Target sensing method, system and device and electronic equipment

Abstract

The invention discloses a target sensing method, system and device and electronic equipment. The method comprises the steps that an input signal is acquired, the input signal is allocated according to a preset subcarrier, a sensing signal is obtained, and the preset subcarrier is used for representing a subcarrier set which is obtained after grouping and modulo mapping and used for transmitting the input signal; a sensing signal is transmitted to the target, an echo signal corresponding to the sensing signal is received, the echo signal comprises the sensing signal and an unknown signal, and the unknown signal is used for representing signal changes generated due to existence and reflection behaviors of the target; and unknown signals are extracted from the echo signals, and parameter information of the target is determined according to the unknown signals. According to the invention, the technical problems that a public mobile communication network base station in the related technology is difficult to meet the sensing requirements of low-speed small target objects and is lack of flexible, mobile and special-frequency special-network target sensing schemes in an urban wireless environment and a sudden emergency guarantee scene are solved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and in particular to a target perception method, system, device and electronic equipment. Background Art

[0002] Wireless perception is a natural property of radio waves. Wireless signals are affected by the environment during propagation and carry environmental characteristic information. By performing characteristic analysis on the signal at the receiving end and extracting signal parameters representing the environment, the target object can be perceived. Compared with other perception technologies such as photoelectric and acoustics, wireless perception technology has the advantages of long distance, not being easily blocked, and not being affected by weather conditions, and has broad application prospects.

[0003] Wireless sensing technology is becoming a new foundational feature of wireless communication systems. Its integration with wireless communication technologies is gaining widespread industry recognition and is undergoing standardization. ISAC (Integrated Sensing and Communication) has been defined as a foundational capability of 6G networks. However, base stations in public mobile communication networks often have fixed parameters such as frequency, bandwidth configuration, frame structure, and number of subcarriers. This rigid, communication-focused design limits the flexible deployment of sensing capabilities, particularly in low-altitude, slow-moving, and small-target detection, vertical industry applications, and emergency response scenarios. It struggles to meet the sensing needs of specific industry scenarios or emergency situations. Furthermore, traditional radar technology relies on hardware circuit design, and adjusting sensing functions requires hardware modifications. This inflexible configuration is also hindered by frequency interference, transmit power, and technical limitations in complex urban wireless environments, making effective deployment difficult. This is particularly evident in detecting low-altitude, slow-moving, and small targets, limiting its widespread application in urban settings and vertical industries.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] The embodiments of the present application provide a target perception method, system, device and electronic equipment to at least solve the technical problems that the public mobile communication network base stations in the relevant technologies are difficult to meet the requirements for sensing low, slow and small target objects in urban wireless environments and emergency response scenarios, and lack flexible and maneuverable target perception solutions with dedicated frequencies and networks.

[0006] According to one aspect of an embodiment of the present application, a target perception method is provided, including: obtaining an input signal and allocating the input signal according to preset subcarriers to obtain a perception signal, wherein the preset subcarriers are used to represent a set of subcarriers for transmitting the input signal obtained after grouping and modulo mapping; transmitting the perception signal to the target and receiving an echo signal corresponding to the perception signal, wherein the echo signal includes the perception signal and an unknown signal, and the unknown signal is used to represent signal changes caused by the presence and reflection behavior of the target; extracting the unknown signal from the echo signal, and determining parameter information of the target based on the unknown signal.

[0007] Optionally, the preset subcarrier is determined by: obtaining subcarrier data, wherein the subcarrier data includes valid subcarrier data that can carry the perception channel; determining the pilot subcarrier number and the DC subcarrier number in the subcarrier data; grouping the subcarrier data according to the pilot subcarrier number and the DC subcarrier number to obtain a subcarrier subset; performing modulo mapping on the subcarrier subset according to a preset interval to obtain a preset subcarrier.

[0008] Optionally, after obtaining the perception signal, the method also includes: determining a first matrix vector corresponding to the perception signal, wherein the first matrix vector is a frequency domain signal vector; performing an inverse fast Fourier transform on the first matrix vector to obtain a first signal sequence, wherein the inverse fast Fourier transform is used to convert the first matrix vector into a time domain signal vector.

[0009] Optionally, the method also includes: obtaining perceived channel parameters and determining a cyclic prefix length based on the perceived channel parameters, wherein the cyclic prefix length is used to prevent interference between signals; extracting prefix signal data equal to the cyclic prefix length from the tail of the first signal sequence; and adding the prefix signal data to the head of the first signal sequence to obtain a second signal sequence.

[0010] Optionally, after receiving the echo signal corresponding to the perception signal, the method also includes: removing the prefix signal data in the echo signal to obtain a third signal sequence, wherein the signal data in the third signal sequence is a time domain signal; performing a fast Fourier transform on the third signal sequence to obtain a second matrix vector corresponding to the echo signal, wherein the fast Fourier transform is used to convert the third signal sequence into a frequency domain signal vector.

[0011] Optionally, the method further includes: determining a third matrix vector corresponding to the unknown signal based on the first matrix vector and the second matrix vector.

[0012] Optionally, determining parameter information of the target based on the unknown signal includes: obtaining a signal peak value corresponding to a third matrix vector, wherein the signal peak value is used to reflect the signal strength of the unknown signal; determining a frequency index of the third matrix vector based on the signal peak value, wherein the frequency index includes a row oscillation frequency and a column oscillation frequency of the third matrix vector; determining the time delay information and Doppler frequency shift information of the target based on the frequency index; determining the parameter information of the target based on the time delay information and the Doppler frequency shift information, wherein the parameter information includes the distance and speed of the target.

