Perceptual frequency offset acquisition method and device, node equipment, medium and program product

Abstract

Provided are a perception frequency offset acquisition method, apparatus, node device, medium and program product, the perception frequency offset acquisition method being applied to a first node, the method comprising: sending a perception reference signal, receiving a perception parameter of a perception target fed back by a second node, the second node can receive a reflected signal of the sensing target to the sensing reference signal, and the sensing parameter is obtained by the second node according to the reflected signal; according to the sensing parameter, obtaining an attribute parameter corresponding to the sensing target, and sending the attribute parameter to the second node; and receiving a sensing frequency offset value obtained by the second node according to the attribute parameter and the sensing parameter. Through the scheme of the invention, the obtained sensing frequency offset value is more accurate.

Description

Technical Field

[0001] The present invention relates to the field of wireless technology, and in particular to a method, device, node equipment, medium and program product for acquiring perceived frequency offset. Background Art

[0002] Integrated communication and perception is a key technology in the sixth-generation mobile networks (6G). As a new converged technology, communication and perception functions share the same hardware, software, and spectrum resources, thereby improving spectrum and resource utilization. This integrated communication and perception technology primarily targets measurement, including non-networked objects. This overcomes the limitation of existing networks that only measure the location of networked terminals, enabling cellular networks to support a variety of new functions and services.

[0003] In cooperative sensing, several base stations form a cooperative sensing cluster and participate in the sensing process. Typically, one base station acts as a transmitting node, transmitting a sensing signal into space, while the remaining base stations act as receiving nodes, receiving the signal reflected from the sensing target. After further signal processing, the transmitting and receiving base stations and the server interact with each other to determine the sensing target information, completing the sensing process. Sensing functions primarily include positioning and velocity measurement. Positioning typically requires measuring the angle and path delay of the sensing target, while velocity measurement typically requires measuring the angle and Doppler frequency of the sensing target.

[0004] In cooperative sensing, the local oscillator frequency error between base stations can significantly affect the target Doppler frequency measurement. For example, 3GPP TS25.104 specifies a maximum frequency deviation of ±0.05 ppm relative to the carrier frequency for base stations across the entire network. At a 2.6 GHz carrier frequency, ±0.05 ppm is equivalent to a frequency deviation of 2.6e9 * 0.05e-6 = ±130 Hz, which translates to a speed measurement error of 130 * 3e8 / 2.6e9 = 15 m / s. Therefore, base station-perceived frequency deviation can significantly impact speed measurement results, but current technologies for obtaining this frequency deviation are inaccurate. Summary of the Invention

[0005] The technical solution of the present invention aims to provide a method, apparatus, node device, medium and program product for acquiring a perceived frequency offset, so as to solve the problem in the prior art that the acquisition result of the perceived frequency offset is inaccurate.

[0006] In order to solve the above technical problems, the embodiments of the present invention provide the following technical solutions:

[0007] In a first aspect, an embodiment of the present invention provides a method for acquiring a perceived frequency offset, applied to a first node, the method comprising:

[0008] sending a sensing reference signal, and receiving a sensing parameter of a sensing target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the sensing reference signal by the sensing target, and the sensing parameter is obtained by the second node based on the reflection signal;

[0009] Obtaining attribute parameters corresponding to the perception target according to the perception parameters, and sending the attribute parameters to the second node;

[0010] Receiving the perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter. Optionally, the method further includes:

[0011] The perception reference signal is sent according to the perception frequency offset value.

[0012] Optionally, the perception parameter includes at least one of the following:

[0013] signal arrival angle;

[0014] Delay value;

[0015] The measurement of the Doppler frequency.

[0016] Optionally, the attribute parameter includes at least one of the following:

[0017] The signal emission angle corresponding to the sensing target;

[0018] The speed value of the perceived target.

[0019] Optionally, before sending the perception reference signal to the space, the method further includes:

[0020] Configuring configuration information of the perception reference signal;

[0021] Sending the configuration information to the second node;

[0022] The configuration information includes at least one of the following:

[0023] The time domain position of the perception reference signal;

[0024] a signal period of the sensing reference signal;

[0025] duration of the sensing reference signal;

[0026] a repetition number of times the sensing reference signal is sent;

[0027] The signal transmission interval of the perception reference signal.

[0028] Optionally, receiving the perception parameter of the perception target fed back by the second node includes:

[0029] Receive the signal arrival angle and delay value corresponding to each of N positions of the sensing target fed back by the second node, where N is an integer greater than 1;

[0030] Obtaining attribute parameters corresponding to the perception target according to the perception parameters, and sending the attribute parameters to the second node, including:

[0031] Obtaining, based on the signal arrival angle and the time delay value corresponding to each of the N positions, a signal transmission angle corresponding to each of the N positions and a speed value corresponding to each of N-1 positions of the perception target, where the N-1 positions are positions other than the first position in the N positions;

[0032] The signal transmission angle corresponding to each of the N positions of the sensing target and the speed value corresponding to each of the N-1 positions are sent to the second node.

[0033] Optionally, receiving the perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter includes:

[0034] receiving a plurality of perceived frequency offset values ​​obtained by the second node according to the attribute parameter and the perception parameter;

[0035] The method further comprises:

[0036] When the number of the plurality of perceived frequency offset values ​​meets a preset number requirement and the plurality of perceived frequency offset values ​​are all within a preset range, sending the perception reference signal to the space is stopped.

[0037] In a second aspect, an embodiment of the present invention provides a method for acquiring a perceived frequency offset, which is applied to a second node. The method includes:

[0038] receiving a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node;

[0039] obtaining a perception parameter of the perception target according to the reflected signal, and feeding the perception parameter back to the first node;

[0040] Receiving attribute parameters corresponding to the perception target obtained by the first node according to the perception parameters;

[0041] A perceived frequency offset value is obtained according to the attribute parameter and the perception parameter, and the perceived frequency offset value is sent to the first node.

[0042] Optionally, the perception parameter includes at least one of the following:

[0043] signal arrival angle;

[0044] Delay value;

[0045] The measurement of the Doppler frequency.

[0046] Optionally, the attribute parameter includes at least one of the following:

[0047] The signal emission angle corresponding to the sensing target;

[0048] The speed value of the perceived target.

[0049] Optionally, receiving a reflection signal of a sensing target to a sensing reference signal includes:

[0050] receiving reflection signals of the sensing target at N positions with respect to the sensing reference signal, where N is an integer greater than 1;

[0051] Obtaining a perception parameter of the perception target according to the reflected signal, and feeding the perception parameter back to the first node, includes:

[0052] Obtaining, according to the reflected signal corresponding to each of the N positions, a signal arrival angle and a signal delay value corresponding to each of the N positions of the sensing target;

[0053] The signal arrival angle and delay value corresponding to each of the N positions of the sensing target are fed back to the first node.

[0054] Optionally, receiving the attribute parameter corresponding to the perception target obtained by the first node according to the perception parameter includes:

[0055] receiving, from the second node, a signal transmission angle corresponding to each of the N positions of the sensed target and a speed value corresponding to each of the N-1 positions, and sending the received signals to the second node, where the N-1 positions are positions other than the first position of the N positions, and N is an integer greater than 1;

[0056] Among them, the signal transmission angle corresponding to each of the N positions of the perception target and the speed value corresponding to each of the N-1 positions are obtained by the first node based on the signal arrival angle and delay value corresponding to each of the N positions of the perception target.

[0057] Optionally, obtaining a perceived frequency offset value according to the attribute parameter and the perception parameter includes:

[0058] Obtain an estimated value of the Doppler frequency of the perceived target at each of the N-1 positions based on the signal transmission angle corresponding to each of the N positions, the velocity value corresponding to each of the N-1 positions, and the signal arrival angle corresponding to each of the N positions, where N is an integer greater than 1;

[0059] The difference between the estimated value of each Doppler frequency and a first average value is used as a perceived frequency deviation value, wherein the first average value is an average value of the measured values ​​of the Doppler frequency corresponding to each of the N positions of the perceived target.

