Communication-aware integration implementation method, location-aware method, apparatus, and device

Abstract

The embodiment of the application provides a kind of communication perception integration implementation method, position perception method, device and equipment;The method comprises: using first communication unit to generate probe signal, probe signal is respectively mapped to the multiple first perception symbols of first flexible frame, and probe signal is sent according to preset first frame structure, first flexible frame is a frame in first frame structure;Using second communication unit according to preset second frame structure, receive echo signal at each second perception symbol of second flexible frame, and send to perception processing unit, the structure of second frame structure is identical with first frame structure, the symbol ratio of first flexible frame and second flexible frame is different, echo signal is the signal after probe signal is reflected by target object;Using perception processing unit determines the relative position of communication device and target object.In the perception position, normal communication service is not affected, and communication function and position perception function can be completed in the same communication device.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a method for integrated communication and sensing, a location sensing method, an apparatus, and a device. Background Technology

[0002] In many communication scenarios, it is necessary to sense the location of the target object while communicating. For example, when a vehicle is exchanging information with a service platform, it also needs to sense the location of other objects around it.

[0003] In related communication and sensing methods, the communication function is often implemented on one server or communication device, while the location sensing function is implemented on another server or sensing device. Therefore, location sensing in communication usually requires two different servers or devices.

[0004] In some integrated sensing approaches, since communication and location awareness functions are difficult to implement on the same server or device, the communication device and the device used to realize location awareness are often integrated together in the above scenarios to perform communication and location awareness simultaneously. However, this approach still requires the deployment of two separate servers or devices and does not achieve cost savings on servers or devices. Summary of the Invention

[0005] This application provides a method, apparatus, and device for integrated communication and sensing, addressing the problem in related technologies where communication and location sensing functions cannot be simultaneously implemented in the same device. By deploying virtual communication units within the communication device, the same device can be used to transmit and receive communication signals. Furthermore, by inserting a probe signal within a flexible frame of the transmission frame when transmitting the communication signal, the communication device can determine the relative position of the target object from the received echo signal after the probe signal is reflected by the target object. Since the frame structures of the transmitted and received signals are identical, and the symbol ratios of the flexible frames differ when transmitting and receiving signals, location sensing can be achieved without affecting normal communication services, enabling communication and location sensing functions to be completed within the same communication device.

[0006] In a first aspect, embodiments of this application provide a method for integrating communication and sensing, applied to a communication device, the communication device including a first communication unit, a second communication unit, and a sensing processing unit;

[0007] The method includes:

[0008] The first communication unit generates a detection signal, which is then mapped to multiple first sensing symbols in the first flexible frame. The detection signal is then sent according to a preset first frame structure, where the first flexible frame is a frame in the first frame structure.

[0009] Using the second communication unit, echo signals are received at each second sensing symbol in the second flexible frame according to the preset second frame structure, and then sent to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratio of the first flexible frame and the second flexible frame is different. The echo signal is the signal after the detection signal is reflected by the target object.

[0010] The relative position of the communication device and the target object is determined by the sensing and processing unit based on the echo signal.

[0011] Each first sensing symbol is configured as a downlink symbol and set at the corresponding position in the first flexible frame;

[0012] Furthermore, before mapping the detection signals to the plurality of first sensing symbols of the first flexible frame, the method further includes:

[0013] Detect whether the current symbol is a downlink symbol, and determine whether the current symbol is in the first flexible frame at the position corresponding to any first sensing symbol;

[0014] If the current symbol is a downlink symbol and is located in the first flexible frame at a position corresponding to any first sensing symbol, then the current symbol is determined to be a first sensing symbol.

[0015] Each second sensing symbol is configured as an uplink symbol and set at the corresponding position in the second flexible frame;

[0016] Furthermore, before receiving the echo signal at each of the second sensing symbols of the second flexible frame, the method further includes:

[0017] Detect whether the current symbol is an uplink symbol, and determine whether the current symbol is in the second flexible frame at the position corresponding to any first sensing symbol;

[0018] If the current symbol is an uplink symbol and is located in the second flexible frame at a position corresponding to any first sensing symbol, then the current symbol is determined to be a second sensing symbol.

[0019] Secondly, embodiments of this application provide a location sensing method, applied to the sensing processing unit as described above;

[0020] The method includes:

[0021] Determine the cost function between the echo signal and the probe signal under different time delay conditions;

[0022] Determine the target time delay when the cost function is maximized;

[0023] The relative position of the communication device and the target object is determined based on the target delay.

[0024] Wherein, the number of first perception symbols and the number of second perception symbols are the same as in the preceding item, and each first perception symbol in the first flexible frame of the preceding item corresponds to a second perception symbol at the same position in the second flexible frame;

[0025] Furthermore, the cost function between the echo signal and the probe signal is determined under different time delay conditions, including:

[0026] Under different time delays, determine the cross-correlation coefficient between the detection signal of each first sensing symbol and the echo signal of the corresponding second sensing symbol;

[0027] Using cross-correlation coefficients, the autocorrelation coefficients of the echo signals of each second sensing symbol are determined under different time delays.

[0028] Using the autocorrelation coefficient, the cost function between the echo signal and the probe signal is determined under different time delays.

[0029] The relative position includes the distance between the target object and the communication device; each second sensing symbol is configured with multiple communication resources, and each communication resource occupies a single time delay in the time domain;

[0030] Further, determining the relative position of the communication device and the target object based on the target time delay includes:

[0031] Determine the target communication resource corresponding to the target delay of the second flexible frame from multiple communication resources;

[0032] The distance between the communication device and the target object is determined by utilizing the target communication resources and the sampling interval between the two acquisitions of the second flexible frame.

[0033] The relative position also includes the orientation of the target object relative to the communication device;

[0034] Furthermore, determining the relative position of the communication device and the target object based on the target delay also includes:

[0035] Determine the target phase when the cost function is maximized;

[0036] The target phase is determined as the direction of the target object relative to the communication device.

[0037] Thirdly, embodiments of this application also provide a communication device, which includes: a first communication unit, a second communication unit, and a sensing processing unit;

[0038] The first communication unit is configured to generate a detection signal, map the detection signal to multiple first sensing symbols of the first flexible frame, and send the detection signal according to a preset first frame structure, wherein the first flexible frame is a frame in the first frame structure.

[0039] The second communication unit is configured to receive echo signals at each second sensing symbol of the second flexible frame according to a preset second frame structure, and send them to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratio of the first flexible frame and the second flexible frame is different. The echo signal is the signal after the detection signal is reflected by the target object.

[0040] The sensing and processing unit is configured to determine the relative position of the communication device and the target object based on the echo signal.

[0041] Fourthly, embodiments of this application provide a location sensing device, which includes: a cost function determination module, a time delay determination module, and a relative position determination module;

[0042] The cost function determination module is configured to determine the cost function between the echo signal and the probe signal under different time delay conditions.

[0043] The delay determination module is configured to determine the target delay when the cost function is maximized;

[0044] The relative position determination module is configured to determine the relative position between the communication device and the target object based on the target time delay.

[0045] Fifthly, embodiments of this application also provide an electronic device, the device comprising:

[0046] One or more processors;

[0047] Storage device, configured to store one or more programs,

[0048] When one or more programs are executed by one or more processors, the one or more processors implement the communication-aware integrated implementation method and / or location-aware method of the embodiments of this application.