[0013] According to another aspect of an embodiment of the present application, a target perception system is also provided, including a host, software, hardware and a radio frequency antenna, for executing the above-mentioned target perception method, wherein the target perception system is also used to: obtain target perception requirements; adjust configuration parameters during wireless signal transmission according to the target perception requirements, wherein the configuration parameters include at least one of the following: the center frequency, bandwidth, modulation mode and number of subcarriers of the target perception system.

[0014] According to another aspect of the embodiments of the present application, a target perception device is also provided, including: an allocation module, used to obtain an input signal, and allocate the input signal according to preset subcarriers to obtain a perception signal, wherein the preset subcarriers are used to represent a subcarrier set for transmitting the input signal obtained after grouping and modulo mapping; a transmission module, used to transmit the perception signal to the target, and receive an echo signal corresponding to the perception signal, wherein the echo signal includes a perception signal and an unknown signal, and the unknown signal is used to represent a signal change caused by the existence and reflection behavior of the target; a determination module, used to determine the unknown signal based on the perception signal and the echo signal, and determine the parameter information of the target based on the unknown signal.

[0015] According to another aspect of the embodiments of the present application, an electronic device is provided, including: a memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the above-mentioned target perception method.

[0016] According to another aspect of the embodiments of the present application, a non-volatile storage medium is further provided, wherein the non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the above-mentioned target perception method by running the computer program.

[0017] According to another aspect of the embodiments of the present application, a computer program product is also provided, including computer instructions, which implement the above-mentioned target perception method when executed by a processor.

[0018] In an embodiment of the present application, a perception signal is obtained by acquiring an input signal and allocating the input signal according to preset subcarriers, wherein the preset subcarriers are used to represent a subcarrier set obtained by grouping and modulo mapping for transmitting the input signal; a perception signal is transmitted to the target, and an echo signal corresponding to the perception signal is received, wherein the echo signal includes a perception signal and an unknown signal, and the unknown signal is used to represent the signal change caused by the existence and reflection behavior of the target; the unknown signal is extracted from the echo signal, and the parameter information of the target is determined based on the unknown signal, thereby achieving the purpose of improving the accuracy and adaptability of target perception, thereby realizing the technical effect of flexibly configuring frequency and bandwidth, optimizing subcarrier usage to improve system efficiency and perception accuracy, and further solving the technical problems in urban wireless environments and sudden emergency support scenarios that the public mobile communication network base station in the relevant technology is difficult to meet the perception requirements of low-speed and small target objects, and lacks flexible and mobile target perception solutions with dedicated frequencies and networks. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings described herein are used to provide a further understanding of the present application and constitute a part of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute an improper limitation on the present application. In the drawings:

[0020] Figure 1 is a hardware structure diagram of a computer terminal for implementing a target perception method according to an embodiment of the present application;

[0021] Figure 2 is a flow chart of a target perception method according to an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of a subcarrier mapping process according to an embodiment of the present application;

[0023] Figure 4 is a flow chart of another target perception method according to an embodiment of the present application;

[0024] Figure 5 is a structural diagram of a target perception system according to an embodiment of the present application;

[0025] Figure 6 It is a structural diagram of a target perception device according to an embodiment of the present application. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0027] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in a sequence other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] First, some nouns or terms that appear in the process of explaining the embodiments of this application are subject to the following explanations:

[0029] OFDM (Orthogonal Frequency Division Multiplexing): A multi-carrier modulation technology that divides a channel into multiple sub-channels, each of which uses mutually orthogonal sub-carriers for data transmission. This improves spectrum efficiency and multipath fading resistance. It typically uses IFFT and FFT for modulation and demodulation.

[0030] FFT (Fast Fourier Transform): An algorithm for efficiently calculating the Discrete Fourier Transform (DFT). It uses the symmetry and periodicity of the DFT to reduce computational complexity, convert signals from the time domain to the frequency domain, and facilitate analysis of signal frequency characteristics.

[0031] IFFT (Inverse Fast Fourier Transform): The inverse operation of the FFT, used to convert frequency-domain signals back to time-domain signals. In OFDM systems, the IFFT is used to convert the frequency-domain data assigned to each subcarrier into a time-domain OFDM signal for transmission over the RF link.

[0032] SDR (Software Defined Radio) refers to the use of software to define digital signal processing technology. It is usually combined with general-purpose peripherals to implement the digital baseband, digital intermediate frequency, and radio frequency processing functions of the radio system. It is a new type of radio architecture.

[0033] ISAC (Integrated Sensing and Communication) refers to the use of a joint system design that integrates transmission signals and hardware architecture, achieving simultaneous communication and perception functions through the same set of equipment, the same spectrum, and the same waveform transmission.

[0034] GNU Radio: An open-source software development kit for building software-defined SDR systems. It provides a modular framework based on C++ and Python that allows users to design and implement complex digital signal processing chains, including but not limited to modulation and demodulation, filtering, encoding, and decoding.

[0035] USRP (Universal Software Radio Peripheral): A hardware device typically used with software such as GNU Radio to implement software-defined radio functionality. It converts software-generated digital signals into actual radio frequency signals, and converts received radio frequency signals into digital signals that can be processed by software.

[0036] Sub-6GHz: A wireless communication band with a frequency below 6GHz. This frequency band is typically used to provide wide-coverage wireless communication services. Compared to millimeter wave bands, this band has less attenuation, can more easily penetrate obstacles, and has a wider coverage area.