[0060] Optionally, obtaining a perceived frequency offset value according to the attribute parameter and the perception parameter, and sending the perceived frequency offset value to the first node includes:

[0061] a plurality of perceived frequency offset values ​​obtained according to the attribute parameters and the perception parameters;

[0062] The multiple perceived frequency offset values ​​are sent to the first node.

[0063] Optionally, the method further includes:

[0064] receiving configuration information of the perception reference signal sent by the first node;

[0065] The configuration information includes at least one of the following:

[0066] The time domain position of the perception reference signal;

[0067] a signal period of the sensing reference signal;

[0068] duration of the sensing reference signal;

[0069] a repetition number of times the sensing reference signal is sent;

[0070] The signal transmission interval of the perception reference signal.

[0071] In a third aspect, an embodiment of the present invention provides a device for acquiring a perceived frequency offset, applied to a first node, the device comprising:

[0072] a first transceiver module, configured to send a sensing reference signal and receive a sensing parameter of a sensing target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the sensing reference signal from the sensing target, and the sensing parameter is obtained by the second node based on the reflection signal;

[0073] A first processing module is configured to obtain attribute parameters corresponding to the perception target according to the perception parameters, and send the attribute parameters to the second node;

[0074] The first receiving module is configured to receive a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter.

[0075] In a fourth aspect, an embodiment of the present invention provides a device for acquiring a perceived frequency offset, applied to a second node, the device comprising:

[0076] a second receiving module, configured to receive a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node;

[0077] a second processing module, configured to obtain a perception parameter of the perception target according to the reflected signal, and feed the perception parameter back to the first node;

[0078] A third receiving module is configured to receive attribute parameters corresponding to the perception target obtained by the first node according to the perception parameters;

[0079] The third processing module is configured to obtain a perceived frequency offset value according to the attribute parameter and the perception parameter, and send the perceived frequency offset value to the first node.

[0080] In a fifth aspect, an embodiment of the present invention provides a node device, wherein the node device is a first node, comprising: a processor and a transceiver;

[0081] the transceiver is configured to send a perception reference signal and receive a perception parameter of a perception target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the perception reference signal by the perception target, and the perception parameter is obtained by the second node based on the reflection signal;

[0082] The processor is configured to obtain attribute parameters corresponding to the perception target based on the perception parameters;

[0083] The transceiver is configured to send the attribute parameter to the second node; and receive a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter.

[0084] In a sixth aspect, an embodiment of the present invention provides a node device, wherein the node device is a second node, including: a processor and a transceiver;

[0085] The transceiver is configured to receive a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node;

[0086] The processor is configured to obtain a perception parameter of the perception target according to the reflection signal;

[0087] The transceiver is configured to feed back the perception parameters to the first node; and receive attribute parameters corresponding to the perception target obtained by the first node based on the perception parameters;

[0088] The processor is configured to obtain a perceived frequency offset value according to the attribute parameter and the perception parameter;

[0089] The transceiver is configured to send the perceived frequency offset value to the first node.

[0090] In the seventh aspect, an embodiment of the present invention provides a node device, comprising: a processor, a memory, and a program stored on the memory and runnable on the processor, wherein when the program is executed by the processor, the method for obtaining the perceived frequency offset as described in any one of the first aspects is implemented, or the method for obtaining the perceived frequency offset as described in any one of the second aspects is implemented.

[0091] In an eighth aspect, an embodiment of the present invention provides a readable storage medium, on which a program is stored. When the program is executed by a processor, the program implements the steps of the method for obtaining the perceived frequency offset as described in any one of the first aspects, or implements the steps of the method for obtaining the perceived frequency offset as described in any one of the second aspects.

[0092] In a ninth aspect, an embodiment of the present invention provides a computer program product, comprising computer instructions. When the computer instructions are executed by a processor, the computer program product implements the steps of the method for obtaining the perceived frequency offset as described in any one of the first aspects, or implements the steps of the method for obtaining the perceived frequency offset as described in any one of the second aspects.

[0093] At least one of the above technical solutions of the present invention has the following beneficial effects:

[0094] The method for obtaining perceived frequency offset provided by the solution of the present invention includes: a first node sending a perception reference signal; a second node receiving a reflection signal of the perception reference signal from a perception target; the second node obtaining a perception parameter based on the reflection signal and feeding it back to the first node; the first node obtaining an attribute parameter corresponding to the perception target based on the perception parameter and sending the attribute parameter to the second node; and the second node obtaining a perceived frequency offset value based on the attribute parameter and the perception parameter. Through the above process, the second node can accurately obtain the perceived frequency offset value and send the perceived frequency offset value to the first node, so that the first node can subsequently eliminate the influence of the perceived frequency offset value. BRIEF DESCRIPTION OF THE DRAWINGS

[0095] Figure 1 A flowchart of a method for acquiring a perceived frequency offset applied to a first node according to an embodiment of the present invention;

[0096] Figure 2A flowchart of a method for acquiring a perceived frequency offset applied to a second node provided in an embodiment of the present invention;

[0097] Figure 3 A schematic structural diagram of a device for acquiring a sensed frequency offset applied to a first node according to an embodiment of the present invention;

[0098] Figure 4 A schematic structural diagram of a device for acquiring a sensed frequency offset applied to a second node according to an embodiment of the present invention;

[0099] Figure 5 One of the structural diagrams of the first node provided in an embodiment of the present invention;

[0100] Figure 6 The second structural diagram of the first node provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0101] In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, a detailed description will be given below with reference to the accompanying drawings and specific embodiments.

[0102] In order to solve the problem in the prior art that the perceived frequency offset has a significant impact on the speed measurement result of the perceived target, embodiments of the present invention provide a perceived frequency offset acquisition method, apparatus, node device, medium, and program product.

[0103] like Figure 1 As shown, an embodiment of the present invention provides a method for acquiring a perceived frequency offset, which is applied to a first node. The method includes:

[0104] Step 101: Send a perception reference signal and receive a perception parameter of a perception target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the perception reference signal from the perception target, and the perception parameter is obtained by the second node based on the reflection signal.

[0105] It should be noted that the upper-layer network specifies a collaborative cluster within the network, and nodes within the collaborative cluster perform clock synchronization and prepare for frequency offset measurement. The upper-layer network specifies a single node within the collaborative cluster as a transmitting node, and the remaining R nodes within the collaborative cluster (R is greater than or equal to 1) as receiving nodes. The upper-layer network selects a server or transmitting node as a result aggregation node. In this embodiment, the first node is a transmitting node, the second node is a receiving node, and the number of second nodes is greater than or equal to 1.

[0106] The sensing reference signal may also be referred to as a sensing signal. The reflected signal is a signal reflected by the sensing reference signal from the sensing target, and may also be referred to as an echo signal.

[0107] In this step, the perception parameters are one or more groups of perception parameters. In this embodiment, the perception parameters are multiple groups of perception parameters as an example for description.

[0108] The first node sends the perception reference signal into space.

[0109] In this step, the second node receives the reflected signal reflected by the sensing target, removes background noise and clutter from the reflected signal, and extracts the sensing parameters (or referred to as sensing parameter measurements) covering the sensing target.

[0110] The perception parameter includes at least one of the following:

[0111] signal arrival angle;

[0112] Delay value;

[0113] The measurement of the Doppler frequency.

[0114] After the second node obtains the perception parameters, it sends the perception parameters to the server or the first node. If it is sent to the server, the server sends the perception parameters to the first node. After the second node obtains the perception parameters, it sends the signal arrival angle and delay value in multiple sets of perception parameters to the server or the first node.

[0115] Specifically, the first node sends a perception reference signal into space, the second node receives the reflected signal reflected by the perception target, eliminates background noise and clutter on the reflected signal, and extracts the perception parameters covering the perception target. The second node sends the perception parameters to the server or the first node, and repeats the above process within the training cycle, so that the first node and the second node obtain multiple sets of perception parameters.

[0116] In this embodiment, multiple groups of perception parameters can be understood as two or more groups of perception parameters.

[0117] Step 102: Obtain attribute parameters corresponding to the perception target according to the perception parameters, and send the attribute parameters to the second node.

