] Optionally, the sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the device that sends the sensing request, or information of the device that receives the sensing response.

[0241] Optionally, the sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the device that receives the sensing response.

[0242] It should be noted here that the above-mentioned sensing device provided in the embodiments of the present application can implement all the method steps of the method embodiments where the execution subject is a sensing device, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0243] Figure 9 It is a schematic structural diagram of a second device provided in the embodiments of the present application. As Figure 9 shown, the second device includes a memory 920, a transceiver 900, and a processor 910, where:

[0244] A memory 920 for storing a computer program; a transceiver 900 for receiving and transmitting data under the control of the processor 910; a processor 910 for reading the computer program in the memory 920 and performing the following operations:

[0245] Sending a sensing requirement to a first device; the sensing requirement is used for the first device to send a sensing configuration to at least one sensing device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground integration network.

[0246] Specifically, the transceiver 900 is used for receiving and transmitting data under the control of the processor 900.

[0247] Among them, in Figure 9 The bus architecture may include any number of interconnected buses and bridges, specifically, various circuits represented by one or more processors represented by the processor 910 and a memory represented by the memory 920 are linked together. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art, so they will not be further described herein. The bus interface provides an interface. The transceiver 900 may be multiple components, that is, including a transmitter and a receiver, providing a unit for communicating with various other devices on a transmission medium, and these transmission mediums include wireless channels, wired channels, optical fiber cables, and other transmission mediums. The processor 910 is responsible for managing the bus architecture and general processing, and the memory 920 can store the data used by the processor 910 when performing operations.

[0248] The processor 910 may be a Central Processing Unit (CPU), an Application Specific Integrated Circuit (ASIC), a Field-Programmable Gate Array (FPGA), or a Complex Programmable Logic Device (CPLD), and the processor may also adopt a multi-core architecture.

[0249] Optionally, the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network.

[0250] Optionally, the sending the sensing requirement to the first device includes:

[0251] In the case where the second device is a device external to the communication network, forwarding the sensing requirement to the first device through a terminal or a network-side device of the communication network.

[0252] Optionally, the perception levels are divided based on the perception request sending devices; the perception levels include at least one of the following: star perception layer, air perception layer, macro perception layer, and micro perception layer;

[0253] In the star perception layer, the perception request sending device is a satellite, and the perception response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the air perception layer, the perception request sending device is a near-space device, and the perception response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the macro perception layer, the perception request sending device is a network-side device of a terrestrial network, and the perception response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the micro perception layer, the perception request sending device is a terminal, and the perception response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal;

[0254] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

[0255] Optionally, the perception configuration includes at least one of the following: perception request sending configuration, perception response sending configuration, perception response receiving configuration, and the perception sequence of the at least one perception level.

[0256] It should be noted here that the above-mentioned second device provided in the embodiments of the present application can implement all the method steps of the method embodiment with the second device as the execution subject, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiment will not be specifically described in this embodiment.

[0257] The embodiments of the present application also provide a communication and sensing fusion device that can meet the sensing requirements. It can be understood that the methods and devices provided in the embodiments of the present application are based on the same application concept. Since the principles of the methods and devices for solving problems are similar, the implementation of the device and the method can be referred to each other, and the repeated parts will not be elaborated.

[0258] Figure 10 is one of the schematic structural diagrams of the communication and sensing fusion device provided in the embodiments of the present application. This communication and sensing fusion device is applied to the first device. As Figure 10 shown, this communication and sensing fusion device includes an acquisition unit 1001 and a sending unit 1002, wherein:

[0259] The acquisition unit 1001 is used to acquire sensing requirements;

[0260] A sending unit 1002, configured to send a sensing configuration to at least one sensing device according to the sensing requirement; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a space-ground integrated network.

[0261] Optionally, the sensing configuration includes a sensing request sending configuration, and the sensing device is a sensing request sending device. Then, the sending unit 1002 is specifically configured to:

[0262] Send the sensing request sending configuration to at least one of the sensing request sending devices.