[0037] In order to solve the problem of poor target perception efficiency in related technologies, the present invention provides a target perception method that can be run on Figure 1 Among the computer terminals shown, the computer terminal will be described below.

[0038] The target perception method embodiment provided in the embodiment of the present application can be executed in a mobile terminal, a computer terminal or a similar computing device. Figure 1 FIG. 1 shows a hardware structure block diagram of a computer terminal for implementing a target perception method. Figure 1As shown, the computer terminal 10 may include one or more (illustrated by 102a, 102b, ..., 102n in the figure) processors (the processor may include but is not limited to a processing device such as a microprocessor MCU or a programmable logic device FPGA), a memory 104 for storing data, and a transmission module 106 for communication functions connected via a wired and / or wireless network. In addition, it may also include: a display, a keyboard, a cursor control device, an input / output interface (I / O interface), a universal serial bus (USB) port (which may be included as one of the ports of the I / O interface), a network interface, and a BUS bus. It will be understood by those skilled in the art that Figure 1 The structure shown is only for illustration and does not limit the structure of the above electronic device. Figure 1 More or fewer components than shown, or with Figure 1 Different configurations shown.

[0039] It should be noted that the one or more processors and / or other data processing circuits described above may generally be referred to herein as "data processing circuitry." The data processing circuitry may be embodied in whole or in part as software, hardware, firmware, or any other combination thereof. Furthermore, the data processing circuitry may be a single, independent processing module, or may be incorporated in whole or in part into any of the other components of the computer terminal 10. As described in the embodiments of the present application, the data processing circuitry serves as a processor control (e.g., selection of a variable resistor terminal path connected to an interface).

[0040] The memory 104 can be used to store software programs and modules of application software, such as the program instructions / data storage device corresponding to the target perception method in the embodiment of the present application. The processor executes various functional applications and data processing by running the software programs and modules stored in the memory 104, that is, realizing the above-mentioned target perception method. The memory 104 may include a high-speed random access memory, and may also include a non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 104 may further include a memory remotely located relative to the processor, and these remote memories may be connected to the computer terminal 10 via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0041] The transmission module 106 is configured to receive or transmit data via a network. A specific example of the aforementioned network may include a wireless network provided by the communications provider of the computer terminal 10. In one embodiment, the transmission module 106 includes a network interface controller (NIC), which can be connected to other network devices via a base station to enable communication with the Internet. In another embodiment, the transmission module 106 may be a radio frequency (RF) module, which is configured to communicate with the Internet wirelessly.

[0042] The display may be, for example, a touch screen liquid crystal display (LCD) that enables a user to interact with a user interface of the computer terminal 10 .

[0043] It should be noted that, in some optional embodiments, the above Figure 1 The computer terminal shown may include hardware elements (including circuits), software elements (including computer code stored on a computer-readable medium), or a combination of hardware elements and software elements. Figure 1 This is merely one example of a particular embodiment and is intended to illustrate the types of components that may be present in the computer terminal described above.

[0044] In the above-mentioned operating environment, an embodiment of the present application provides an embodiment of a target perception method. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0045] Figure 2 is a flow chart of a target perception method according to an embodiment of the present application, such as Figure 2 As shown, the method includes the following steps:

[0046] Step S202: acquiring an input signal and allocating the input signal according to preset subcarriers to obtain a perception signal, wherein the preset subcarriers are used to represent a subcarrier set obtained through grouping and modulo mapping for transmitting the input signal.

[0047] In the above step S202, the input signal can be first constructed by generating random numbers, and then digital modulation is performed to convert the input signal into a form suitable for transmission, such as converting a data block into a symbol stream through symbol mapping, and attaching a label to form a labeled data stream.

[0048] Secondly, through subcarrier grouping and modulo mapping technology, a preset subcarrier set is selected from the full quantum carrier data to carry the modulated input signal and form a perception signal. Among them, this preset subcarrier set can effectively reduce mutual interference between subcarriers while maximizing signal transmission efficiency. Through flexible configuration, it can adapt to different frequency, bandwidth and business scenario requirements. Through the optimized subcarrier mapping strategy, high-quality perception signals can be generated, laying a solid foundation for subsequent target detection and parameter estimation.

[0049] Step S204: transmitting a sensing signal to the target and receiving an echo signal corresponding to the sensing signal, wherein the echo signal includes the sensing signal and an unknown signal, and the unknown signal is used to represent a signal change caused by the presence and reflection behavior of the target.

[0050] In step S204, the generated sensing signals can be transmitted toward the target area via the radio frequency antenna. When these sensing signals encounter the target (object), a portion is reflected back, forming an echo signal. The echo signal contains two important pieces of information: one is the originally transmitted sensing signal, which may be attenuated and phase-shifted during propagation; the other is the unknown signal, which specifically refers to signal changes introduced by the presence of the target object and its reflection behavior, and contains valuable information such as the target's location and movement status.

[0051] By receiving echo signals corresponding to the sensed signals, the system can further analyze the unknown signals to extract target parameter information. This process fully utilizes the physical properties of electromagnetic waves. Even in complex wireless propagation environments, it can capture subtle signal changes caused by target reflections, providing critical data support for subsequent target identification and tracking.

[0052] Step S206: extract the unknown signal from the echo signal, and determine the parameter information of the target based on the unknown signal.

[0053] In the above step S206, by deeply processing the echo signal, in particular separating and extracting the unknown signal therefrom, effective identification of key parameters of the target object is achieved.