[0118] The attribute parameters include at least one of the following:

[0119] The signal emission angle corresponding to the sensing target;

[0120] The speed value of the perceived target.

[0121] In this step, after receiving the perception parameters, the first node uses the perception parameters to calculate the attribute parameters corresponding to the perception target, that is, the signal transmission angle and speed value corresponding to the perception target, and sends the attribute parameters corresponding to the perception target to the second node.

[0122] It should be noted that after the second node obtains the perception parameters, it sends the perception parameters to the server. This step can also be performed by the server. The server uses the perception parameters to calculate the attribute parameters corresponding to the perception target, that is, the signal transmission angle and speed value corresponding to the perception target, and sends the attribute parameters corresponding to the perception target to the second node.

[0123] Step 103: Receive the perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter.

[0124] In this step, the second node uses the attribute parameters and perception parameters fed back by the first node to obtain the perceived frequency deviation value, and the second node sends the perceived frequency deviation value to the first node or the server. When the second node sends the perceived frequency deviation value to the server, the server sends the perceived frequency deviation value to the first node.

[0125] Through the above steps, the perception parameter calculated by the second node is more accurate, and the perception frequency offset value is sent to the first node, so that the first node can subsequently eliminate the influence of the perception frequency offset value.

[0126] Furthermore, the method further comprises:

[0127] The perception reference signal is sent according to the perception frequency offset value.

[0128] After receiving the perceived frequency offset value, the first node adjusts the perception reference signal according to the perceived frequency offset value, thereby eliminating the influence of the perceived frequency offset and improving the accuracy of the speed measurement result of the perceived target.

[0129] Furthermore, before sending the perception reference signal into the space, the method further includes:

[0130] The first node configures configuration information of the perception reference signal and sends the configuration information to the second node. That is, before starting frequency offset cancellation training, the transmitting node configures the perception reference signal for frequency offset cancellation and sends the configuration information to the receiving node.

[0131] The configuration information includes at least one of the following:

[0132] The time domain position of the perception reference signal;

[0133] a signal period of the sensing reference signal;

[0134] duration of the sensing reference signal;

[0135] The number of repetitions N of sending the perception reference signal;

[0136] The signal transmission interval T of the perception reference signal.

[0137] In an optional embodiment, receiving the perception parameters (i.e., multiple groups of perception parameters) of the perception target fed back by the second node includes:

[0138] Receive the signal arrival angle and delay value corresponding to each of the N positions of the perception target fed back by the second node, where N is an integer greater than 1, wherein the N positions are N consecutive positions, N is the number of repetitions of sending the perception reference signal, one transmission of the perception reference signal corresponds to one position of the perception target, one reflected signal corresponds to one position of the perception target, and the first node receives the signal arrival angle and delay value corresponding to each of the N consecutive positions of the perception target fed back by the second node;

[0139] Obtaining attribute parameters corresponding to the perception target according to the perception parameters, and sending the attribute parameters to the second node, including:

[0140] According to the signal arrival angle and the time delay value corresponding to each of the N positions, the signal transmission angle corresponding to each of the N positions and the speed value corresponding to each of the N-1 positions of the perception target are obtained, where the N-1 positions are positions other than the first position in the N positions. Specifically, after the first node receives the signal arrival angle and time delay value corresponding to each of the N consecutive positions of the perception target, it calculates the signal transmission angle (N signal transmission angles) corresponding to each of the N positions of the perception target, and calculates the speed value (N-1 speed values) corresponding to each of the N-1 positions.

[0141] It should be noted that the step of the first node calculating the signal transmission angle corresponding to each of the N positions of the perception target and the speed value corresponding to each of the N-1 positions can be executed by the server.

[0142] The signal transmission angle corresponding to each of the N positions of the perception target and the speed value corresponding to each of the N-1 positions are sent to the second node, that is, the server or the first node sends the N signal transmission angles and N-1 speed values ​​to the second node.

[0143] Correspondingly, the number of multiple groups of perception parameters is N. When the perception parameters include the measurement values ​​of the signal arrival angle, delay value and Doppler frequency, each of the N consecutive positions of the perception target corresponds to a set of perception parameters, that is, each of the N consecutive positions of the perception target corresponds to a measurement value of the signal arrival angle, delay value and Doppler frequency.

[0144] In an optional embodiment, receiving the perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter includes:

[0145] Receive multiple perceived frequency offset values ​​obtained by the second node based on the attribute parameters and the perception parameters, that is, multiple perceived frequency offset values ​​obtained by multiple second nodes based on the attribute parameters and the perception parameters, or a second node repeats the above process to obtain multiple perceived frequency offset values ​​based on the attribute parameters and the perception parameters and sends them to the first node or the server. In the case of sending to the server, the server sends the multiple perceived frequency offset values ​​to the first node.

[0146] Furthermore, the method further comprises:

[0147] When the number of the plurality of perceived frequency offset values ​​meets a preset number requirement and the plurality of perceived frequency offset values ​​are all within a preset range, sending the perception reference signal to the space is stopped. That is, when the plurality of perceived frequency offset values ​​meet the number requirement and the data range requirement, it is considered that the perceived frequency offset value meets the requirement and training is stopped.

[0148] like Figure 2 As shown, an embodiment of the present invention further provides a method for acquiring a perceived frequency offset, which is applied to a second node. The method includes:

[0149] Step 201: Receive a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by a first node.

[0150] It should be noted that the upper-layer network specifies a collaborative cluster within the network, and nodes within the collaborative cluster perform clock synchronization and prepare for frequency offset measurement. The upper-layer network specifies a single node within the collaborative cluster as a transmitting node, and the remaining R nodes within the collaborative cluster (R is greater than or equal to 1) as receiving nodes. The upper-layer network selects a server or transmitting node as a result aggregation node. In this embodiment, the first node is a transmitting node, the second node is a receiving node, and the number of second nodes is greater than or equal to 1.

[0151] The sensing reference signal may also be referred to as a sensing signal. The reflected signal is a signal reflected by the sensing reference signal from the sensing target, and may also be referred to as an echo signal.

[0152] Step 202: Obtain a perception parameter of the perception target according to the reflected signal, and feed the perception parameter back to the first node.

[0153] In this step, the second node receives the reflected signal reflected by the sensing target, removes background noise and clutter from the reflected signal, and extracts the sensing parameters (or referred to as sensing parameter measurements) covering the sensing target.

[0154] In this step, the perception parameters are one or more groups of perception parameters. In this embodiment, the case where the perception parameters are multiple groups of perception parameters is taken as an example for description.

[0155] The perception parameter includes at least one of the following:

[0156] signal arrival angle;

[0157] Delay value;

[0158] The measurement of the Doppler frequency.

[0159] After the second node obtains the perception parameters, it sends the perception parameters to the server or the first node. If it is sent to the server, the server sends the perception parameters to the first node. After the second node obtains the perception parameters, it sends the signal arrival angle and delay value in the perception parameters to the server or the first node.

[0160] Specifically, the first node sends a perception reference signal into space, the second node receives the reflected signal reflected by the perception target, eliminates background noise and clutter on the reflected signal, and extracts the perception parameters covering the perception target. The second node sends the perception parameters to the server or the first node, and repeats the above process within the training cycle, so that the first node and the second node obtain the perception parameters.

[0161] In this embodiment, multiple groups of perception parameters can be understood as two or more groups of perception parameters.

[0162] Step 203: Receive attribute parameters corresponding to the perception target obtained by the first node according to the perception parameters.

[0163] The attribute parameters include at least one of the following:

[0164] The signal emission angle corresponding to the sensing target;

[0165] The speed value of the perceived target.

[0166] In this step, after receiving the perception parameters, the first node uses the perception parameters to calculate the attribute parameters corresponding to the perception target, that is, the signal transmission angle and speed value corresponding to the perception target, and sends the attribute parameters corresponding to the perception target to the second node.

[0167] Step 204: Obtain a perceived frequency offset value according to the attribute parameter and the perception parameter, and send the perceived frequency offset value to the first node.