[0263] Optionally, the sensing configuration includes a sensing response receiving configuration, and the sensing device is a sensing response receiving device. Then, the sending unit 1002 is specifically configured to:

[0264] Send the sensing response receiving configuration to at least one of the sensing response receiving devices.

[0265] Optionally, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a sensing response sending device. Then, the sending unit 1002 is specifically configured to:

[0266] Send the sensing response sending configuration and / or the sensing request sending configuration to the sensing response sending device.

[0267] Optionally, the sending unit 1002 is specifically configured to:

[0268] Determine the sensing levels participating in the sensing process according to the sensing requirement;

[0269] Send the sensing configuration to at least one sensing device in at least one of the sensing levels.

[0270] Optionally, the sensing device includes: a sensing response receiving device. The obtaining unit 1001 is further configured to:

[0271] Receive sensing responses from at least one sensing response receiving device and / or sensing results determined based on the sensing responses.

[0272] Optionally, the sensing configuration further includes: the sensing sequence of the at least one sensing level.

[0273] Optionally, the sensing level is divided based on a sensing request sending device; the sensing level includes at least one of the following: a star sensing layer, an air sensing layer, a macro sensing layer, a micro sensing layer;

[0274] In the star sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of a terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal;

[0275] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

[0276] Optionally, the obtaining unit 1001 is specifically configured to:

[0277] Receive the sensing requirement from a second device; the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network.

[0278] Optionally, the obtaining unit 1001 is specifically configured to:

[0279] In the case where the second device is a device external to the communication network, receive the sensing requirement from the second device forwarded by a terminal or a network-side device of the communication network.

[0280] Optionally, the sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the sensing request sending device, or information of the sensing response sending device.

[0281] Optionally, the sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the sensing response receiving device.

[0282] It should be noted that the above communication-sensing fusion device provided in the embodiments of the present application can implement all the method steps of the method embodiments with the above-mentioned execution subject being the first device, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0283] Figure 11 is the second structural schematic diagram of the communication-sensing fusion device provided in the embodiments of the present application. This communication-sensing fusion device is applied to a sensing device. As Figure 11 shown, this communication-sensing fusion device includes:

[0284] A receiving unit 1101, configured to receive a sensing configuration sent by a first device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground integrated network.

[0285] Optionally, the sensing configuration includes a sensing request sending configuration, the sensing device is a sensing request sending device, and the receiving unit 1101 is specifically configured to:

[0286] Receive the sensing request sending configuration sent by the first device.

[0287] Optionally, the sensing configuration includes a sensing response receiving configuration, the sensing device is a sensing response receiving device, and the receiving unit 1101 is specifically configured to:

[0288] Receive the sensing response receiving configuration sent by the first device.

[0289] Optionally, the sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a sensing response sending device, and the receiving unit 1101 is specifically configured to:

[0290] Receive the sensing response sending configuration and / or the sensing request sending configuration sent by the first device.

[0291] Optionally, the sensing device includes: a sensing response receiving device, and the apparatus further includes:

[0292] A sending unit, configured to send a sensing response to the first device; and / or,

[0293] Send a sensing result determined based on the sensing response to the first device.

[0294] Optionally, the sensing configuration further includes: the sensing order of the at least one sensing level.

[0295] Optionally, the sensing level is divided based on a sensing request sending device; the sensing level includes at least one of the following: a satellite sensing layer, an air sensing layer, a macro sensing layer, a micro sensing layer;

[0296] In the star sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of a terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal;

[0297] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

[0298] Optionally, the sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the sensing request sending device, or information of the sensing response sending device.

[0299] Optionally, the sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the sensing response receiving device.