[0054] Specifically, the receiver first processes the echo signal, removing the cyclic prefix and performing an FFT transform to convert the signal from the time domain to the frequency domain to capture and analyze subtle changes in the echo signal. Next, through a matrix division operation, the known perceptual signal components are cleverly removed, focusing on the unknown signal—the signal changes caused by the reflection of the target object. Finally, using methods such as periodogram algorithms and two-dimensional discrete Fourier transforms, the Doppler frequency shift and time delay information contained in the unknown signal are analyzed to accurately calculate the distance and movement speed of the target object.

[0055] Through steps S202 to S206, the goal of improving target perception accuracy and adaptability is achieved, thereby achieving the technical effect of flexibly configuring frequency and bandwidth and optimizing subcarrier usage to improve system efficiency and perception accuracy. This further addresses the technical issues in urban wireless environments and emergency response scenarios, such as the difficulty of public mobile communication network base stations in meeting the requirements for sensing low-speed, slow, and small targets, as well as the lack of flexible and mobile target perception solutions with dedicated frequency and network. This is explained in detail below.

[0056] In the above step S202, the preset subcarrier is determined by: obtaining subcarrier data, wherein the subcarrier data includes valid subcarrier data that can carry the perception channel; determining the pilot subcarrier number and the DC subcarrier number in the subcarrier data; grouping the subcarrier data according to the pilot subcarrier number and the DC subcarrier number to obtain a subcarrier subset; performing modulo mapping on the subcarrier subset according to a preset interval to obtain a preset subcarrier.

[0057] In the target sensing technology of software radio, the selection and mapping of preset subcarriers are key steps to ensure the efficiency and performance of OFDM system. Figure 3 As shown, follow this process:

[0058] Taking the OFDM system with 64 subcarriers as an example, first, obtain all available subcarrier data, including pilot subcarriers, virtual subcarriers and DC subcarriers that cannot be used for data transmission, as well as valid subcarrier data that can carry sensing channels. Assume that the number of subcarriers is list(range(-32,31)), where the valid subcarriers can be expressed as: Num sensing subcarriers =(list(range(-26,-21))+list(range(-20,-7))+list(range(-6,0))+list(range(1,7))+list(range(8,21))+list(range(22,27)),).

[0059] Subsequently, these valid subcarrier data sets are further grouped and processed, that is, grouped based on the pilot subcarrier sequence number and the DC subcarrier sequence number to form different subcarrier subsets (such as subset 1 to subset m). It should be noted that the pilot subcarrier and the DC subcarrier have special functions in OFDM signals. The pilot subcarrier is used for synchronization and channel estimation, while the DC subcarrier is used for the transmission of the DC component. The pilot subcarrier sequence number and the DC subcarrier sequence number are obtained in order to exclude them in the subsequent grouping and modulo mapping to ensure the effective utilization of the data subcarriers.

[0060] Furthermore, a modulo operation is performed on the subcarriers within each subset. By setting different modulo values n (i.e., the above-mentioned preset intervals, such as n=1, 2, 3, 4, 5), the subcarrier subset can be flexibly selected to obtain the preset subcarrier Num used by the system. sensing subcarriers Mod n, where n = 1, 2, 3, 4, or 5, is used to construct the sensing signal. This operation not only reduces unnecessary interference between subcarriers but also adjusts the number of subcarriers used based on system performance and service requirements (such as accuracy requirements), achieving efficient subcarrier utilization.

[0061] This method is not only applicable to basic systems with 64 subcarriers, but can also be expanded to more complex OFDM-aware systems with 512, 1024, and 2048 subcarriers, demonstrating excellent scalability and adaptability. The application of modulo arithmetic also enables similar effects to heterogeneous frequency networking without affecting existing communication functions. This means that by selecting different subcarrier groups within the same frequency band, internal self-interference is avoided while also supporting diverse service scenarios.

[0062] In the embodiment of the present application, the input signal can be allocated according to the preset subcarriers constructed above to generate a perception signal.

[0063] Specifically, a series of OFDM symbols are first created in the frequency domain. Each symbol consists of multiple subcarriers, which are arranged in parallel in the frequency domain with a carrier spacing of Δf. Next, a serial-to-parallel conversion is performed to convert the parallel subcarrier data in the frequency domain into a sequence signal for transmission in the time domain. This is accomplished, for example, by performing an IFFT. The result is a series of multicarrier signals transmitted serially at intervals of T, i.e., the perception signal.

[0064] In the above step S202, after obtaining the perception signal, the method further includes: determining a first matrix vector corresponding to the perception signal, wherein the first matrix vector is a frequency domain signal vector; performing an inverse fast Fourier transform on the first matrix vector to obtain a first signal sequence, wherein the inverse fast Fourier transform is used to convert the first matrix vector into a time domain signal vector.

[0065] In the embodiment of the present application, the constructed OFDM frame structure consists of N subcarriers and M OFDM symbols, forming an N×M matrix form, that is, the first eigenvector corresponding to the perception signal The frequency domain vector structure that can be directly applied to IFFT is recorded as:

[0066]

[0067] Among them, c u,v It represents the sensing data carried by the u-th subcarrier and the v-th time interval.

[0068] Next, an IFFT operation is performed on the first matrix vector. The IFFT recomposes the frequency-domain signal into a continuous time series in the time domain, namely the first signal sequence described above. This ensures that the perception signal contains rich information content and can be transmitted in a form suitable for wireless propagation, providing the necessary signal foundation for subsequent target detection and parameter estimation.