[0049] In a sixth aspect, embodiments of this application also provide a non-volatile storage medium for storing computer-executable instructions, which, when executed by a computer processor, are configured to execute the communication-aware integrated implementation method and / or location-aware method of embodiments of this application.

[0050] In a seventh aspect, embodiments of this application also provide a computer program product, which includes a computer program stored in a computer-readable storage medium. At least one processor of the device reads from the computer-readable storage medium and executes the computer program, causing the device to execute the communication sensing integrated implementation method and / or location sensing method of embodiments of this application.

[0051] As can be seen from the above, the communication sensing integrated implementation method, location sensing method, device and equipment provided in the embodiments of this application are based on the first communication unit and the second communication unit set in the communication device. When the first communication unit sends a communication signal according to the first frame structure, since the first frame structure contains a first flexible frame, the first communication unit can map the detection signal into the first flexible frame. Based on the time division duplex mechanism, the transmission of normal communication signals is not affected while the detection signal is being sent.

[0052] On the other hand, when the second communication unit receives communication signals according to the same second frame structure, since the second frame structure also has a second flexible frame in the same time slot, the second communication unit can obtain the echo signal from the second flexible frame. Also based on the time division duplex mechanism, the reception of the normal communication signal is not affected while receiving the echo signal.

[0053] This allows the relative position between the target and the communication device to be determined based on the echo signal after it is acquired, enabling both communication and location sensing functions to be performed simultaneously within the same communication device without deploying additional hardware.

[0054] Based on this, since the echo signal is formed after the probe signal is reflected by the target object, the cost function between the echo signal and the probe signal can be determined under different time delays. Thus, when the cost function is at its maximum, the correlation between the echo signal and the probe signal is highest, and the corresponding time delay can be determined, that is, the target time delay is obtained. Since the probe signal causes this target time delay during transmission and reflection, the relative position between the communication device and the target object can be determined based on this target time delay. Attached Figure Description

[0055] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0056] Figure 1A flowchart illustrating an integrated communication and sensing implementation method provided in this application embodiment;

[0057] Figure 2 A schematic diagram of symbol allocation provided for an embodiment of this application;

[0058] Figure 3 This is a schematic diagram of a signal processing method provided in an embodiment of this application;

[0059] Figure 4 A schematic diagram illustrating the interaction of a communication unit as provided in an embodiment of this application;

[0060] Figure 5 This is a schematic diagram of signal interaction of a communication device provided in an embodiment of this application;

[0061] Figure 6 A flowchart illustrating a location-aware method provided in an embodiment of this application;

[0062] Figure 7 A structural block diagram of a communication device provided in an embodiment of this application;

[0063] Figure 8 A structural block diagram of a position sensing device provided in an embodiment of this application;

[0064] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0065] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the embodiments of this application and are not intended to limit the scope of the embodiments. Furthermore, it should be noted that, for ease of description, only the parts relevant to the embodiments of this application are shown in the accompanying drawings, not the entire structure.

[0066] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and are not limited in number; for example, a first object can be one or more. Furthermore, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship. Words such as "comprising" or "including" mean that the element or object preceding the word covers the element or object listed after the word and its equivalents, without excluding other elements or objects. Words such as "connected" or "linked" are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect. "Above," "below," "left," "right," etc., are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0067] As described in the background section, the existing methods for integrating communication and sensing are still insufficient to meet the needs of real-world scenarios.

[0068] In the process of implementing this application, the applicant discovered that the main problem with the relevant integrated communication and sensing implementation method is that in the relevant communication method, the communication function is usually implemented on a server or communication device, while in the relevant location sensing method, it is usually implemented on another server or sensing device.

[0069] However, in many communication scenarios, it is also necessary to sense the location of the target object while communicating. For example, when a vehicle is exchanging information with a service platform, it also needs to sense the location of other objects around it.

[0070] The applicant also found that in scenarios where communication and location awareness are required simultaneously, in related integrated communication and sensing implementation methods, since communication and location awareness functions are difficult to implement in the same server, device, or equipment, the server or communication device used to implement the communication function is often integrated with another server or sensing device used to implement the location awareness function into the same communication device, so as to perform communication and location awareness simultaneously.

[0071] However, since this method requires deploying two sets of servers, hardware devices or hardware equipment in the same communication device to realize the communication function and the location awareness function respectively, it undoubtedly increases the additional cost compared to deploying only one set of servers, hardware devices or hardware equipment, and also increases the computing load of the communication device.

[0072] Based on this, one or more embodiments of this application provide an integrated communication sensing method. By deploying virtual communication units in a communication device, the same device can be used to transmit and receive communication signals. When transmitting communication signals, a probe signal is inserted into the flexible frame of the frame structure. After the probe signal is reflected by the target object, the communication device can determine the relative position of the target object from the received echo signal. Since the frame structure of the transmitted and received signals is the same, and the symbol ratio of the flexible frame is different when transmitting and receiving signals, the normal communication service is not affected while sensing the position. The communication function and the position sensing function can be completed in the same communication device.

[0073] The communication sensing integration implementation method provided in this application embodiment can be executed by any electronic device in the communication base station that has the ability to calculate, process and store data, and this application embodiment does not limit this.

[0074] In some examples, the communication base station used to execute this method is equipped with a communication device, which includes a first communication unit, a second communication unit, and a sensing processing unit.

[0075] The communication device may also include a BBU (Baseband Unit), which can be used to establish a virtual first communication unit and a second communication unit. The first communication unit may also be referred to as Cell0 or Cell 0 in the embodiments of this application, and the second communication unit may also be referred to as Cell1 or Cell 1 in the embodiments of this application.

[0076] The embodiments of this application are described in detail below with reference to the accompanying drawings.

[0077] Figure 1 This is a flowchart illustrating an integrated communication sensing implementation method provided in an embodiment of this application. Figure 1 As shown, it includes the following steps:

[0078] Step S101: Generate a detection signal using the first communication unit, map the detection signal to multiple first sensing symbols of the first flexible frame, and send the detection signal according to a preset first frame structure, wherein the first flexible frame is a frame in the first frame structure.

[0079] In this embodiment, when the first communication unit sends a signal, it can send it according to a preset first frame structure.

[0080] The first frame structure can be regarded as the time slot allocation used by the first communication unit when transmitting signals.

[0081] In some examples, the frame structure can be, for example, 7D1S2U or 3D1U.

[0082] 7D1S2U represents 10 time slots configured in the order of 7 downlink frames, 1 S-frame (flexible frame), and 2 uplink frames, where each time slot can be considered as one frame.

[0083] Each frame contains multiple symbols, and the types of symbols contained in each frame can be one or more of the following: uplink symbols, downlink symbols, and null symbols.

[0084] The aforementioned S-frame indicates that within the corresponding time slot, the ratio of uplink symbols, downlink symbols, and empty symbols can be dynamically adjusted according to business needs.

[0085] In this embodiment, when the first frame structure is 7D1S2U, the communication device can use the first communication unit to generate a detection signal and map the detection signal into the first S frame in a complete first frame structure.

[0086] Based on this, the first communication unit can be instructed to send the signal of each frame according to the time slot ratio of the first frame structure.

[0087] Specifically, communication signals for normal communication can be sent in uplink and downlink frames, and a probe signal can be sent in the first S frame.

[0088] Among the multiple symbols in the first S-frame, there are multiple communication symbols used for normal communication, and multiple first sensing symbols used to carry detection signals.