[0168] In this step, the second node uses the attribute parameters and perception parameters fed back by the first node to obtain the perceived frequency deviation value, and the second node sends the perceived frequency deviation value to the first node or the server. When the second node sends the perceived frequency deviation value to the server, the server sends the perceived frequency deviation value to the first node.

[0169] Through the above steps, the perception parameter calculated by the second node is more accurate, and the perception frequency offset value is sent to the first node, so that the first node can subsequently eliminate the influence of the perception frequency offset value.

[0170] After receiving the perceived frequency offset value, the first node adjusts the perception reference signal according to the perceived frequency offset value, thereby eliminating the influence of the perceived frequency offset and improving the accuracy of the speed measurement result of the perceived target.

[0171] In an optional embodiment, receiving a reflection signal of a sensing target to a sensing reference signal includes:

[0172] Reflected signals of the perception reference signal of the perception target at N positions are received, where N is an integer greater than 1, wherein the N positions are N consecutive positions, and N is the number of repetitions of sending the perception reference signal. One transmission of the perception reference signal corresponds to one position of the perception target, and one reflected signal corresponds to one position of the perception target.

[0173] Obtaining a perception parameter of the perception target according to the reflected signal, and feeding the perception parameter back to the first node, includes:

[0174] According to the reflected signal corresponding to each of the N positions, the signal arrival angle and delay value corresponding to each of the N positions of the perception target are obtained, that is, the second node receives the reflected signal corresponding to each of the N consecutive positions of the perception target in sequence, obtains N groups of perception parameters according to the consecutive N reflected signals, that is, N signal arrival angles and N delay values, and feeds back the signal arrival angle and delay value corresponding to each of the N positions of the perception target to the first node, and the first node receives the signal arrival angle and delay value corresponding to each of the N consecutive positions of the perception target fed back by the second node.

[0175] In an optional embodiment, receiving the attribute parameter corresponding to the perception target obtained by the first node according to the perception parameter includes:

[0176] The signal transmission angle corresponding to each of the N positions of the perceived target and the speed value corresponding to each of the N-1 positions sent by the second node are received and sent to the second node, where the N-1 positions are positions other than the first position of the N positions, and N is an integer greater than 1. The signal transmission angle corresponding to each of the N positions of the perceived target and the speed value corresponding to each of the N-1 positions are obtained by the first node based on the signal arrival angle and delay value corresponding to each of the N positions of the perceived target.

[0177] Specifically, after receiving the signal arrival angle and delay value corresponding to each of N consecutive positions of the perception target, the first node calculates the signal transmission angle corresponding to each of the N positions of the perception target (N signal transmission angles) and calculates the speed value corresponding to each of the N-1 positions (N-1 speed values). The first node sends the N signal transmission angles and N-1 speed values ​​to the second node. The second node receives the N signal transmission angles and N-1 speed values.

[0178] Correspondingly, the number of multiple groups of perception parameters is N. When the perception parameters include the measurement values ​​of the signal arrival angle, delay value and Doppler frequency, each of the N consecutive positions of the perception target corresponds to a set of perception parameters, that is, each of the N consecutive positions of the perception target corresponds to a measurement value of the signal arrival angle, delay value and Doppler frequency.

[0179] In an optional embodiment, obtaining the perceived frequency offset value according to the attribute parameter and the perception parameter includes:

[0180] According to the signal transmission angle corresponding to each of the N positions of the perception target, the speed value corresponding to each of the N-1 positions, and the signal arrival angle corresponding to each of the N positions, an estimated value of the Doppler frequency corresponding to each of the N-1 positions of the perception target is obtained, where N is an integer greater than 1. Specifically, the second node uses the N-1 speed values, the N signal arrival angle values, and the N transmission angle values ​​to calculate the estimated value of the Doppler frequency.

[0181] The difference between each estimated Doppler frequency and a first average value is used as a perceived frequency deviation value, where the first average value is the average of the measured Doppler frequencies corresponding to each of the N positions of the perceived target. That is, the perceived frequency deviation value is the difference between the estimated values ​​of the N-1 groups of Doppler frequencies and the average of the measured values ​​of the N Doppler frequencies.

[0182] It should be noted that, when there are multiple second nodes, each second node calculates its own corresponding perceived frequency offset value.

[0183] In an optional embodiment, obtaining a perceived frequency offset value according to the attribute parameter and the perception parameter, and sending the perceived frequency offset value to the first node includes:

[0184] Multiple perceived frequency offset values ​​are obtained based on the attribute parameters and the perception parameters, i.e., multiple second nodes obtain multiple perceived frequency offset values ​​based on the attribute parameters and the perception parameters, or a second node repeats the above process to obtain multiple perceived frequency offset values ​​based on the attribute parameters and the perception parameters.

[0185] The multiple perceived frequency offset values ​​are sent to the first node. Specifically, the second node sends the multiple perceived frequency offset values ​​to the first node or sends the multiple perceived frequency offset values ​​to the first node via a server.

[0186] Furthermore, the method further comprises:

[0187] Receiving the configuration information of the sensing reference signal sent by the first node, that is, before starting frequency offset cancellation training, the transmitting node configures the sensing reference signal for frequency offset cancellation and sends the configuration information to the receiving node.

[0188] The configuration information includes at least one of the following:

[0189] The time domain position of the perception reference signal;

[0190] a signal period of the sensing reference signal;

[0191] duration of the sensing reference signal;

[0192] The number of repetitions N of sending the perception reference signal;

[0193] The signal transmission interval T of the perception reference signal.

[0194] The following is an example to illustrate the overall process of the method for obtaining the perceived frequency offset provided by an embodiment of the present invention:

[0195] Step 1: The upper-layer network designates R+1 nodes within the network to form a collaborative cluster. The nodes within the cluster synchronize their clocks and prepare for frequency offset measurement. The upper-layer network designates a single node within the cluster as the transmitting node, and the remaining R nodes (R ≥ 1) within the cluster as receiving nodes. The upper-layer network selects the server or transmitting node as the result aggregation node.

[0196] For example, the upper-layer network specifies three nodes within the network, {node A, node B, and node C}, to form a collaborative cluster. Node A acts as the transmitting node, and nodes B and C act as receiving nodes. The three nodes synchronize their clocks and prepare for frequency offset measurement. The upper-layer network selects node A as the result aggregation node.

[0197] Step 2: Start frequency offset cancellation training. The transmitting node configures the perception reference signal used to cancel frequency offset, including the signal's time domain position, period, duration, number of repetitions N, repetition interval T and other time domain information, and sends the above information to the receiving node.

[0198] For example, to start frequency offset cancellation training, node A configures the sensing reference signal used to cancel frequency offset, including the signal's time domain position, period, duration, repetition count of 2, and repetition interval of T, and sends the above information to nodes B and C.

[0199] Step 3: The transmitting node sends a sensing reference signal into space.

[0200] For example, node A sends a sensing reference signal into space.

[0201] Step 4: R receiving nodes receive the reflected signal from the sensing target, remove background noise and clutter from the reflected signal, and extract the sensing parameter measurement quantity covering the sensing target. The sensing parameters include: signal arrival angle, delay value, and Doppler frequency measurement value;

[0202] For example, Node B and Node C receive the reflected signal from the sensing target, remove background noise and clutter from the reflected signal, and then extract the sensing parameter measurement quantity covering the sensing target. The sensing parameters include: signal arrival angle φ B 、φ C , delay value t B , t C , the measured value of the Doppler frequency f B 、f C .

[0203] Step 5: The R receiving nodes send the signal arrival angle and delay values ​​to the server or transmitting node.

[0204] For example, Node B and Node C send the signal arrival angle and delay value to Node A.

[0205] Step 6: Repeat steps 3 to 5 during the training cycle, and the transmitting node and the receiving node obtain N sets of perception parameters.

[0206] For example, repeating steps 3 to 5 during the training cycle, the transmitting and receiving nodes obtain two sets of perception parameters, the signal arrival angle {φ B1 ,φ C1 ,φ B2 ,φ C2}, delay value {t B1 , t C1 , t B2 , t C2}、Doppler frequency measurement value {f B1 , f C1, f B2 , f C2};

[0207] Step 7: The server or transmitting node uses the information fed back by the receiving node to calculate the signal transmission angle corresponding to the target at N consecutive positions and calculate N-1 speed values.