[0069] Furthermore, after executing IFFT, it also includes: obtaining perceived channel parameters and determining a cyclic prefix length based on the perceived channel parameters, wherein the cyclic prefix length is used to prevent interference between signals; extracting prefix signal data equal to the cyclic prefix length from the tail of the first signal sequence; and adding the prefix signal data to the head of the first signal sequence to obtain a second signal sequence.

[0070] In the embodiment of the present application, after the IFFT operation is completed, the cyclic prefix addition phase is entered to enhance the robustness of the signal, especially to combat inter-symbol interference and inter-channel interference caused by multipath effects. The specific process can be as follows:

[0071] First, the parameters of the current perceived channel are obtained, including but not limited to the maximum delay spread of the perceived channel, the number and intensity distribution of multipath, etc. Based on the perceived channel parameters, the length of the cyclic prefix is determined. The cyclic prefix length should at least cover the maximum delay spread of the channel to ensure that the head of the subsequent symbol does not overlap with the tail of the previous symbol, preventing inter-symbol interference.

[0072] Subsequently, a segment of signal data is extracted from the tail of the first signal sequence obtained after IFFT processing and defined as prefix signal data. The length of the prefix signal data is equal to the cyclic prefix length calculated previously, and is used to copy and insert it into the starting position of the subsequent symbol in the time domain to form a complete second signal sequence.

[0073] In this way, even if the signal encounters multipath effects during transmission, due to the existence of the cyclic prefix, the receiver can still accurately distinguish each symbol, avoiding confusion of information between symbols.

[0074] In the embodiment of the present application, during the transmission phase of the signal transmission process, the second signal sequence, i.e., the digital baseband signal, which has undergone IFFT transformation and cyclic prefix addition, needs to be converted into a radio frequency signal suitable for air transmission through general-purpose hardware (such as USRP). The general-purpose hardware acts as a bridge between software design and hardware transmission. It not only converts the digital baseband signal into a digital intermediate frequency signal, but also further performs radio frequency processing, such as frequency up-conversion and power amplification, to ensure that the signal can be effectively transmitted through the radio frequency antenna at the correct frequency and sufficient strength, thereby realizing the propagation of the perception signal in the wireless space.

[0075] This process embodies the practical application of software-defined radio (SDR) technology in target perception scenarios. It combines the flexibility of GNU Radio software with the conversion capabilities of USRP hardware to provide a complete solution for transmitting perception signals.

[0076] In the above-mentioned step S204, after receiving the echo signal corresponding to the perception signal, the method further includes: removing the prefix signal data in the echo signal to obtain a third signal sequence, wherein the signal data in the third signal sequence is a time domain signal; performing a fast Fourier transform on the third signal sequence to obtain a second matrix vector corresponding to the echo signal, wherein the fast Fourier transform is used to convert the third signal sequence into a frequency domain signal vector.

[0077] In an embodiment of the present application, after receiving the echo signal, the receiver needs to perform a cyclic prefix removal operation. The cyclic prefix is intentionally added when the signal is transmitted to overcome the multipath effect. By stripping off this prefix, that is, obtaining the third signal sequence, the receiver can ensure that the valid part of the signal is not affected by multipath interference. This prefix removal process is achieved by identifying the prefix signal data at the head of the first signal sequence (the part added during transmission) and finding and deleting the corresponding part in the received echo signal, ensuring the purity of the time domain signal.

[0078] Subsequently, the pure third signal sequence is FFT-ed to convert the signal from the time domain to the frequency domain, and the second matrix vector is obtained. This represents the signal in the frequency domain. In target perception applications, the transformed frequency domain signal contains the Doppler shift and delay information of the target's reflected signal, which are key parameters for positioning and velocity measurement. This conversion enables the receiver to more accurately interpret the target's specific characteristics, maintaining high perception accuracy even in complex wireless propagation environments.

[0079] To further illustrate this with reference to radio propagation principles, let the sensed signal be s(t) and the echo signal be r(t). Based on the frame structure format of the sensed signal, the echo signal r(t) can be expressed as:

[0080]

[0081] Where δ represents the attenuation factor, which is mainly related to the distance d between the target and the receiver, and the cross-sectional area σ of the target object. RCS related, where c = 3 × 10 8 m / s,f c is the center frequency of RF modulation; τ represents the time delay; f d represents the frequency of Doppler shift; j represents the imaginary unit; t represents the time variable; is a random phase; Characterize Gaussian white noise;

[0082] By removing the cyclic prefix and performing FFT transformation on the echo signal r(t), the echo signal matrix can be obtained, that is, the second matrix vector is:

[0083]

[0084] In the formula, the second matrix vector Including the time delay τ and Doppler frequency shift f d , including unknown parameters and σ; u, v represent matrix indices; δ0 represents the initial attenuation factor, T represents the duration; f d,v represents the Doppler frequency shift; Δfu represents the subcarrier spacing frequency; represents the initial phase, and τ0 represents the initial delay.

[0085] In the above step S206 , the method further includes: determining a third matrix vector corresponding to the unknown signal according to the first matrix vector and the second matrix vector.