[0089] Based on this, a detection signal can be mapped at each first sensing symbol.

[0090] In this embodiment, after the detection signal is emitted by the first communication unit, it will be reflected after encountering the target object. In this embodiment, the detection signal reflected by the target object is used as the echo signal.

[0091] Step S102: Using the second communication unit, according to the preset second frame structure, the echo signal is received at each second sensing symbol of the second flexible frame and sent to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratio of the first flexible frame and the second flexible frame is different. The echo signal is the signal after the detection signal is reflected by the target object.

[0092] In this embodiment, when the second communication unit receives a signal, it can receive the signal according to a preset second frame structure.

[0093] The second frame structure can be regarded as the time slot allocation used by the second communication unit when receiving signals. Furthermore, the first frame structure and the second frame structure have the same structure, that is, the time slot allocation of the two is the same.

[0094] In some examples, when the first frame structure is 7D1S2U, the second frame structure is also the same 7D1S2U.

[0095] In this embodiment, the communication device can enable the second communication unit to receive the signal of each frame according to the time slot ratio of the second frame structure.

[0096] Specifically, communication signals for normal communication can be received in uplink and downlink frames, and echo signals can be received in the second S frame.

[0097] Among the symbols in the second S-frame, there are multiple communication symbols used for normal communication, and multiple second sensing symbols used to carry detection signals.

[0098] Based on this, echo signals can be received at each second sensing symbol.

[0099] Furthermore, after the second communication unit receives the echo signal, it can send the echo signal to the sensing and processing unit in the communication device.

[0100] Step S103: Use the sensing processing unit to determine the relative position of the communication device and the target object based on the echo signal.

[0101] In this embodiment, based on the echo signal received in the aforementioned step S102, the sensing processing unit can receive the echo signal from the second communication unit. At the same time, since the sensing processing unit is integrated into the communication device, the sensing processing unit can acquire the detection signal when the first communication unit sends the detection signal.

[0102] Based on this, the sensing and processing unit can use the echo signal and the detection signal to calculate the relative position between the communication device and the target object.

[0103] Specifically, the relative position between the communication device and the target object can include the direction and distance of the target object relative to the communication device.

[0104] In some specific situations, when the target is in motion, the speed of the target can be determined by using the relative position determined by each of the two received echo signals after determining the relative position of each echo signal.

[0105] As can be seen, the communication sensing integrated implementation method of the above embodiments of this application is based on the first communication unit and the second communication unit set in the communication device. When the first communication unit sends a communication signal according to the first frame structure, since the first frame structure contains a first flexible frame, the first communication unit can map the detection signal into the first flexible frame. Based on the time division duplex mechanism, the transmission of normal communication signals is not affected while the detection signal is being sent.

[0106] On the other hand, when the second communication unit receives communication signals according to the same second frame structure, since the second frame structure also has a second flexible frame in the same time slot, the second communication unit can obtain the echo signal from the second flexible frame. Also based on the time division duplex mechanism, the reception of the normal communication signal is not affected while receiving the echo signal.

[0107] This allows the relative position between the target and the communication device to be determined based on the echo signal after it is acquired, enabling both communication and location sensing functions to be performed simultaneously within the same communication device without deploying additional hardware.

[0108] In some specific examples of this application, Table 1 is a time slot allocation table for the first frame structure and the second frame structure.

[0109] Table 1. Time Slot Allocation Table

[0110]

[0111] As can be seen from Table 1 above, Cell0, also known as cell 0, is a specific example of the first communication unit, and Cell1, also known as cell 1, is a specific example of the second communication unit. The time slot allocation for Cell0 to send the probe signal, which is also the first frame structure of the first communication unit, is DDDDDDSUU, where D represents the downlink frame and U represents the uplink frame. The time slot allocation for Cell1 to receive the echo signal, which is also the second frame structure of the second communication unit, is the same DDDDDDSUU.

[0112] Furthermore, Figure 2 A schematic diagram of a symbol allocation provided in an embodiment of this application is shown.

[0113] like Figure 2 As shown, Cell0's first S-frame contains 14 symbols, and in Figure 2 The numbers are represented as Sym0, Sym1, Sym2, Sym3, Sym4, Sym5, Sym6, Sym7, Sym8, Sym9, Sym10, Sym11, Sym12 and Sym13, respectively.

[0114] In this context, Sym0, Sym1, Sym2, Sym3, and Sym4 of Cell0 are DL (downlink symbols) used for normal communication, Sym5, Sym6, Sym7, Sym8, and Sym9 of Cell0 are DL (downlink symbols) used for transmitting probe signals, Sym10 of Cell0 is G (empty symbol), and Sym11, Sym12, and Sym13 of Cell0 are UL (uplink symbols) used for normal communication.

[0115] Cell1's second S-frame also contains 14 symbols, and Figure 2 They are also represented as Sym0, Sym1, Sym2, Sym3, Sym4, Sym5, Sym6, Sym7, Sym8, Sym9, Sym10, Sym11, Sym12 and Sym13 respectively.

[0116] Among them, Sym0, Sym1, Sym2 and Sym3 of Cell1 are DL used for normal communication, Sym4 of Cell1 is G, Sym5, Sym6, Sym7, Sym8 and Sym9 are UL used for receiving echo signals, and Sym10, Sym11, Sym12 and Sym13 are UL used for normal communication.

[0117] Based on this, based on the detection signals mapped by Cell1 in Sym5, Sym6, Sym7, Sym8 and Sym9 of the first S frame respectively, after the detection signal of each first sensing symbol is reflected by the target object, Cell0 can receive the echo signal in Sym5, Sym6, Sym7, Sym8 and Sym9 of the second S frame respectively, and send each echo signal to the sensing and processing unit.

[0118] In some embodiments of this application, before the first communication unit maps the detection signal to each of the first sensing symbols of the first S-frame, it is necessary to determine whether the current symbol is a first sensing symbol. Before the second communication unit receives the echo signal from the sensing symbols of the second S-frame, it is necessary to determine whether the current symbol is a second sensing symbol.

[0119] In this embodiment, as described in the previous embodiment, the first sensing symbol is a downlink symbol at a specified position in the first S-frame.

[0120] Therefore, when the first sensing symbol is a downlink symbol in the first S-frame and is located at Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S-frame respectively, it is possible to determine whether each symbol is a downlink symbol and whether the current symbol is located at any of the Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S-frame.

[0121] Based on this, if the first communication unit determines that the current symbol is a downlink symbol and is located at Sym5, Sym6, Sym7, Sym8 or Sym9 in the first S frame, then the current symbol can be determined to be the first sensing symbol.

[0122] As described in the previous embodiment, the second sensing symbol is also an uplink symbol at a specified position in the second S-frame, and the position of the second sensing symbol in the second S-frame is the same as the position of the first sensing symbol in the first S-frame.

[0123] That is, when the first sensing symbol is a downlink symbol in the first S-frame and is located at Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S-frame respectively, then the second sensing symbol can be considered to be an uplink symbol in the second S-frame and is located at Sym5, Sym6, Sym7, Sym8 and Sym9 in the second S-frame respectively.

[0124] Based on this, it can be determined whether each current symbol is an uplink symbol, and whether the current symbol is located at any of the Sym5, Sym6, Sym7, Sym8 and Sym9 positions in the second S frame.