[0208] For example, node A calculates the signal transmission angle φ of the sensing target at two consecutive positions {(x1, y1), (x2, y2)} A1 、φ A2 , and calculate the speed value

[0209] Step 8: The server or transmitting node sends N signal transmission angles and N-1 speed values ​​to R receiving nodes.

[0210] For example, node A will send a signal with a transmission angle φ A1 、φ A2 , and the speed value is sent to node B & node C.

[0211] Step 9: R receiving nodes calculate the Doppler frequency estimate using the N-1 velocity values, N signal arrival angle values, and N transmission angle values. The perceived frequency offset is the average of the differences between the N-1 Doppler frequency estimates and the measured Doppler frequency.

[0212] For example, node B & node C use (v x , v y ),{φ B1 ,φ C1 ,φ B2 ,φ C2}、{φ A1 ,φ A2}Calculate an estimate of the Doppler frequency:

[0213]

[0214]

[0215] Among them, f c is the carrier frequency, C is the speed of light, and the perceived frequency deviation is (the perceived frequency offset corresponding to Node B), (Perceived frequency offset corresponding to node C).

[0216] Step 10: The R receiving nodes send the sensed frequency offset to the transmitting node or the server, which can be used to adjust the sensing reference signal transmitted by the transmitting node.

[0217] For example, node B and node C will sense the frequency offset Δf d，B With Δf d，CSent to node A, it can be used to adjust the signal transmitted by the transmitting node.

[0218] Step 11: When the perceived frequency deviation meets the requirements, terminate the training.

[0219] For example, the perceived frequency offset Δf d，B With Δf d，C When the data range and quantity requirements are met, the training is terminated.

[0220] The method for acquiring the sensed frequency deviation provided by the embodiment of the present invention can obtain the frequency deviation through mutual verification between sensed data, thereby improving the target Doppler frequency measurement accuracy and improving the speed measurement efficiency, refresh rate and accuracy.

[0221] like Figure 3 As shown, an embodiment of the present invention further provides a device for acquiring a perceived frequency offset, which is applied to a first node. The device includes:

[0222] A first transceiver module 301 is configured to send a sensing reference signal and receive sensing parameters of a sensing target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the sensing reference signal from the sensing target, and the sensing parameters are obtained by the second node based on the reflection signal;

[0223] A first processing module 302 is configured to obtain attribute parameters corresponding to the perception target based on the perception parameters, and send the attribute parameters to the second node;

[0224] The first receiving module 303 is configured to receive a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter.

[0225] Optionally, the device further comprises:

[0226] The first target processing module is configured to adjust and send the perception reference signal according to the perception frequency offset value.

[0227] Optionally, the perception parameter includes at least one of the following:

[0228] signal arrival angle;

[0229] Delay value;

[0230] The measurement of the Doppler frequency.

[0231] Optionally, the attribute parameter includes at least one of the following:

[0232] The signal emission angle corresponding to the sensing target;

[0233] The speed value of the perceived target.

[0234] Optionally, the device further comprises:

[0235] A first configuration module, configured to configure configuration information of the perception reference signal;

[0236] A first target sending module, configured to send the configuration information to the second node;

[0237] The configuration information includes at least one of the following:

[0238] The time domain position of the perception reference signal;

[0239] a signal period of the sensing reference signal;

[0240] duration of the sensing reference signal;

[0241] a repetition number of times the sensing reference signal is sent;

[0242] The signal transmission interval of the perception reference signal.

[0243] Optionally, the first transceiver module 301 includes:

[0244] A first receiving unit is configured to receive a signal arrival angle and a signal delay value corresponding to each of N positions of the sensing target fed back by the second node, where N is an integer greater than 1;

[0245] The first processing module 302 includes:

[0246] a first processing unit, configured to obtain, based on the signal arrival angle and the time delay value corresponding to each of the N positions, a signal transmission angle corresponding to each of the N positions and a speed value corresponding to each of N-1 positions of the perception target, where the N-1 positions are positions other than the first position of the N positions;

[0247] The first sending unit is configured to send the signal transmission angle corresponding to each of the N positions and the speed value corresponding to each of the N-1 positions of the sensing target to the second node.

[0248] Optionally, the first receiving module 303 includes:

[0249] A second receiving unit, configured to receive a plurality of perceived frequency offset values ​​obtained by the second node according to the attribute parameter and the perception parameter;

[0250] The device further comprises:

[0251] The second target processing module is configured to stop sending the perception reference signal into space if the number of the plurality of perception frequency offset values ​​meets a preset number requirement and the plurality of perception frequency offset values ​​are all within a preset range.

[0252] It should be noted that the device for obtaining the perceived frequency offset applied to the first node described in an embodiment of the present invention is a device capable of executing the above-mentioned method for obtaining the perceived frequency offset applied to the first node. All embodiments of the above-mentioned method for obtaining the perceived frequency offset applied to the first node are applicable to the device and can achieve the same or similar technical effects.

[0253] like Figure 4 As shown, an embodiment of the present invention further provides a device for acquiring a perceived frequency offset, which is applied to a second node. The device includes:

[0254] A second receiving module 401 is configured to receive a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node;

[0255] A second processing module 402 is configured to obtain a perception parameter of the perception target according to the reflected signal, and feed the perception parameter back to the first node;

[0256] A third receiving module 403 is configured to receive attribute parameters corresponding to the perception target obtained by the first node according to the perception parameters;

[0257] The third processing module 404 is configured to obtain a perceived frequency offset value according to the attribute parameter and the perception parameter, and send the perceived frequency offset value to the first node.

[0258] Optionally, the perception parameter includes at least one of the following:

[0259] signal arrival angle;

[0260] Delay value;

[0261] The measurement of the Doppler frequency.

[0262] Optionally, the attribute parameter includes at least one of the following:

[0263] The signal emission angle corresponding to the sensing target;

[0264] The speed value of the perceived target.

[0265] Optionally, the second receiving module 401 includes:

[0266] a third receiving unit, configured to receive reflection signals of the sensing target at N positions of the sensing reference signal, where N is an integer greater than 1;

[0267] The second processing module 402 includes:

[0268] A second processing unit is configured to obtain a signal arrival angle and a signal delay value corresponding to each of the N positions of the sensing target based on the reflected signal corresponding to each of the N positions;

[0269] The second sending unit is used to feed back the signal arrival angle and delay value corresponding to each of the N positions of the perception target to the first node.

[0270] Optionally, the third receiving module 403 includes:

[0271] a fourth receiving unit, configured to receive, from the second node, a signal transmission angle corresponding to each of the N positions of the sensed target and a speed value corresponding to each of the N-1 positions, and send the received signals to the second node, where the N-1 positions are positions other than the first position in the N positions, and N is an integer greater than 1;

[0272] Among them, the signal transmission angle corresponding to each of the N positions of the perception target and the speed value corresponding to each of the N-1 positions are obtained by the first node based on the signal arrival angle and delay value corresponding to each of the N positions of the perception target.

[0273] Optionally, the third processing module 404 includes:

[0274] a third processing unit, configured to obtain an estimated value of the Doppler frequency corresponding to each of the N-1 positions of the perception target based on the signal transmission angle corresponding to each of the N positions of the perception target, the velocity value corresponding to each of the N-1 positions of the perception target, and the signal arrival angle corresponding to each of the N positions, where N is an integer greater than 1;

[0275] The fourth processing unit is configured to use a difference between the estimated value of each Doppler frequency and a first average value as a perceived frequency deviation value, wherein the first average value is an average value of the measured values ​​of the Doppler frequency corresponding to each of the N positions of the perceived target.

[0276] Optionally, the third processing module 404 includes:

[0277] a fifth processing unit, configured to obtain a plurality of perceived frequency offset values ​​according to the attribute parameter and the perception parameter;

[0278] The third sending unit is configured to send the multiple perceived frequency offset values ​​to the first node.