[0300] It should be noted that the above communication-sensing fusion device provided by the embodiments of the present application can implement all the method steps of the method embodiments with the above execution subject being a sensing device, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0301] Figure 12 is the third structural schematic diagram of the communication-sensing fusion device provided by the embodiments of the present application. This communication-sensing fusion device is applied to a second device. As Figure 12 shown, this communication-sensing fusion device includes:

[0302] A sending unit 1201, configured to send a sensing requirement to a first device; the sensing requirement is used for the first device to send a sensing configuration to at least one sensing device; the sensing device belongs to at least one sensing layer, and the sensing layer is obtained by dividing based on a satellite-terrestrial fusion network.

[0303] Optionally, the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network.

[0304] Optionally, the sending unit 1201 is configured to:

[0305] In the case that the second device is a device outside the communication network, the sensing requirement is forwarded to the first device by a terminal or a network-side device of the communication network.

[0306] Optionally, the sensing levels are divided based on the sensing request sending device; the sensing levels include at least one of the following: star sensing layer, air sensing layer, macro sensing layer, and micro sensing layer.

[0307] In the star sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of the terrestrial network, or a terminal; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of the terrestrial network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of the terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of the terrestrial network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of the terrestrial network, or a terminal.

[0308] Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

[0309] Optionally, the sensing configuration includes at least one of the following: sensing request sending configuration, sensing response sending configuration, sensing response receiving configuration, and the sensing sequence of the at least one sensing level.

[0310] It should be noted that the above communication-sensing fusion device provided by the embodiments of the present application can implement all the method steps implemented by the method embodiments with the second device as the execution subject, and can achieve the same technical effects. Therefore, the same parts and beneficial effects as those in the method embodiments will not be specifically described in this embodiment.

[0311] It should be noted that the division of units / modules in the above embodiments of the present application is illustrative, and is only a logical function division. In actual implementation, there may be other division methods. In addition, in each embodiment of the present application, each functional unit can be integrated in one processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

[0312] When the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes: various media that can store program codes, such as USB flash drives, mobile hard disks, read-only memories (ROM), random access memories (RAM), magnetic disks, or optical discs.

[0313] In some embodiments, a non-transitory readable storage medium is further provided. The non-transitory readable storage medium stores a computer program, and the computer program is used to cause a processor to execute the communication and sensing fusion method provided in each of the above method embodiments.

[0314] Specifically, the above non-transitory readable storage medium provided in the embodiments of this application can implement all the method steps implemented in each of the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0315] It should be noted that: the non-transitory readable storage medium can be any available medium or data storage device that can be accessed by a processor, including but not limited to magnetic memories (such as floppy disks, hard disks, magnetic tapes, magneto-optical discs (MO), etc.), optical memories (such as CDs, DVDs, BDs, HVDs, etc.), and semiconductor memories (such as ROM, EPROM, EEPROM, non-volatile memories (NAND FLASH), solid state drives (SSD)).

[0316] In some embodiments, a processor-readable storage medium is further provided. The processor-readable storage medium stores a computer program, and the computer program is used to cause a processor to execute the communication and sensing fusion method provided in each of the above method embodiments.

[0317] Specifically, the above processor-readable storage medium provided in the embodiments of this application can implement all the method steps implemented in each of the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0318] In some embodiments, a computer-readable storage medium is further provided. The computer-readable storage medium stores a computer program, and the computer program is used to cause a computer to execute the communication and sensing fusion method provided in each of the above method embodiments.

[0319] Specifically, the above computer-readable storage medium provided in the embodiments of the present application can implement all the method steps implemented in each of the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0320] In some embodiments, a communication device is further provided. A computer program is stored in the communication device, and the computer program is used to cause the communication device to execute the communication and sensing fusion method provided in each of the above method embodiments.

[0321] Specifically, the above communication device provided in the embodiments of the present application can implement all the method steps implemented in each of the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0322] In some embodiments, a chip product is further provided. A computer program is stored in the chip product, and the computer program is used to cause the chip product to execute the communication and sensing fusion method provided in each of the above method embodiments.