[0125] Based on this, if the second communication unit determines that the current symbol is an uplink symbol and is located at Sym5, Sym6, Sym7, Sym8 or Sym9 in the second S frame, then the current symbol can be determined to be the second sensing symbol.

[0126] In a specific example of this application, Figure 3 A schematic diagram of a signal processing method provided in an embodiment of this application is shown.

[0127] like Figure 3 As shown, based on step S301, Cell0 and Cell1 are established. For Cell0 and Cell1, the corresponding steps can be executed respectively, thereby realizing simultaneous communication and location awareness.

[0128] Specifically, based on step S301, for Cell0, step S302 can be further executed to determine whether it is a first sensing symbol.

[0129] In this step, Cell0 can determine whether each current symbol is the first sensing symbol in the first S frame, as described in the aforementioned embodiment.

[0130] Based on the judgment in step S302, if the current symbol is the first sensing symbol, step S304 can be further executed to generate a detection signal.

[0131] In this step, Cell0 can generate a detection signal for the first sensing symbol after determining that the current symbol is the first sensing symbol.

[0132] Furthermore, based on the generated detection signal, step S305, mapping the detection signal, can be further executed.

[0133] In this step, the detection signal generated in step S304 can be mapped to the current first sensing symbol.

[0134] It should be noted that a detection signal can also be generated in advance before determining whether the current symbol is the first sensing symbol, that is, before step S302, and if the determination result of step S302 is yes, step S305 can be executed directly.

[0135] Furthermore, based on step S305, step S306 can be further executed to send a detection signal, thereby sending the detection signal at the first sensing symbol to the target object.

[0136] In this embodiment, based on the judgment in step S302, if the current symbol is a communication symbol and not the first sensing symbol, step S303 can be further executed to receive a communication signal or generate a communication signal.

[0137] In this step, based on the judgment in step S302 above, if the position of the current symbol is not any of Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S frame, and it is a downlink symbol, then a communication signal is sent to the predetermined target address; if the position of the current symbol is not any of Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S frame, and it is an uplink symbol, then a communication signal is received.

[0138] In this embodiment, after completing step S303 or step S306, the process can return to step S302 to continue determining whether the next symbol is the first sensing symbol.

[0139] In this embodiment, based on step S301, for Cell1, step S307 can be further executed to determine whether it is a second sensing symbol.

[0140] In this step, Cell1 can determine whether each current symbol is a second sensing symbol in the second S frame, as described in the aforementioned embodiment.

[0141] Based on the judgment in step S307, if the current symbol is the second sensing symbol, step S308 can be further executed to receive the echo signal.

[0142] In this step, Cell1 can receive the echo signal at the current symbol after determining that the current symbol is the second sensing symbol.

[0143] Furthermore, based on the received echo signal, step S309 can be further executed: the echo signal is sent to the sensing processing unit for processing.

[0144] In this step, the echo signal received in step S308 can be sent to the sensing processing unit.

[0145] In this embodiment, based on the judgment in step S307, if the current symbol is a communication symbol and not a second sensing symbol, step S310 can be further executed to receive a communication signal or generate a communication signal.

[0146] In this step, based on the judgment in step S307 above, if the position of the current symbol is not any of Sym5, Sym6, Sym7, Sym8 and Sym9 in the second S frame, and it is a downlink symbol, then a communication signal is sent to the predetermined target address; if the position of the current symbol is not any of Sym5, Sym6, Sym7, Sym8 and Sym9 in the second S frame, and it is an uplink symbol, then a communication signal is received.

[0147] In this embodiment, after completing step S309 or step S310, the process can return to step S307 to continue determining whether the next symbol is the second sensing symbol.

[0148] In some embodiments of this application, the second communication unit can complete the reception of the echo signal by interacting with the first communication unit multiple times.

[0149] Figure 4 A schematic diagram of a communication unit interaction provided in an embodiment of this application is shown.

[0150] refer to Figure 4 After the communication device is powered on, Cell0, which is the first communication unit, and Cell1, which is the second communication unit, are both in the initialization state.

[0151] Based on this, Cell0 and Cell1 can be initialized. After Cell0 and Cell1 have completed initialization, Cell1 sends a ready message to Cell0 to notify Cell0 that it is ready to receive echo signals.

[0152] Furthermore, after Cell0 receives the ready message from Cell1, Cell0 replies with an acknowledgment message to Cell1.

[0153] After Cell1 receives the reply message, both Cell0 and Cell1 are now in the ready state.

[0154] After entering the ready state, the communication device can put Cell1 into the receiving state so that Cell1 can receive the echo signal.

[0155] When Cell1 is in receiving mode, Cell0 sends a probe signal to the outside of the communication device. This probe signal, after encapsulation, can be represented as... Figure 4 The DATA message in the middle.

[0156] Furthermore, after Cell1 obtains the DATA message, Cell1 can send an acknowledgment message to Cell0. The DATA message obtained by Cell1 can be regarded as an encapsulated echo signal.

[0157] Furthermore, based on the fact that the number of first sensing symbols in the first S-frame in the aforementioned embodiment is 5 and the number of second sensing symbols in the second S-frame is also 5, Cell1 can determine the cumulative number of DATA messages received in the same S-frame or the same frame structure after each DATA message is received, and set the number threshold S.

[0158] If the cumulative number of DATA messages is less than the quantity threshold S, Cell1 returns to the ready state after receiving the current DATA message and continues to receive DATA messages.

[0159] If the cumulative number of DATA messages is greater than or equal to the quantity threshold S, Cell1 will enter the perception state after receiving the current DATA message.

[0160] Based on this, Cell1 in the sensing state can send the echo signal to the sensing processing unit, so that the sensing processing unit can use the echo signal to determine the relative position of the target object, and Cell1 can send the determined relative position to the display platform for display.

[0161] Furthermore, after Cell1 determines the relative position of the target object, it can send an acknowledgment message to Cell0. After Cell0 receives the acknowledgment message, both Cell0 and Cell1 enter the ready state.

[0162] In some embodiments of this application, the communication device includes, in addition to the first communication unit, the second communication unit, and the sensing processing unit, a PHY (physical layer), an EU (extension unit), and a RU (radio unit). The first communication unit and the second communication unit can interact with each other through the PHY, EU, and RU.

[0163] Specifically, Figure 5 A schematic diagram of signal interaction of a communication device provided in an embodiment of this application is shown.

[0164] refer to Figure 5 The communication device includes a BBU, an EU, and a RU. The BBU includes Cell0, which represents a first communication unit, and Cell1, which represents a second communication unit. In addition, the BBU also includes a PHY, which includes a Cell0 PHY subunit for cooperating with Cell0 and a Cell1 PHY subunit for cooperating with Cell1.

[0165] exist Figure 5 In the example, the communication device is equipped with a time-division duplex system, which enables the higher-level protocol stack of Cell0 to allocate time-domain and frequency-domain resources according to preset user scheduling information. As a result, Cell0 can map the probe signal into the first S-frame without affecting normal communication services.

[0166] Furthermore, after Cell0 maps the probe signal to the first S-frame, Cell0 can send the probe signal to the Cell0 PHY sub-unit via fapi (fast Application Programming Interface) to generate an IQ signal (In-Phase and Quadrature Signal), and then send the IQ signal to the EU0 sub-unit in the EU that works in conjunction with Cell0 via ecpri (enhanced Common Public Radio Interface).