[0086] In the embodiment of the present application, according to the signal estimation principle, by dividing by the perception signal matrix From the echo signal matrix Separate it out and you can get the unknown signal matrix (H) u,v :

[0087]

[0088] Furthermore, determining parameter information of the target based on the unknown signal includes: obtaining a signal peak value corresponding to the third matrix vector, wherein the signal peak value is used to reflect the signal strength of the unknown signal; determining a frequency index of the third matrix vector based on the signal peak value, wherein the frequency index includes a row oscillation frequency and a column oscillation frequency of the third matrix vector; determining the target's time delay information and Doppler frequency shift information based on the frequency index; determining the target's parameter information based on the time delay information and the Doppler frequency shift information, wherein the parameter information includes the target's distance and speed.

[0089] In an embodiment of the present application, by analyzing the third matrix vector, the signal peak can be detected and located, and its intensity is closely related to the amplitude of the unknown signal, which can reflect the intensity of the target reflection signal and further indicate the existence of the target and its characteristics.

[0090] For example, the receiver performs a two-dimensional discrete Fourier transform to deeply analyze the third matrix vector, first performing M on its row direction. T Point FFT, then perform N FFT in the column direction TPoint IFFT, the spectrum estimate P is calculated by taking the modulo square operation H (n,m) result, which is used to locate the signal peak:

[0091]

[0092] Where N T Indicates the number of rows of the matrix; M T Indicates the number of columns of the matrix; Indicates the row oscillation frequency; Indicates the column oscillation frequency.

[0093] The peak indicates the strongest response of the target reflection signal in the time-frequency domain, corresponding to a specific oscillation frequency. and series oscillation frequency The row oscillation frequency reflects the Doppler shift of the signal caused by target movement, while the column oscillation frequency is directly related to the time delay of the signal propagation path.

[0094] Finally, by solving the frequency index, we can accurately calculate the target's time delay and Doppler shift information, and thus infer the target's range and speed. The target's range can be determined by calculating the time delay between the signal transmission and reception, while the speed is calculated based on the relationship between the Doppler shift and the transmission frequency.

[0095] This series of signal processing and parameter calculations fully utilizes the characteristics of OFDM signals in the time and frequency domains to achieve effective perception of target objects. Even in complex urban wireless environments, it can accurately detect low-speed, slow or small targets.

[0096] Figure 4 This is a flow chart of another target perception method provided according to an embodiment of the present application. Figure 4 The figure shows a more detailed description of the process from signal generation to final target parameter determination. The process includes the following steps: first, random numbers are generated and symbol mapping is performed to create a labeled data stream. Next, OFDM subcarriers are allocated to construct a frame structure, data is modulated onto the pre-mapped subcarriers, and serial-to-parallel conversion is performed. OFDM modulation is then performed using IFFT, and a cyclic prefix is added to prevent intersymbol interference. After these preprocessing steps, the sensed signal is transmitted through the USRP hardware, completing the conversion from a digital baseband signal to an RF signal. Upon receiving the echo signal, the receiver performs the inverse operation to remove the cyclic prefix and perform an FFT. This is then matrix-divided with the sensed signal to separate and obtain the unknown parameters that reflect the target characteristics. Finally, a two-dimensional discrete Fourier transform (a two-dimensional periodogram estimation algorithm) is used to detect signal peaks, extract the target's time delay and Doppler shift information, and calculate the target's range and velocity.

[0097] In this application, the limitations of traditional sensing technologies in frequency and bandwidth adjustment are overcome. Software Defined Radio (SDR) technology is used to achieve dynamic configuration of center frequency and bandwidth in the Sub-6GHz band. This breakthrough enables the system to quickly adjust operating parameters based on different scenario requirements, such as urban wireless environments, vertical industry applications, and emergency situations, significantly improving the detection capability of low-lying, slow, and small targets.

[0098] Secondly, the introduced subcarrier mapping technology optimizes subcarrier utilization efficiency, reduces inter-subcarrier interference, and enhances the overall performance of the OFDM system by cleverly mapping the subcarrier set. This technology is not only applicable to basic 64-subcarrier systems, but can also be extended to complex systems with higher subcarrier counts. By adjusting the parameter n, it achieves effective management and utilization of subcarriers, ensuring the accuracy of perception information and the robustness of the system.

[0099] In general, the combination of these two innovative technologies has enabled OFDM-based software radio systems to demonstrate unprecedented flexibility and efficiency in the field of target perception, meeting the needs of diverse business scenarios, especially low-speed, small target detection in urban wireless environments, as well as support for vertical industry scenarios and emergency response perception, opening up new paths for the widespread application of wireless sensing technology.

[0100] According to an embodiment of the present application, a target perception system is provided. It should be noted that the target perception system of the embodiment of the present application can be used to execute the target perception method provided in the embodiment of the present application. The target perception system provided in the embodiment of the present application is introduced below.

[0101] Figure 5 This is a structural diagram of a target perception system provided according to an embodiment of the present application. Figure 5 As shown, the system includes: a host, software (GNU Radio), hardware (USRP), and a radio frequency antenna, which are used to implement the above-mentioned target perception method; the target perception system is also used to obtain target perception requirements; and adjust the configuration parameters during the wireless signal transmission process according to the target perception requirements, wherein the configuration parameters include at least one of the following: the center frequency, bandwidth, modulation mode, and number of subcarriers of the target perception system. The specific analysis is as follows:

[0102] Host: As the control center of the entire system, it is responsible for receiving and analyzing target perception requirements, and dynamically adjusting key parameters such as the system's center frequency, bandwidth, modulation method, and number of subcarriers based on the requirements. The selection of these parameters is directly related to the system's perception performance and efficiency in specific scenarios.