[0323] Specifically, the above chip product provided in the embodiments of the present application can implement all the method steps implemented in each of the above method embodiments, and can achieve the same technical effects. The same parts and beneficial effects as those in the method embodiments will not be specifically described herein.

[0324] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system, or a computer program product. Therefore, the present application can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program code.

[0325] This application is described with reference to the flowcharts and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowchart and / or block diagram, and the combination of flows and / or blocks in the flowchart and / or block diagram, can be implemented by computer-executable instructions. These computer-executable instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing devices to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing devices produce means for implementing the functions specified in one or more of the flows Figure 1 one or more flows and / or blocks Figure 1 or in one or more of the blocks.

[0326] These processor-executable instructions can also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, such that the instructions stored in the processor-readable memory produce a manufactured article including instruction means that implement the functions specified in one or more of the flows Figure 1 one or more flows and / or blocks Figure 1 or in one or more of the blocks.

[0327] These processor-executable instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to generate a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more of the flows Figure 1 one or more flows and / or blocks Figure 1 or in one or more of the blocks.

[0328] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Thus, if these modifications and variations of this application fall within the scope of the claims of this application and their equivalent technologies, this application is also intended to include these modifications and variations.

Claims

1. A synaesthesia fusion method, characterized in that, Applied to a first device, the method includes: Obtain sensing requirements; According to the sensing requirements, send sensing configurations to at least one sensing device; the sensing devices belong to at least one sensing level, and the sensing level is obtained by dividing based on a satellite-ground integrated network.

2. The synaesthetic fusion method according to claim 1, wherein The sensing configuration includes a sensing request sending configuration. If the sensing device is a sensing request sending device, then sending the sensing configuration to at least one sensing device includes: Sending the sensing request sending configuration to at least one of the sensing request sending devices; or, The sensing configuration includes a sensing response receiving configuration. If the sensing device is a sensing response receiving device, then sending the sensing configuration to at least one sensing device includes: Sending the sensing response receiving configuration to at least one of the sensing response receiving devices; or, The sensing configuration includes at least one of the following: a sensing request sending configuration, a sensing response sending configuration; the sensing device includes a sensing response sending device, and sending the sensing configuration to at least one sensing device includes: Sending the sensing response sending configuration and / or the sensing request sending configuration to the sensing response sending device.

3. The synaesthetic fusion method according to claim 1 or 2, characterized in that, The sending the sensing configuration to at least one sensing device according to the sensing requirements includes: Determine the sensing levels participating in the sensing process according to the sensing requirements; Send the sensing configuration to at least one sensing device in at least one of the sensing levels.

4. The synaesthesia fusion method according to any one of claims 1-3, characterized in that The sensing device includes a sensing response receiving device. After sending the sensing configuration to at least one sensing device according to the sensing requirements, it further includes: Receive sensing responses from at least one sensing response receiving device and / or sensing results determined based on the sensing responses.

5. The integrated communication and sensing method according to any one of claims 2-4, wherein The sensing configuration further includes: the sensing sequence of the at least one sensing level.

6. The synaesthesia fusion method according to any one of claims 1-5, characterized in that The sensing level is divided based on the sensing request sending device; the sensing level includes at least one of the following: a satellite sensing layer, a stratospheric sensing layer, a macro sensing layer, a micro sensing layer; In the satellite sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a stratospheric device, a network-side device of a terrestrial network, or a terminal; in the stratospheric sensing layer, the sensing request sending device is a stratospheric device, and the sensing response receiving device is at least one of the following: a satellite, a stratospheric device, a network-side device of a terrestrial network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of a terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a stratospheric device, a network-side device of a terrestrial network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a stratospheric device, a network-side device of a terrestrial network, or a terminal; Wherein, the terminal is a terminal of a satellite network, a stratospheric network, or a terrestrial network.

7. The synaesthetic fusion method according to claim 2, wherein The perception request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the perception request sending device, or information of the perception response sending device; The perception response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the perception response receiving device.