[0279] Optionally, the device further comprises:

[0280] A first target receiving module, configured to receive the configuration information of the perception reference signal sent by the first node;

[0281] The configuration information includes at least one of the following:

[0282] The time domain position of the perception reference signal;

[0283] a signal period of the sensing reference signal;

[0284] duration of the sensing reference signal;

[0285] a repetition number of times the sensing reference signal is sent;

[0286] The signal transmission interval of the perception reference signal.

[0287] It should be noted that the device for obtaining the perceived frequency offset applied to the second node described in an embodiment of the present invention is a device capable of executing the above-mentioned method for obtaining the perceived frequency offset applied to the second node. All embodiments of the above-mentioned method for obtaining the perceived frequency offset applied to the second node are applicable to the device and can achieve the same or similar technical effects.

[0288] like Figure 5 As shown, an embodiment of the present invention further provides a node device, which is a first node and includes: a processor 501 and a transceiver 502;

[0289] The transceiver 502 is configured to send a sensing reference signal and receive a sensing parameter of a sensing target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the sensing reference signal from the sensing target, and the sensing parameter is obtained by the second node based on the reflection signal;

[0290] The processor 501 is configured to obtain attribute parameters corresponding to the perception target according to the perception parameters;

[0291] The transceiver 502 is configured to send the attribute parameter to the second node; and receive a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter.

[0292] Optionally, the processor 501 is further configured to:

[0293] The perception reference signal is sent according to the perception frequency offset value.

[0294] Optionally, the perception parameter includes at least one of the following:

[0295] signal arrival angle;

[0296] Delay value;

[0297] The measurement of the Doppler frequency.

[0298] Optionally, the attribute parameter includes at least one of the following:

[0299] The signal emission angle corresponding to the sensing target;

[0300] The speed value of the perceived target.

[0301] Optionally, the processor 501 is further configured to:

[0302] Configuring configuration information of the perception reference signal;

[0303] The transceiver 502 is further configured to:

[0304] Sending the configuration information to the second node;

[0305] The configuration information includes at least one of the following:

[0306] The time domain position of the perception reference signal;

[0307] a signal period of the sensing reference signal;

[0308] duration of the sensing reference signal;

[0309] a repetition number of times the sensing reference signal is sent;

[0310] The signal transmission interval of the perception reference signal.

[0311] Optionally, the transceiver 502 is specifically configured to:

[0312] Receive the signal arrival angle and delay value corresponding to each of N positions of the sensing target fed back by the second node, where N is an integer greater than 1;

[0313] The processor 501 is specifically configured to:

[0314] Obtaining, based on the signal arrival angle and the time delay value corresponding to each of the N positions, a signal transmission angle corresponding to each of the N positions and a speed value corresponding to each of N-1 positions of the perception target, where the N-1 positions are positions other than the first position in the N positions;

[0315] The transceiver 502 is specifically used for:

[0316] The signal transmission angle corresponding to each of the N positions of the sensing target and the speed value corresponding to each of the N-1 positions are sent to the second node.

[0317] Optionally, the transceiver 502 is specifically configured to:

[0318] receiving a plurality of perceived frequency offset values ​​obtained by the second node according to the attribute parameter and the perception parameter;

[0319] The processor 501 is further configured to:

[0320] When the number of the plurality of perceived frequency offset values ​​meets a preset number requirement and the plurality of perceived frequency offset values ​​are all within a preset range, sending the perception reference signal to the space is stopped.

[0321] It should be noted that the first node described in the embodiment of the present invention is a device capable of executing the above-mentioned method for obtaining the perceived frequency offset applied to the first node. All embodiments of the above-mentioned method for obtaining the perceived frequency offset applied to the first node are applicable to the first node and can achieve the same or similar technical effects.

[0322] An embodiment of the present invention further provides a node device, the node device being a second node, comprising: a processor and a transceiver;

[0323] It should be noted that the structure of the second node provided in the embodiment of the present invention is similar to that of Figure 5 The structure of the first node shown is basically the same and will not be repeated here.

[0324] The transceiver is configured to receive a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node;

[0325] The processor is configured to obtain a perception parameter of the perception target according to the reflection signal;

[0326] The transceiver is configured to feed back the perception parameters to the first node; and receive attribute parameters corresponding to the perception target obtained by the first node based on the perception parameters;

[0327] The processor is configured to obtain a perceived frequency offset value according to the attribute parameter and the perception parameter;

[0328] The transceiver is configured to send the perceived frequency offset value to the first node.

[0329] Optionally, the perception parameter includes at least one of the following:

[0330] signal arrival angle;

[0331] Delay value;

[0332] The measurement of the Doppler frequency.

[0333] Optionally, the attribute parameter includes at least one of the following:

[0334] The signal emission angle corresponding to the sensing target;

[0335] The speed value of the perceived target.

[0336] Optionally, the transceiver is specifically configured to:

[0337] receiving reflection signals of the sensing target at N positions with respect to the sensing reference signal, where N is an integer greater than 1;

[0338] The processor is specifically configured to:

[0339] Obtaining, according to the reflected signal corresponding to each of the N positions, a signal arrival angle and a signal delay value corresponding to each of the N positions of the sensing target;

[0340] The transceiver is specifically used for:

[0341] The signal arrival angle and delay value corresponding to each of the N positions of the sensing target are fed back to the first node.

[0342] Optionally, the transceiver is specifically configured to:

[0343] receiving, from the second node, a signal transmission angle corresponding to each of the N positions of the sensed target and a speed value corresponding to each of the N-1 positions, and sending the received signals to the second node, where the N-1 positions are positions other than the first position of the N positions, and N is an integer greater than 1;

[0344] Among them, the signal transmission angle corresponding to each of the N positions of the perception target and the speed value corresponding to each of the N-1 positions are obtained by the first node based on the signal arrival angle and delay value corresponding to each of the N positions of the perception target.

[0345] Optionally, the processor is specifically configured to:

[0346] Obtain an estimated value of the Doppler frequency of the perceived target at each of the N-1 positions based on the signal transmission angle corresponding to each of the N positions, the velocity value corresponding to each of the N-1 positions, and the signal arrival angle corresponding to each of the N positions, where N is an integer greater than 1;

[0347] The difference between the estimated value of each Doppler frequency and a first average value is used as a perceived frequency deviation value, wherein the first average value is an average value of the measured values ​​of the Doppler frequency corresponding to each of the N positions of the perceived target.

[0348] Optionally, the processor is specifically configured to:

[0349] a plurality of perceived frequency offset values ​​obtained according to the attribute parameters and the perception parameters;

[0350] The transceiver is specifically used for:

[0351] The multiple perceived frequency offset values ​​are sent to the first node.

[0352] Optionally, the transceiver is further configured to:

[0353] receiving configuration information of the perception reference signal sent by the first node;

[0354] The configuration information includes at least one of the following:

[0355] The time domain position of the perception reference signal;

[0356] a signal period of the sensing reference signal;

[0357] duration of the sensing reference signal;

[0358] a repetition number of times the sensing reference signal is sent;

[0359] The signal transmission interval of the perception reference signal.

[0360] It should be noted that the second node described in the embodiment of the present invention is a device capable of executing the above-mentioned method for obtaining the perceived frequency offset applied to the second node. All embodiments of the above-mentioned method for obtaining the perceived frequency offset applied to the second node are applicable to the second node and can achieve the same or similar technical effects.

[0361] like Figure 6 As shown, an embodiment of the present invention also provides a node device, which is a first node, including: a processor 601; and a memory 603 connected to the processor 601 through a bus interface 602, wherein the memory 603 is used to store programs and data used by the processor 601 when performing operations, and the processor 601 calls and executes the programs and data stored in the memory 603.