[0103] GNU Radio software: As the core component of software-defined radio, it performs digital baseband signal processing under the control of the host computer, including signal generation, modulation, subcarrier allocation, and subsequent demodulation and signal analysis. GNU Radio's flexibility and programmability enable the system to quickly adapt to different operating conditions based on host-defined parameters, making it key to realizing software-defined radio capabilities.

[0104] The USRP hardware, a Universal Software Radio Peripheral (USRP), interacts with GNU Radio via UHD. It converts the digital baseband signal processed by GNU Radio into an RF signal, which is then transmitted via the RF antenna. The USRP also receives reflected or scattered RF signals and converts them back into digital baseband for further processing. The USRP's versatility and powerful processing capabilities ensure a seamless connection between software and hardware, serving as a bridge between the virtual signal world and the physical world.

[0105] RF Antenna: As the terminal for the system to interact with the external environment, the RF antenna is responsible for transmitting signals through the transmitter (Tx) and receiving signals through the receiver (Rx). It works in conjunction with the USRP hardware to ensure high-quality signal transmission and is a critical component for achieving long-range, multi-target, and complex environmental perception.

[0106] According to an embodiment of the present application, a target sensing device is provided. It should be noted that the target sensing device of the embodiment of the present application can be used to execute the target sensing method provided in the embodiment of the present application. The target sensing device provided in the embodiment of the present application is introduced below.

[0107] Figure 6 This is a structural diagram of a target sensing device provided according to an embodiment of the present application. Figure 6 As shown, the device includes:

[0108] an allocation module 60 configured to obtain an input signal and allocate the input signal according to preset subcarriers to obtain a perception signal, wherein the preset subcarriers are used to represent a set of subcarriers obtained through grouping and modulo mapping for transmitting the input signal;

[0109] a transmission module 62 configured to transmit a sensing signal to a target and receive an echo signal corresponding to the sensing signal, wherein the echo signal includes the sensing signal and an unknown signal, the unknown signal being used to indicate a signal change caused by the presence and reflection behavior of the target;

[0110] The determination module 64 is configured to determine an unknown signal based on the sensing signal and the echo signal, and determine parameter information of the target based on the unknown signal.

[0111] Through the allocation module, transmission module and determination module in the above-mentioned target perception device, the purpose of improving target perception accuracy and adaptability is achieved, thereby realizing the technical effect of flexibly configuring frequency and bandwidth, optimizing subcarrier usage to improve system efficiency and perception accuracy, and thus solving the technical problems in urban wireless environments and emergency response scenarios, such as the difficulty of public mobile communication network base stations in related technologies to meet the requirements of perceiving low, slow and small targets, and the lack of flexible and mobile target perception solutions with dedicated frequencies and networks.

[0112] The target perception device provided in the embodiment of the present application also includes a processing module 66, which is used to obtain subcarrier data, wherein the subcarrier data includes valid subcarrier data that can carry the perception channel; determine the pilot subcarrier number and the DC subcarrier number in the subcarrier data; group the subcarrier data according to the pilot subcarrier number and the DC subcarrier number to obtain a subcarrier subset; and perform modulo mapping on the subcarrier subset according to a preset interval to obtain a preset subcarrier.

[0113] In the target perception device provided in an embodiment of the present application, the processing module is also used to determine a first matrix vector corresponding to the perception signal, wherein the first matrix vector is a frequency domain signal vector; and perform an inverse fast Fourier transform on the first matrix vector to obtain a first signal sequence, wherein the inverse fast Fourier transform is used to convert the first matrix vector into a time domain signal vector.

[0114] In the target perception device provided in an embodiment of the present application, the processing module is also used to obtain perception channel parameters and determine the cyclic prefix length based on the perception channel parameters, wherein the cyclic prefix length is used to prevent interference between signals; extract prefix signal data equal to the cyclic prefix length from the tail of the first signal sequence; and add the prefix signal data to the head of the first signal sequence to obtain a second signal sequence.

[0115] In the target perception device provided in an embodiment of the present application, the processing module is also used to remove the prefix signal data in the echo signal to obtain a third signal sequence, wherein the signal data in the third signal sequence is a time domain signal; and perform a fast Fourier transform on the third signal sequence to obtain a second matrix vector corresponding to the echo signal, wherein the fast Fourier transform is used to convert the third signal sequence into a frequency domain signal vector.

[0116] In the target perception device provided in an embodiment of the present application, the determination module is further used to determine a third matrix vector corresponding to the unknown signal based on the first matrix vector and the second matrix vector.

[0117] In the target perception device provided in an embodiment of the present application, the determination module is also used to obtain a signal peak value corresponding to a third matrix vector, wherein the signal peak value is used to reflect the signal strength of the unknown signal; determine the frequency index of the third matrix vector based on the signal peak value, wherein the frequency index includes the row oscillation frequency and the column oscillation frequency of the third matrix vector; determine the target's delay information and Doppler frequency shift information based on the frequency index; determine the target's parameter information based on the delay information and the Doppler frequency shift information, wherein the parameter information includes the target's distance and speed.

[0118] An embodiment of the present application also provides an electronic device, including: a memory and a processor, wherein the memory is used to store program instructions; the processor is connected to the memory and is used to execute the above-mentioned target perception method.

[0119] It should be noted that the above electronic equipment is used to perform Figure 2 The target perception method shown in the figure, therefore the relevant explanations and instructions in the above target perception method are also applicable to the electronic device and will not be repeated here.

[0120] An embodiment of the present application also provides a non-volatile storage medium, which includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the above-mentioned target perception method by running the computer program.