8. The synaesthesia fusion method according to any one of claims 1-7, characterized in that The obtaining of the perception requirement includes: Receiving the perception requirement from a second device; the second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network; The receiving of the perception requirement from the second device includes: In the case where the second device is a device external to the communication network, receiving the perception requirement from the second device forwarded by a terminal or a network-side device of the communication network.

9. A synaesthesia fusion method, characterized in that, Applied to a perception device, the method includes: Receiving a perception configuration sent by a first device; the perception device belongs to at least one perception level, and the perception level is obtained by dividing based on a satellite-terrestrial integration network.

10. The synesthesia fusion method according to claim 9, wherein, The perception configuration includes a perception request sending configuration, and the perception device is a perception request sending device. The receiving of the perception configuration sent by the first device includes: Receiving the perception request sending configuration sent by the first device; or, The perception configuration includes a perception response receiving configuration, and the perception device is a perception response receiving device. The receiving of the perception configuration sent by the first device includes: Receiving the perception response receiving configuration sent by the first device; or, The perception configuration includes at least one of the following: a perception request sending configuration, a perception response sending configuration; the perception device includes a perception response sending device. The receiving of the perception configuration sent by the first device includes: Receiving the perception response sending configuration and / or the perception request sending configuration sent by the first device.

11. The synaesthesia fusion method according to claim 9 or 10, characterized in that, The perception device includes: a perception response receiving device. After receiving the perception configuration sent by the first device, it further includes: Sending a perception response to the first device; and / or, Sending a perception result determined based on the perception response to the first device.

12. The communication-sensing fusion method according to any one of claims 9-11, characterized in that The perception configuration further includes: the perception sequence of the at least one perception level.

13. The communication-sensing fusion method according to any one of claims 9-12, characterized in that The perception level is divided based on the perception request sending device; the perception level includes at least one of the following: a star perception layer, an air perception layer, a macro perception layer, a micro perception layer; In the satellite sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of a terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

14. The synaesthesia fusion method according to claim 9 or 10, characterized in that, The sensing request sending configuration includes at least one of the following: transmission time-frequency resources, signal transmission period, information of the sensing request sending device, or information of the sensing response sending device; The sensing response receiving configuration includes at least one of the following: reception time-frequency resources, signal reception period, information of the sensing response receiving device.

15. A synaesthesia fusion method, characterized in that, Applied to a second device, the method includes: Sending a sensing requirement to a first device; the sensing requirement is used for the first device to send sensing configurations to at least one sensing device; the sensing device belongs to at least one sensing layer, and the sensing layer is obtained by dividing based on a satellite-terrestrial fusion network.

16. The cross-sensing fusion method according to claim 15, characterized in that, The second device includes at least one of the following: a terminal of a communication network, a network-side device of a communication network, or a device external to the communication network.

17. The cross-sensory fusion method according to claim 16, wherein The sending the sensing requirement to the first device includes: In the case where the second device is a device external to the communication network, forwarding the sensing requirement to the first device through a terminal or a network-side device of the communication network.

18. The cross-sensory fusion method according to any one of claims 15-17, characterized in that, The sensing layer is divided based on the sensing request sending device; the sensing layer includes at least one of the following: satellite sensing layer, air sensing layer, macro sensing layer, micro sensing layer; In the satellite sensing layer, the sensing request sending device is a satellite, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the air sensing layer, the sensing request sending device is a near-space device, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the macro sensing layer, the sensing request sending device is a network-side device of a terrestrial network, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; in the micro sensing layer, the sensing request sending device is a terminal, and the sensing response receiving device is at least one of the following: a satellite, a near-space device, a network-side device of a terrestrial network, or a terminal; Wherein, the terminal is a terminal of a satellite network, a near-space network, or a terrestrial network.