[0362] The transceiver 604 is connected to the bus interface 602 and is configured to receive and send data under the control of the processor 601. Specifically, the processor 601 is configured to read the program in the memory 603, and the transceiver 604 performs the following process:

[0363] sending a sensing reference signal, and receiving a sensing parameter of a sensing target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the sensing reference signal by the sensing target, and the sensing parameter is obtained by the second node based on the reflection signal;

[0364] The processor 601 performs the following processes:

[0365] Obtaining attribute parameters corresponding to the perception target according to the perception parameters;

[0366] The transceiver 604 performs the following process:

[0367] sending the attribute parameter to the second node; and receiving a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter;

[0368] Optionally, the processor 601 is further configured to:

[0369] The perception reference signal is sent according to the perception frequency offset value.

[0370] Optionally, the perception parameter includes at least one of the following:

[0371] signal arrival angle;

[0372] Delay value;

[0373] The measurement of the Doppler frequency.

[0374] Optionally, the attribute parameter includes at least one of the following:

[0375] The signal emission angle corresponding to the sensing target;

[0376] The speed value of the perceived target.

[0377] Optionally, the processor 601 is further configured to:

[0378] Configuring configuration information of the perception reference signal;

[0379] The transceiver 604 is further configured to:

[0380] Sending the configuration information to the second node;

[0381] The configuration information includes at least one of the following:

[0382] The time domain position of the perception reference signal;

[0383] a signal period of the sensing reference signal;

[0384] duration of the sensing reference signal;

[0385] a repetition number of times the sensing reference signal is sent;

[0386] The signal transmission interval of the perception reference signal.

[0387] Optionally, the transceiver 604 is specifically configured to:

[0388] Receive the signal arrival angle and delay value corresponding to each of N positions of the sensing target fed back by the second node, where N is an integer greater than 1;

[0389] The processor 601 is specifically configured to:

[0390] Obtaining, based on the signal arrival angle and the time delay value corresponding to each of the N positions, a signal transmission angle corresponding to each of the N positions and a speed value corresponding to each of N-1 positions of the perception target, where the N-1 positions are positions other than the first position in the N positions;

[0391] The transceiver 604 is specifically used for:

[0392] The signal transmission angle corresponding to each of the N positions of the sensing target and the speed value corresponding to each of the N-1 positions are sent to the second node.

[0393] Optionally, the transceiver 604 is specifically configured to:

[0394] receiving a plurality of perceived frequency offset values ​​obtained by the second node according to the attribute parameter and the perception parameter;

[0395] The processor 601 is further configured to:

[0396] When the number of the plurality of perceived frequency offset values ​​meets a preset number requirement and the plurality of perceived frequency offset values ​​are all within a preset range, sending the perception reference signal to the space is stopped.

[0397] Among them, Figure 6In the embodiment, the bus architecture may include any number of interconnected buses and bridges, specifically linking together various circuits of one or more processors represented by processor 601 and memory represented by memory 603. The bus architecture may also link together various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are all well known in the art and, therefore, will not be described further herein. The bus interface 602 provides a user interface 605. The transceiver 604 may be a plurality of components, i.e., including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium. The processor 601 is responsible for managing the bus architecture and general processing, and the memory 603 may store data used by the processor 601 when performing operations.

[0398] An embodiment of the present invention also provides a node device, which is a second node and includes: a processor; and a memory connected to the processor through a bus interface, the memory being used to store programs and data used by the processor when performing operations, and the processor calling and executing the programs and data stored in the memory.

[0399] The transceiver is connected to the bus interface and is used to receive and send data under the control of the processor.

[0400] It should be noted that the second node provided in the embodiment of the present invention is similar to Figure 6 The structure of the first node shown is basically the same and will not be described again.

[0401] Specifically, the processor is configured to read the program in the memory, and the transceiver performs the following process:

[0402] receiving a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node;

[0403] The processor executes the following processes:

[0404] Obtaining a perception parameter of the perception target according to the reflection signal;

[0405] The transceiver performs the following process:

[0406] Feedback the perception parameter to the first node; receive attribute parameters corresponding to the perception target obtained by the first node based on the perception parameter;

[0407] The processor executes the following processes:

[0408] Obtaining a perceived frequency deviation value according to the attribute parameter and the perception parameter;

[0409] The transceiver performs the following process:

[0410] The perceived frequency offset value is sent to the first node.

[0411] Optionally, the perception parameter includes at least one of the following:

[0412] signal arrival angle;

[0413] Delay value;

[0414] The measurement of the Doppler frequency.

[0415] Optionally, the attribute parameter includes at least one of the following:

[0416] The signal emission angle corresponding to the sensing target;

[0417] The speed value of the perceived target.

[0418] Optionally, the transceiver is specifically configured to:

[0419] receiving reflection signals of the sensing target at N positions with respect to the sensing reference signal, where N is an integer greater than 1;

[0420] The processor is specifically configured to:

[0421] Obtaining, according to the reflected signal corresponding to each of the N positions, a signal arrival angle and a signal delay value corresponding to each of the N positions of the sensing target;

[0422] The transceiver is specifically used for:

[0423] The signal arrival angle and delay value corresponding to each of the N positions of the sensing target are fed back to the first node.

[0424] Optionally, the transceiver is specifically configured to:

[0425] receiving, from the second node, a signal transmission angle corresponding to each of the N positions of the sensed target and a speed value corresponding to each of the N-1 positions, and sending the received signals to the second node, where the N-1 positions are positions other than the first position of the N positions, and N is an integer greater than 1;

[0426] Among them, the signal transmission angle corresponding to each of the N positions of the perception target and the speed value corresponding to each of the N-1 positions are obtained by the first node based on the signal arrival angle and delay value corresponding to each of the N positions of the perception target.

[0427] Optionally, the processor is specifically configured to:

[0428] Obtain an estimated value of the Doppler frequency of the perceived target at each of the N-1 positions based on the signal transmission angle corresponding to each of the N positions, the velocity value corresponding to each of the N-1 positions, and the signal arrival angle corresponding to each of the N positions, where N is an integer greater than 1;

[0429] The difference between the estimated value of each Doppler frequency and a first average value is used as a perceived frequency deviation value, wherein the first average value is an average value of the measured values ​​of the Doppler frequency corresponding to each of the N positions of the perceived target.

[0430] Optionally, the processor is specifically configured to:

[0431] a plurality of perceived frequency offset values ​​obtained according to the attribute parameters and the perception parameters;

[0432] The transceiver is specifically used for:

[0433] The multiple perceived frequency offset values ​​are sent to the first node.

[0434] Optionally, the transceiver is further configured to:

[0435] receiving configuration information of the perception reference signal sent by the first node;

[0436] The configuration information includes at least one of the following:

[0437] The time domain position of the perception reference signal;

[0438] a signal period of the sensing reference signal;

[0439] duration of the sensing reference signal;

[0440] a repetition number of times the sensing reference signal is sent;

[0441] The signal transmission interval of the perception reference signal.

[0442] In addition, a specific embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein when the program is executed by a processor, the steps of the method for obtaining a perceived frequency offset applied to a first node as described above are implemented, or the steps of the method for obtaining a perceived frequency offset applied to a second node as described above are implemented.

[0443] In the several embodiments provided in this application, it should be understood that the disclosed methods and devices can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely 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 an indirect coupling or communication connection of some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0444] In addition, the functional units in various embodiments of the present invention may be integrated into a single processing unit, each unit may be physically included 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 hardware plus software functional units.

[0445] The above-mentioned integrated unit implemented in the form of a software functional unit can be stored in a computer-readable storage medium. The above-mentioned software functional unit is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to perform some of the steps of the sending and receiving methods described in various embodiments of the present invention. The aforementioned storage medium includes: a USB flash drive, a mobile hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, an optical disk, and other media that can store program code.

[0446] A specific embodiment of the present invention further provides a computer program product, including computer instructions, which, when executed by a processor, implement the above Figure 1 or Figure 2 The various processes of the method embodiment shown can achieve the same technical effect, and to avoid repetition, they will not be described here.

[0447] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary personnel in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for obtaining a perceived frequency offset, characterized in that: Applied to the first node, the method includes: sending a sensing reference signal, and receiving a sensing parameter of a sensing target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the sensing reference signal by the sensing target, and the sensing parameter is obtained by the second node based on the reflection signal; Obtaining attribute parameters corresponding to the perception target according to the perception parameters, and sending the attribute parameters to the second node; Receive a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter.