[0167] Furthermore, the EU0 subunit will perform a Fast Fourier Transform or an Inverse Fast Fourier Transform on the IQ signal, thereby completing the transformation between the frequency domain and the time domain of the IQ signal.

[0168] Furthermore, the EU0 subunit can transmit the converted IQ signal to the RU0 subunit in the RU that works with Cell0 via cpri (Common Public Radio Interface). In this way, the RU0 subunit can transmit the IQ signal to the outside of the communication device.

[0169] Furthermore, after receiving the IQ signal from outside the communication device, the RU1 subunit in the RU that cooperates with Cell1 sends the IQ signal to the EU1 subunit in the EU that cooperates with Cell1 via cpri.

[0170] Based on this, the EU1 subunit can perform fast Fourier transform or inverse fast Fourier transform on the IQ signal, thereby completing the transformation between the frequency domain and time domain of the IQ signal.

[0171] Furthermore, the EU1 subunit can send the transformed IQ signal to the Cell1 PHY subunit in the PHY via ecpri.

[0172] Accordingly, the Cell1 PHY subunit can convert the IQ signal into an echo signal and send it to Cell1 via fapi.

[0173] Among them, based on the split-duplex system, Cell1's higher-level protocol stack can allocate time-domain and frequency-domain resources according to preset user scheduling information, so that Cell1 can obtain echo signals from the second S-frame without affecting normal communication services.

[0174] exist Figure 5 In the example, the BBU also includes a sensing processing unit, which is communicatively connected to Cell0 and Cell1, so that it can obtain the echo signal from Cell1 and the detection signal emitted by Cell0.

[0175] Furthermore, after Cell1 acquires the echo signal, it can send the echo signal to the sensing and processing unit so that the sensing and processing unit can determine the current relative position of the target object based on the current echo signal.

[0176] In some embodiments of this application, each first sensing symbol includes multiple communication resources, and the first communication unit can generate a corresponding detection signal according to the number of communication resources in the first sensing symbol.

[0177] Each first sensing symbol includes multiple resource blocks, each resource block includes multiple communication resources, and each communication resource can be regarded as a subcarrier interval. Accordingly, the detection signal can be determined based on the number of resource blocks and the number of communication resources in each resource block.

[0178] In a specific example, the probe signal can be expressed as shown in formula (1) below:

[0179] (1)

[0180] Where t_signal represents the probe signal, NumRe represents the number of communication resources in a single first sensing symbol, pwr represents the scaling factor of the probe signal, and k represents the index value of the communication resource.

[0181] In a specific example of this embodiment, taking a subcarrier spacing of 100M30k as an example, a single first sensing symbol may include 273 resource blocks, each resource block includes 12 communication resources, so a single first sensing symbol includes 3276 communication resources. Therefore, the index value of the communication resources is 0-3276-1; the pwr value can be, for example, 10.

[0182] Furthermore, in each first S-frame, five consecutive symbols can be used as first sensing symbols, and the detection signal determined according to the above formula (1) can be mapped to each first sensing symbol respectively, so that the contents of the five first sensing symbols are the same. Accordingly, it can help accumulate the energy of the signal and enhance the detection effect in noisy environments.

[0183] In some embodiments of this application, a position sensing method is provided, which is applied to the sensing processing unit in any of the preceding embodiments. After the sensing processing unit acquires the echo signal, the relative position between the communication device and the target object can be determined using the echo signal and the detection signal.

[0184] In this embodiment, Figure 6 A flowchart of a location-aware method provided in an embodiment of this application is shown.

[0185] refer to Figure 6 The location sensing method in this application includes the following steps:

[0186] Step S601: Determine the cost function between the echo signal and the probe signal under different time delay conditions.

[0187] In a specific example, for the echo signals obtained by the sensing processing unit from each second sensing symbol, taking a subcarrier spacing of 100M30k as an example, the resource quantity of each second sensing symbol is 3276. After converting the received echo signal into the time domain, there are 3276 sampling points. Each sampling point in the time domain is a single time deviation τ. Accordingly, 3276τ can be used as a preset time delay window, where the single time delay is a single time deviation τ. Thus, the cost function between the echo signal and the detection signal under different time delays can be determined. Accordingly, in this embodiment, the single time delay can also be expressed as τ.

[0188] Among them, for any second sensing symbol at a specified time delay, the cost function can be used to represent the degree of correlation between the echo signal and the detection signal.

[0189] Specifically, in practical work, a preset cross-correlation algorithm can be used to determine the cross-correlation coefficient between the echo signal and the detection signal, and this cross-correlation coefficient can be used to represent the degree of correlation between the echo signal and the detection signal under the corresponding time delay.

[0190] However, due to noise and other interference, the cross-correlation coefficient determined by the cross-correlation algorithm often fails to accurately characterize the true correlation between the echo signal and the probe signal, thus making it impossible to accurately determine the time delay corresponding to the maximum correlation.

[0191] In this embodiment, the cost function not only characterizes the correlation between the echo signal and the probe signal, but also amplifies the correlation coefficient between the echo signal and the probe signal, thereby reducing noise and other interference, and thus can more accurately determine the correlation between the echo signal and the probe signal under different time delays.

[0192] Step S602: Determine the target time delay when the cost function is maximized.

[0193] In this embodiment, based on the cost functions corresponding to different time delays determined in the aforementioned step S601, the time delay corresponding to the maximum cost function can be used as the time delay when the correlation between the echo signal and the detection signal is the maximum.

[0194] Based on this, the delay can be determined as the target delay.

[0195] Step S603: Determine the relative position of the communication device and the target object based on the target delay.

[0196] In this embodiment, based on the target delay determined in step S602, since the correlation between the echo signal and the detection signal is greatest during the target delay, the target delay can specifically represent the specific time between the first communication unit sending the detection signal and the second communication unit acquiring the echo signal.

[0197] This includes the process of the detection signal being reflected by the target object to form an echo signal.

[0198] Therefore, the relative position between the communication device and the target object can be determined based on the target time delay, specifically the relative position between the first communication unit integrated within the communication device and the target object.

[0199] As can be seen, the position sensing method in this embodiment is based on the acquired echo signal. Since the echo signal is formed after the detection signal is reflected by the target object, the cost function between the echo signal and the detection signal can be determined under different time delays. Thus, when the cost function is at its maximum, the correlation between the echo signal and the detection signal is highest, and the corresponding time delay can be determined, that is, the target time delay is obtained. Since the detection signal causes this target time delay during transmission and reflection, the relative position between the communication device and the target object can be determined based on the target time delay.

[0200] In some embodiments of this application, in the process of determining the cost function between the echo signal and the detection signal, for the echo signal of each second sensing symbol, the cross-correlation coefficient between the echo signal and the detection signal can be determined under different time delay conditions. Thus, under the same time delay, the autocorrelation coefficient of the echo signal of each second sensing symbol can be determined by using the corresponding cross-correlation coefficient, and the cost function under that time delay condition can be determined by using the autocorrelation coefficient and cross-correlation coefficient of each time delay.

[0201] In a specific example, based on the aforementioned embodiment, there is a one-to-one correspondence between the five first sensing symbols in the first S-frame and the five second sensing symbols in the second S-frame. That is to say, not only is the number of first sensing symbols in the first S-frame the same as the number of second sensing symbols in the second S-frame, but for any first sensing symbol in the first S-frame, there is a correspondence with the second sensing symbol in the same position in the second S-frame.