19. The synaesthetic fusion method according to any one of claims 15-18, characterized in that, The perception configuration includes at least one of the following: a perception request sending configuration, a perception response sending configuration, a perception response receiving configuration, and the order of perception for the at least one perception level.

20. A first device, characterized in that, Comprising a memory, a transceiver, and a processor: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: Obtain perception requirements; According to the perception requirements, send the perception configuration to at least one perception device; the perception device belongs to at least one perception level, and the perception level is obtained by dividing based on a space-ground integrated network.

21. The first device according to claim 20, characterized in that, If the perception configuration includes a perception request sending configuration and the perception device is a perception request sending device, then sending the perception configuration to at least one perception device includes: Sending the perception request sending configuration to at least one of the perception request sending devices; or, If the perception configuration includes a perception response receiving configuration and the perception device is a perception response receiving device, then sending the perception configuration to at least one perception device includes: Sending the perception response receiving configuration to at least one of the perception response receiving devices; or, The perception configuration includes at least one of the following: a perception request sending configuration, a perception response sending configuration; the perception device includes a perception response sending device, and sending the perception configuration to at least one perception device includes: Sending the perception response sending configuration and / or the perception request sending configuration to the perception response sending device.

22. The first device according to any one of claims 20-21, characterized in that, The sending the perception configuration to at least one perception device according to the perception requirements includes: Determining the perception level participating in the perception process according to the perception requirements; Sending the perception configuration to at least one perception device in at least one of the perception levels.

23. A sensing device, characterized in that, Comprising a memory, a transceiver, and a processor: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: Receive the perception configuration sent by a first device; the perception device belongs to at least one perception level, and the perception level is obtained by dividing based on a space-ground integrated network.

24. The sensing device according to claim 23, wherein If the perception configuration includes a perception request sending configuration and the perception device is a perception request sending device, the receiving the perception configuration sent by the first device includes: Receiving the perception request sending configuration sent by the first device; or, If the perception configuration includes a perception response receiving configuration and the perception device is a perception response receiving device, the receiving the perception configuration sent by the first device includes: Receiving the perception response receiving configuration sent by the first device; or, The perception configuration includes at least one of the following: a perception request sending configuration, a perception response sending configuration; the perception device includes a perception response sending device, and the receiving the perception configuration sent by the first device includes: Receiving the perception response sending configuration and / or the perception request sending configuration sent by the first device.

25. The sensing device according to claim 23 or 24, characterized in that, The perception device includes: a perception response receiving device, and after receiving the perception configuration sent by the first device, further includes: Send a sensing response to the first device; and / or, Send a sensing result determined based on the sensing response to the first device.

26. A second device, characterized in that, Comprising a memory, a transceiver, and a processor: The memory is used to store computer programs; the transceiver is used to transmit and receive data under the control of the processor; the processor is used to read the computer programs in the memory and perform the following operations: Send a sensing requirement to the first device; the sensing requirement is used for the first device to send a sensing configuration to at least one sensing device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a space-ground integrated network.

27. A synaesthesia fusion device, characterized in that, Applied to the first device, including: An acquisition unit, used to acquire a sensing requirement; A sending unit, used to send a sensing configuration to at least one sensing device according to the sensing requirement; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a space-ground integrated network.

28. A synaesthesia fusion device, characterized in that Applied to the sensing device, including: A receiving unit, used to receive the sensing configuration sent by the first device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a space-ground integrated network.

29. A synaesthesia fusion device, characterized in that, Applied to the second device, including: A sending unit, used to send a sensing requirement to the first device; the sensing requirement is used for the first device to send a sensing configuration to at least one sensing device; the sensing device belongs to at least one sensing level, and the sensing level is obtained by dividing based on a space-ground integrated network.

30. A processor-readable storage medium, characterized in that, The processor-readable storage medium stores a computer program, and the computer program is used to cause the processor to execute the method according to any one of claims 1 to 8, or execute the method according to any one of claims 9 to 14, or execute the method according to any one of claims 15 to 19.

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