2. The method according to claim 1, characterized in that The method further comprises: The perception reference signal is sent according to the perception frequency offset value.

3. The method according to claim 1, characterized in that The perception parameter includes at least one of the following: signal arrival angle; Delay value; The measurement of the Doppler frequency.

4. The method according to claim 1, wherein The attribute parameters include at least one of the following: The signal emission angle corresponding to the sensing target; The speed value of the perceived target.

5. The method according to claim 1, wherein Before sending the perception reference signal into the space, the method further includes: Configuring configuration information of the perception reference signal; Sending the configuration information to the second node; The configuration information includes at least one of the following: The time domain position of the perception reference signal; a signal period of the sensing reference signal; duration of the sensing reference signal; a repetition number of times the sensing reference signal is sent; The signal transmission interval of the perception reference signal.

6. The method according to claim 1, characterized in that Receiving the perception parameter of the perception target fed back by the second node includes: Receive the signal arrival angle and delay value corresponding to each of N positions of the sensing target fed back by the second node, where N is an integer greater than 1; Obtaining attribute parameters corresponding to the perception target according to the perception parameters, and sending the attribute parameters to the second node, including: Obtaining, based on the signal arrival angle and the time delay value corresponding to each of the N positions, a signal transmission angle corresponding to each of the N positions and a speed value corresponding to each of N-1 positions of the perception target, where the N-1 positions are positions other than the first position in the N positions; The signal transmission angle corresponding to each of the N positions of the sensing target and the speed value corresponding to each of the N-1 positions are sent to the second node.

7. The method according to claim 6, characterized in that Receiving a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter, including: receiving a plurality of perceived frequency offset values ​​obtained by the second node according to the attribute parameter and the perception parameter; The method further comprises: When the number of the plurality of perceived frequency offset values ​​meets a preset number requirement and the plurality of perceived frequency offset values ​​are all within a preset range, sending the perception reference signal to the space is stopped.

8. A method for obtaining a perceived frequency offset, characterized in that: Applied to the second node, the method includes: receiving a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node; Obtaining a perception parameter of the perception target according to the reflected signal, and feeding the perception parameter back to the first node; and receiving an attribute parameter corresponding to the perception target obtained by the first node according to the perception parameter; A perceived frequency offset value is obtained according to the attribute parameter and the perception parameter, and the perceived frequency offset value is sent to the first node.

9. The method according to claim 8, characterized in that The perception parameter includes at least one of the following: signal arrival angle; Delay value; The measurement of the Doppler frequency.

10. The method according to claim 8, characterized in that The attribute parameters include at least one of the following: The signal emission angle corresponding to the sensing target; The speed value of the perceived target.

11. The method according to claim 7, characterized in that Receiving the reflected signal of the sensing target to the sensing reference signal, including: receiving reflection signals of the sensing target at N positions with respect to the sensing reference signal, where N is an integer greater than 1; Obtaining a perception parameter of the perception target according to the reflected signal, and feeding the perception parameter back to the first node, includes: Obtaining, according to the reflected signal corresponding to each of the N positions, a signal arrival angle and a signal delay value corresponding to each of the N positions of the sensing target; The signal arrival angle and delay value corresponding to each of the N positions of the sensing target are fed back to the first node.

12. The method according to claim 8, characterized in that Receiving the attribute parameter corresponding to the perception target obtained by the first node according to the perception parameter, including: receiving, from the second node, a signal transmission angle corresponding to each of the N positions of the sensed target and a speed value corresponding to each of the N-1 positions, and sending the received signals to the second node, where the N-1 positions are positions other than the first position of the N positions, and N is an integer greater than 1; Among them, the signal transmission angle corresponding to each of the N positions of the perception target and the speed value corresponding to each of the N-1 positions are obtained by the first node based on the signal arrival angle and delay value corresponding to each of the N positions of the perception target.

13. The method according to claim 8, characterized in that Obtaining a perceived frequency offset value according to the attribute parameter and the perception parameter includes: Obtain an estimated value of the Doppler frequency of the perceived target at each of the N-1 positions based on the signal transmission angle corresponding to each of the N positions, the velocity value corresponding to each of the N-1 positions, and the signal arrival angle corresponding to each of the N positions, where N is an integer greater than 1; The difference between the estimated value of each Doppler frequency and a first average value is used as a perceived frequency deviation value, wherein the first average value is an average value of the measured values ​​of the Doppler frequency corresponding to each of the N positions of the perceived target.

14. The method according to claim 8, characterized in that Obtaining a perceived frequency offset value according to the attribute parameter and the perception parameter, and sending the perceived frequency offset value to the first node, includes: a plurality of perceived frequency offset values ​​obtained according to the attribute parameters and the perception parameters; The multiple perceived frequency offset values ​​are sent to the first node.

15. The method according to claim 8, characterized in that The method further comprises: receiving configuration information of the perception reference signal sent by the first node; The configuration information includes at least one of the following: The time domain position of the perception reference signal; a signal period of the sensing reference signal; duration of the sensing reference signal; a repetition number of times the sensing reference signal is sent; The signal transmission interval of the perception reference signal.

16. A device for acquiring a perceived frequency deviation, characterized in that: Applied to a first node, the apparatus includes: a first transceiver module, configured to send a sensing reference signal and receive a sensing parameter of a sensing target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the sensing reference signal from the sensing target, and the sensing parameter is obtained by the second node based on the reflection signal; A first processing module is configured to obtain attribute parameters corresponding to the perception target according to the perception parameters, and send the attribute parameters to the second node; The first receiving module is configured to receive a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter.

17. A device for acquiring a perceived frequency deviation, characterized in that: Applied to the second node, the apparatus includes: a second receiving module, configured to receive a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node; a second processing module, configured to obtain a perception parameter of the perception target according to the reflected signal, and feed the perception parameter back to the first node; A third receiving module is configured to receive attribute parameters corresponding to the perception target obtained by the first node according to the perception parameters; The third processing module is configured to obtain a perceived frequency offset value according to the attribute parameter and the perception parameter, and send the perceived frequency offset value to the first node.

18. A node device, the node device being a first node, characterized in that: include: processor and transceiver; the transceiver is configured to send a perception reference signal and receive a perception parameter of a perception target fed back by a second node, wherein the second node is capable of receiving a reflection signal of the perception reference signal by the perception target, and the perception parameter is obtained by the second node based on the reflection signal; The processor is configured to obtain attribute parameters corresponding to the perception target based on the perception parameters; The transceiver is configured to send the attribute parameter to the second node; and receive a perceived frequency offset value obtained by the second node according to the attribute parameter and the perception parameter.

19. A node device, the node device being a second node, characterized in that: include: processor and transceiver; The transceiver is configured to receive a reflection signal of a sensing target to a sensing reference signal, where the sensing reference signal is sent by the first node; The processor is configured to obtain a perception parameter of the perception target according to the reflection signal; The transceiver is configured to feed back the sensing parameter to the first node; Receiving attribute parameters corresponding to the perception target obtained by the first node according to the perception parameters; The processor is configured to obtain a perceived frequency offset value according to the attribute parameter and the perception parameter; The transceiver is configured to send the perceived frequency offset value to the first node.

20. A node device, characterized in that: include: A processor, a memory, and a program stored in the memory and executable on the processor, wherein when the program is executed by the processor, the program implements the method for obtaining the perceived frequency offset according to any one of claims 1 to 7, or implements the method for obtaining the perceived frequency offset according to any one of claims 8 to 15.

21. A readable storage medium, characterized in that The readable storage medium stores a program, and when the program is executed by the processor, the program implements the steps of the method for obtaining the perceived frequency offset according to any one of claims 1 to 7, or implements the steps of the method for obtaining the perceived frequency offset according to any one of claims 8 to 15.

22. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the method for obtaining the perceived frequency offset according to any one of claims 1 to 7, or implement the steps of the method for obtaining the perceived frequency offset according to any one of claims 8 to 15.

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