[0202] For example, Sym5 in the first sensing symbol corresponds to Sym5 in the second sensing symbol, Sym6 in the first sensing symbol corresponds to Sym6 in the second sensing symbol, Sym7 in the first sensing symbol corresponds to Sym7 in the second sensing symbol, Sym8 in the first sensing symbol corresponds to Sym8 in the second sensing symbol, and Sym9 in the first sensing symbol corresponds to Sym9 in the second sensing symbol. Since the detection signal is sequentially mapped to Sym5, Sym6, Sym7, Sym8 and Sym9 in the first S-frame, the echo signals should be received sequentially in the second S-frame according to the order of Sym5, Sym6, Sym7, Sym8 and Sym9.

[0203] In this embodiment, for the sake of simplicity, the first sensing symbol and the second sensing symbol that have a corresponding relationship and are in the same position in their respective frames can be regarded as the same sensing symbol, and no distinction is made in their specific representation. That is, if there is no specific explanation in this embodiment, the Sym5 mentioned below can refer to Sym5 in the first S frame and / or Sym5 in the second S frame.

[0204] Based on this, the cost function and cross-correlation coefficient specifically represent the degree of correlation between two corresponding inductive symbols.

[0205] In some specific examples, when calculating the cost function, the conjugate cross-correlation between the echo signal of each second sensing symbol and the corresponding detection signal under different time delay conditions can be determined first.

[0206] In a specific example based on the above formula (1), the conjugate cross-correlation between each echo signal and the probe signal at different time delays can be expressed as the following formula (2):

[0207] (2)

[0208] in, Represents: the cross-correlation coefficient between the echo and probe signals of corresponding sensing symbols Sym, given a time delay τ, where r represents the index value of the first sensing symbol and / or the second sensing symbol, and t_signal * [k] indicates that the probe signal is conjugate to the communication resource index value k.

[0209] In this embodiment, each communication resource index value k represents a communication resource at a specified position in a symbol, and the time domain of the communication resource is a single time deviation τ, that is, a single delay τ. In other words, the communication resource index value k can be used to characterize the kth delay τ.

[0210] In some examples, the value of τ can be, for example, from 0 to 3276-1, that is, from 0 to 3275; as in the previous embodiment, when the number of communication resources is 3276, the value of k can be, for example, from 0 to 3276-1, that is, from 0 to 3275; the specific value of the index value r can be, for example, the index value 0 corresponding to Sym5, the index value 1 corresponding to Sym6, the index value 2 corresponding to Sym7, the index value 3 corresponding to Sym8, or the index value 4 corresponding to Sym9.

[0211] Based on this, when calculating the cross-correlation coefficient between the corresponding detection signals and sensing signals under different values ​​of τ, the above formula (2) can be decomposed into multiple formulas.

[0212] When τ is 0, take the following formulas (3)-(7) as an example:

[0213] The cross-correlation coefficient between the probe signal and the echo signal carried by sym5 is expressed by the following formula (3):

[0214] (3)

[0215] The cross-correlation coefficient between the probe signal and the echo signal carried by sym6 is expressed by the following formula (4):

[0216] (4)

[0217] The cross-correlation coefficient between the probe signal and the echo signal carried by sym7 is expressed by the following formula (5):

[0218] (5)

[0219] The cross-correlation coefficient between the probe signal and the echo signal carried by sym8 is expressed by the following formula (6):

[0220] (6)

[0221] The cross-correlation coefficient between the probe signal and the echo signal carried by sym9 is expressed by the following formula (7):

[0222] (7)

[0223] Furthermore, when τ takes the value of 1, take the following formulas (8)-(12) as an example:

[0224] The cross-correlation coefficient between the probe signal and the echo signal carried by sym5 is expressed by the following formula (8):

[0225] (8)

[0226] The cross-correlation coefficient between the probe signal and the echo signal carried by sym6 is expressed by the following formula (9):

[0227] (9)

[0228] The cross-correlation coefficient between the probe signal and the echo signal carried by sym7 is expressed by the following formula (10):

[0229] (10)

[0230] The cross-correlation coefficient between the probe signal and the echo signal carried by sym8 is expressed by the following formula (11):

[0231] (11)

[0232] The cross-correlation coefficient between the probe signal and the echo signal carried by sym9 is expressed by the following formula (12):

[0233] (12)

[0234] Based on this, after determining the cross-correlation coefficient, the autocorrelation coefficient of each second sensing symbol in the same second S-frame can be further determined.

[0235] In a specific example, the autocorrelation coefficient can be calculated according to the following formula (13):

[0236] (13)

[0237] Where S(τ) represents the autocorrelation coefficient of each second sensing symbol at time delay τ. This indicates taking the conjugate of the previously determined cross-correlation coefficients, where m is the accumulation coefficient.

[0238] In the example of formula (13), the value of m can be 1 or 4. When m is 1, then in formula (13) Specifically, this involves multiplying the cross-correlation coefficient of the perceptual symbol by the conjugate of the cross-correlation coefficients of adjacent perceptual symbols and then summing them; when m is 4, then in formula (13)... Specifically, this involves multiplying the cross-correlation coefficient of a perceptual symbol by the conjugate of the cross-correlation coefficients of perceptual symbols separated by three symbols, and then summing them up.

[0239] Furthermore, based on the cross-correlation coefficient and autocorrelation coefficient determined above, the cost function for each time delay case can be determined according to the following formula (14):

[0240] (14)

[0241] in, The cost function represents the time delay τ. Indicates to Take conjugate.

[0242] Based on this, the cost function for each delay τ can be determined by iterating through all delays τ. When the cost function is maximized, the autocorrelation coefficient for that delay is maximized, and this value is determined as the target delay.

[0243] In this embodiment, since the communication resource index value k can be used to characterize the k-th delay τ, the communication resource index value k_peak corresponding to the target delay can be used to represent the target delay.

[0244] Based on this, the two second S frames can be sampled separately, and the above-mentioned k_peak can be calculated separately, thereby determining the relative position between the communication device and the target.

[0245] The relative position specifically includes the distance between the communication device and the target, as well as the direction of the target relative to the communication device.

[0246] Specifically, the distance between the communication device and the target can be determined using the formula (15) shown below:

[0247] (15)

[0248] Where d represents distance, c represents speed of light, and Ts represents the sampling interval between two samples.

[0249] Furthermore, since the cost function ρ is a complex number, the cost function can be expressed as shown in the following formula (16):

[0250] (16)

[0251] Where θ represents the phase of the sensed signal.

[0252] Based on this, the phase θ can be determined as the direction of the target object relative to the communication device.

[0253] In some embodiments of this application, the phase difference Δθ between phases θ1 and θ2 can be determined based on the cost functions ρ1 and ρ2 obtained through two samplings.

[0254] Furthermore, based on the phase difference Δθ and the sampling interval Ts between the two samplings, the moving distance of the target object can be determined.

[0255] In this embodiment, the distance the target object moves can be expressed as shown in the following formula (17):

[0256] (17)

[0257] Where L represents the distance traveled.

[0258] Based on this, the ratio between the moving distance L and the sampling interval Ts can be determined as the moving speed of the target object.

[0259] Based on the same inventive concept, and corresponding to any of the above embodiments, the embodiments of this application also provide a communication device.