[0121] It should be noted that the above non-volatile storage medium is used to execute Figure 2 The target sensing method shown, therefore the relevant explanations in the above target sensing method are also applicable to the non-volatile storage medium and will not be repeated here.

[0122] An embodiment of the present application also provides a computer program product, including computer instructions, which implement the above-mentioned target perception method when executed by a processor.

[0123] It should be noted that the above-mentioned computer program product is used to execute Figure 2 The target perception method shown, therefore the relevant explanations and instructions in the above target perception method are also applicable to the computer program product and will not be repeated here.

[0124] The serial numbers of the above-mentioned embodiments of the present application are for description only and do not represent the advantages or disadvantages of the embodiments.

[0125] In the above embodiments of the present application, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, please refer to the relevant description of other embodiments.

[0126] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0127] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0128] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0129] If 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 computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0130] The above is only a preferred embodiment of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A target perception method, characterized in that: include: Acquire an input signal and allocate the input signal according to preset subcarriers to obtain a perception signal, wherein the preset subcarriers are used to represent a subcarrier set obtained through grouping and modulo mapping and used to transmit the input signal; transmitting the sensing signal to a target and receiving an echo signal corresponding to the sensing signal, wherein the echo signal includes the sensing signal and an unknown signal, the unknown signal being used to represent a signal change caused by the presence and reflection behavior of the target; The unknown signal is extracted from the echo signal, and parameter information of the target is determined based on the unknown signal.

2. The method according to claim 1, characterized in that The preset subcarrier is determined by: Acquiring subcarrier data, wherein the subcarrier data includes valid subcarrier data capable of carrying a sensing channel; Determine the pilot subcarrier sequence number and the DC subcarrier sequence number in the subcarrier data; Grouping the subcarrier data according to the pilot subcarrier sequence number and the DC subcarrier sequence number to obtain a subcarrier subset; Modulo mapping is performed on the subcarrier subset according to a preset interval to obtain the preset subcarrier.

3. The method according to claim 1, characterized in that After obtaining the perception signal, the method further includes: Determining a first matrix vector corresponding to the perception signal, wherein the first matrix vector is a frequency domain signal vector; Perform an inverse fast Fourier transform on the first matrix vector to obtain a first signal sequence, wherein the inverse fast Fourier transform is used to convert the first matrix vector into a time domain signal vector.

4. The method according to claim 3, characterized in that The method further comprises: Acquire a perceived channel parameter, and determine a cyclic prefix length based on the perceived channel parameter, wherein the cyclic prefix length is used to prevent inter-signal interference; Extract prefix signal data having a length equal to the cyclic prefix from the tail of the first signal sequence; and add the prefix signal data to the head of the first signal sequence to obtain a second signal sequence.

5. The method according to claim 4, characterized in that After receiving the echo signal corresponding to the sensing signal, the method further includes: removing the prefix signal data from the echo signal to obtain a third signal sequence, wherein the signal data in the third signal sequence is a time domain signal; Perform a fast Fourier transform on the third signal sequence to obtain a second matrix vector corresponding to the echo signal, wherein the fast Fourier transform is used to convert the third signal sequence into a frequency domain signal vector.

6. The method according to claim 5, characterized in that The method further comprises: A third matrix vector corresponding to the unknown signal is determined according to the first matrix vector and the second matrix vector.

7. The method according to claim 6, characterized in that Determining parameter information of the target based on the unknown signal includes: Obtaining a signal peak value corresponding to the third matrix vector, wherein the signal peak value is used to reflect the signal strength of the unknown signal; Determining a frequency index of the third matrix vector according to the signal peak value, wherein the frequency index includes a row oscillation frequency and a column oscillation frequency of the third matrix vector; Determining time delay information and Doppler frequency shift information of the target according to the frequency index; Parameter information of the target is determined according to the time delay information and the Doppler frequency shift information, wherein the parameter information includes the distance and speed of the target.

8. A target perception system, characterized in that: The target sensing system comprises a host, software, hardware and a radio frequency antenna, and is used to implement the target sensing method according to any one of claims 1 to 7, wherein the target sensing system is further used to: Acquire target perception needs; Adjust the configuration parameters during the wireless signal transmission process according to the target perception requirements, wherein the configuration parameters include at least one of the following: the center frequency, bandwidth, modulation mode and number of subcarriers of the target perception system.

9. A target sensing device, characterized in that: include: an allocation module, configured to obtain an input signal and allocate the input signal according to preset subcarriers to obtain a perception signal, wherein the preset subcarriers are used to represent a subcarrier set obtained through grouping and modulo mapping for transmitting the input signal; a transmission module, configured to transmit the sensing signal to a target and receive an echo signal corresponding to the sensing signal, wherein the echo signal includes the sensing signal and an unknown signal, the unknown signal being used to represent a signal change caused by the presence and reflection behavior of the target; A determination module is used to determine the unknown signal based on the perception signal and the echo signal, and to determine parameter information of the target based on the unknown signal.

10. An electronic device, characterized in that: include: A memory and a processor, wherein the memory is used to store program instructions; The processor is connected to the memory and is used to execute the target perception method described in any one of claims 1 to 7.

11. A non-volatile storage medium, characterized in that: The non-volatile storage medium includes a stored computer program, wherein the device where the non-volatile storage medium is located executes the target perception method described in any one of claims 1 to 7 by running the computer program.

12. A computer program product comprising computer instructions, characterized in that When the computer instructions are executed by a processor, the target perception method according to any one of claims 1 to 7 is implemented.

Images