[0260] Figure 7 This is a structural block diagram of a communication device provided in an embodiment of the present application. The device is configured to execute the integrated communication and sensing implementation method provided in the above embodiment, and has corresponding functional modules and beneficial effects for executing the method.

[0261] like Figure 7 As shown, the device includes: a first communication unit 701, a second communication unit 702, and a sensing and processing unit 703;

[0262] The first communication unit 701 is configured to generate a detection signal, map the detection signal to multiple first sensing symbols of the first flexible frame, and send the detection signal according to a preset first frame structure, wherein the first flexible frame is a frame in the first frame structure.

[0263] The second communication unit 702 is configured to receive echo signals at each second sensing symbol of the second flexible frame according to a preset second frame structure, and send them to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratio of the first flexible frame and the second flexible frame is different. The echo signal is the signal after the detection signal is reflected by the target object.

[0264] The sensing and processing unit 703 is configured to determine the relative position of the communication device and the target object based on the echo signal.

[0265] It can be seen that, based on the first communication unit and the second communication unit set in the communication device, when the first communication unit sends a communication signal according to the first frame structure, since the first frame structure contains a first flexible frame, the first communication unit can map the detection signal into the first flexible frame, and based on the time division duplex mechanism, the transmission of the detection signal is not affected while the normal communication signal is being transmitted.

[0266] On the other hand, when the second communication unit receives communication signals according to the same second frame structure, since the second frame structure also has a second flexible frame in the same time slot, the second communication unit can obtain the echo signal from the second flexible frame. Also based on the time division duplex mechanism, the reception of the normal communication signal is not affected while receiving the echo signal.

[0267] This allows the relative position between the target and the communication device to be determined based on the echo signal after it is acquired, enabling both communication and location sensing functions to be performed simultaneously within the same communication device without deploying additional hardware.

[0268] Each first sensing symbol is configured as a downlink symbol and set at the corresponding position in the first flexible frame.

[0269] Accordingly, the first communication unit 701 is also specifically configured as follows:

[0270] Detect whether the current symbol is a downlink symbol, and determine whether the current symbol is in the first flexible frame at the position corresponding to any first sensing symbol;

[0271] If the current symbol is a downlink symbol and is located in the first flexible frame at a position corresponding to any first sensing symbol, then the current symbol is determined to be a first sensing symbol.

[0272] Each second sensing symbol is configured as an uplink symbol and set at the corresponding position in the second flexible frame.

[0273] Correspondingly, the second communication unit 702 is also specifically configured as follows:

[0274] Detect whether the current symbol is an uplink symbol, and determine whether the current symbol is in the second flexible frame at the position corresponding to any first sensing symbol;

[0275] If the current symbol is an uplink symbol and is located in the second flexible frame at a position corresponding to any first sensing symbol, then the current symbol is determined to be a second sensing symbol.

[0276] Based on the same inventive concept, and corresponding to the methods of any of the above embodiments, the embodiments of this application also provide a position sensing device.

[0277] Figure 8 This is a structural block diagram of a location sensing device provided in an embodiment of this application. The device is configured to execute the integrated communication and sensing implementation method provided in the above embodiment, and has corresponding functional modules and beneficial effects for executing the method.

[0278] like Figure 8 As shown, the device includes: a cost function determination module 801, a time delay determination module 802, and a relative position determination module 803;

[0279] The cost function determination module 801 is configured to determine the cost function between the echo signal and the probe signal under different time delay conditions.

[0280] The delay determination module 802 is configured to determine the target delay when the cost function is maximized;

[0281] The relative position determination module 803 is configured to determine the relative position between the communication device and the target object based on the target time delay.

[0282] As can be seen, based on the acquired echo signal, since the echo signal is formed after the probe signal is reflected by the target object, the cost function between the echo signal and the probe signal can be determined under different time delays. Thus, when the cost function is at its maximum, the correlation between the echo signal and the probe signal is highest, and the corresponding time delay can be determined, that is, the target time delay is obtained. Since the probe signal causes this target time delay during transmission and reflection, the relative position between the communication device and the target object can be determined based on this target time delay.

[0283] The cost function determination module 801 is specifically configured as follows:

[0284] Under different time delays, determine the cross-correlation coefficient between the detection signal of each first sensing symbol and the echo signal of the corresponding second sensing symbol;

[0285] Using cross-correlation coefficients, the autocorrelation coefficients of the echo signals of each second sensing symbol are determined under different time delays.

[0286] Using the autocorrelation coefficient, the cost function between the echo signal and the probe signal is determined under different time delays.

[0287] The number of first sensing symbols and the number of second sensing symbols are the same, and each first sensing symbol in the first flexible frame corresponds to a second sensing symbol at the same position in the second flexible frame.

[0288] The relative position determination module 803 is also specifically configured as follows:

[0289] Determine the target communication resource corresponding to the target delay of the second flexible frame from multiple communication resources;

[0290] The distance between the communication device and the target object is determined by utilizing the target communication resources and the sampling interval between the two acquisitions of the second flexible frame.

[0291] Determine the target phase when the cost function is maximized;

[0292] The target phase is determined as the direction of the target object relative to the communication device.

[0293] The relative position includes the distance between the target object and the communication device; each second sensing symbol is configured with multiple communication resources, and each communication resource occupies a single time delay in the time domain.

[0294] For ease of description, the above apparatus is described in terms of its functions, divided into various modules. Of course, in implementing the embodiments of this application, the functions of each module can be implemented in one or more software and / or hardware.

[0295] The apparatus of the above embodiments is used to implement the corresponding integrated communication and sensing implementation method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0296] Based on the same inventive concept, corresponding to the methods of any of the above embodiments, embodiments of this application also provide an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the integrated communication and sensing method and / or the location sensing method as described in any of the above embodiments.

[0297] Figure 9 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application, such as... Figure 9 As shown, the device includes a processor 201, a memory 202, an input device 203, and an output device 204; the number of processors 201 in the device can be one or more. Figure 9 Taking a processor 201 as an example; the processor 201, memory 202, input device 203, and output device 204 in the device can be connected via a bus or other means. Figure 9Taking a bus connection as an example, the memory 202, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, and modules, such as program instructions / modules for implementing the integrated communication sensing method and / or location sensing method in the embodiments of this application. The processor 201 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 202, thereby implementing the aforementioned integrated communication sensing method and / or location sensing method. The input device 203 can be configured to receive input digital or character information and generate key signal inputs related to user settings and function control of the device. The output device 204 may include a display screen or other display device.

[0298] The apparatus of the above embodiments is used to implement the corresponding integrated communication and sensing method and / or location sensing method in any of the foregoing embodiments, and has the beneficial effects of the corresponding method embodiments, which will not be repeated here.

[0299] Based on the same inventive concept, corresponding to any of the above embodiments, this application also provides a non-volatile storage medium containing computer-executable instructions. When executed by a computer processor, the computer-executable instructions are configured to execute a communication-sensing integrated implementation method and / or location-sensing method described in the above embodiments, which includes: generating a detection signal using a first communication unit, mapping the detection signal to multiple first sensing symbols of a first flexible frame, and sending the detection signal according to a preset first frame structure, wherein the first flexible frame is a frame in the first frame structure;

[0300] Using the second communication unit, echo signals are received at each second sensing symbol in the second flexible frame according to the preset second frame structure, and then sent to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratio of the first flexible frame and the second flexible frame is different. The echo signal is the signal after the detection signal is reflected by the target object.

[0301] The relative position of the communication device and the target object is determined by the sensing and processing unit based on the echo signal.

[0302] Determine the cost function between the echo signal and the probe signal under different time delay conditions;

[0303] Determine the target time delay when the cost function is maximized;

[0304] The relative position of the communication device and the target object is determined based on the target delay.

[0305] It is worth noting that in the embodiments of the above-mentioned communication device and location sensing device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be realized; in addition, the specific names of each functional unit are only for easy differentiation and are not configured to limit the protection scope of the embodiments of this application.

[0306] In some possible implementations, various aspects of the methods provided in this application can also be implemented as a program product, comprising program code that, when run on a computer device, is configured to cause the computer device to perform the steps of the methods according to the various exemplary embodiments of this application described above. For example, the computer device can execute the integrated communication sensing implementation method and / or location sensing method described in the embodiments of this application. The program product can be implemented using any combination of one or more readable media, possessing the beneficial effects of the corresponding method embodiments, which will not be elaborated further here.

Claims

1. A method for integrating communication and sensing, characterized in that, It is applied to a communication device, which includes a first communication unit, a second communication unit, and a sensing and processing unit; The method includes: The method generates a detection signal using the first communication unit, maps the detection signal to multiple first sensing symbols of a first flexible frame, and sends the detection signal according to a preset first frame structure. The first flexible frame is a frame in the first frame structure. The first flexible frame includes multiple communication symbols for normal communication and multiple first sensing symbols for carrying the detection signal. Before mapping the detection signal to multiple first sensing symbols of the first flexible frame, the method further includes: detecting whether the current symbol is a downlink symbol and determining whether the current symbol is in a position in the first flexible frame corresponding to any first sensing symbol. If the current symbol is a downlink symbol and is in a position in the first flexible frame corresponding to any first sensing symbol, the current symbol is determined to be a first sensing symbol. If the current symbol is a communication symbol, a communication signal is received or a communication signal is sent. The second communication unit receives echo signals at each second sensing symbol in the second flexible frame according to a preset second frame structure, and sends them to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratios of the first flexible frame and the second flexible frame are different. The echo signal is the signal after the detection signal is reflected by the target object. The second flexible frame includes multiple communication symbols for normal communication and multiple second sensing symbols for carrying the detection signal. Before receiving the echo signal at each second sensing symbol in the second flexible frame, the method further includes: detecting whether the current symbol is an uplink symbol and determining whether the current symbol is in the second flexible frame at a position corresponding to any first sensing symbol. If the current symbol is an uplink symbol and is in the second flexible frame at a position corresponding to any first sensing symbol, the current symbol is determined to be a second sensing symbol. If the current symbol is a communication symbol, a communication signal is received or a communication signal is sent. The relative position of the communication device and the target object is determined by the sensing and processing unit based on the echo signal.

2. A location-aware method, characterized in that, Applied to the sensing processing unit as described in claim 1; The method includes: Under different time delay conditions, the cross-correlation coefficient between the detection signal of each first sensing symbol and the echo signal of the corresponding second sensing symbol is determined. Using the cross-correlation coefficient, the autocorrelation coefficient of the echo signal of each second sensing symbol is determined. Using the autocorrelation coefficient, the cost function between the echo signal and the detection signal is determined under different time delay conditions. Determine the target delay when the cost function is maximized; The relative position of the communication device and the target object is determined based on the target delay.

3. The position sensing method according to claim 2, characterized in that, The number of first sensing symbols as described in claim 1 is the same as the number of second sensing symbols as described in claim 1, and each first sensing symbol in the first flexible frame as described in claim 1 corresponds to a second sensing symbol at the same position in the second flexible frame as described in claim 1.

4. The position sensing method according to claim 2, characterized in that, The relative position includes the distance between the target object and the communication device; each of the second sensing symbols is configured with multiple communication resources, and each communication resource occupies a single time delay in the time domain; Determining the relative position of the communication device and the target object based on the target time delay includes: Determine the target communication resource corresponding to the target delay of the second flexible frame from multiple communication resources; The distance between the communication device and the target object is determined by using the target communication resources and the sampling interval between the two acquisitions of the second flexible frame.

5. The position sensing method according to claim 2, characterized in that, The relative position also includes the orientation of the target object relative to the communication device; The step of determining the relative position of the communication device and the target object based on the target time delay further includes: Determine the target phase when the cost function is maximized; The target phase is determined as the direction of the target object relative to the communication device.

6. A communication device, characterized in that, include: The system comprises a first communication unit, a second communication unit, and a sensing and processing unit. The first communication unit is configured to generate a detection signal, map the detection signal to multiple first sensing symbols of a first flexible frame, and send the detection signal according to a preset first frame structure. The first flexible frame is a frame in the first frame structure. The first flexible frame includes multiple communication symbols for normal communication and multiple first sensing symbols for carrying the detection signal. Before mapping the detection signal to the multiple first sensing symbols of the first flexible frame, the unit detects whether the current symbol is a downlink symbol and determines whether the current symbol is in a position in the first flexible frame corresponding to any first sensing symbol. If the current symbol is a downlink symbol and is in a position in the first flexible frame corresponding to any first sensing symbol, the unit determines that the current symbol is a first sensing symbol. If the current symbol is a communication symbol, the unit receives or sends a communication signal. The second communication unit is configured to receive echo signals at each second sensing symbol in a second flexible frame according to a preset second frame structure, and send them to the sensing processing unit. The second frame structure is the same as the first frame structure, but the symbol ratios of the first flexible frame and the second flexible frame are different. The echo signal is the signal after the detection signal is reflected by the target object. The second flexible frame includes multiple communication symbols for normal communication and multiple second sensing symbols for carrying the detection signal. Before receiving the echo signal at each second sensing symbol in the second flexible frame, it detects whether the current symbol is an uplink symbol and determines whether the current symbol is in the position corresponding to any first sensing symbol in the second flexible frame. If the current symbol is an uplink symbol and is in the position corresponding to any first sensing symbol in the second flexible frame, it determines that the current symbol is a second sensing symbol. If the current symbol is a communication symbol, it receives or sends the communication signal. The sensing and processing unit is configured to determine the relative position of the communication device and the target object based on the echo signal.

7. A position sensing device for implementing the position sensing method of claim 2, characterized in that, include: Cost function determination module, delay determination module, and relative position determination module; The cost function determination module is configured to determine the cross-correlation coefficient between the detection signal of each first sensing symbol and the echo signal of the corresponding second sensing symbol under different time delay conditions, and to determine the autocorrelation coefficient of the echo signal of each second sensing symbol using the cross-correlation coefficient, and to determine the cost function between the echo signal and the detection signal under different time delay conditions using the autocorrelation coefficient. The delay determination module is configured to determine the target delay when the cost function is maximized; The relative position determination module is configured to determine the relative position between the communication device and the target object based on the target time delay.

8. An electronic device, characterized in that, The device includes: one or more processors; and a storage device configured to store one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement the integrated communication and sensing method of claim 1 or the location sensing method of any one of claims 2-5.

9. A non-volatile storage medium for storing computer-executable instructions, characterized in that, The computer-executable instructions, when executed by a computer processor, are configured to perform the integrated communication and sensing implementation method of claim 1 or the location sensing method of any one of claims 2-5.

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