Wireless sensing environment noise elimination method and device and storage medium

Abstract

The embodiment of the invention provides a wireless sensing environment noise elimination method and device, a storage medium, an electronic device and a computer program product, and the method comprises the steps: determining a noise region set of each sensing receiver based on the configuration parameters of a plurality of sensing receivers and sensing data received by the plurality of sensing receivers; determining an overlapping region of each sensing receiver and a noise region set of other sensing receivers included in the plurality of sensing receivers; for any two sensing receivers, the following operations are executed, so that an overlapping region of a noise region set between any two sensing receivers is less than or equal to a first threshold value: when the overlapping region between the first sensing receiver and the second sensing receiver is greater than the first threshold value, the first sensing receiver and the second sensing receiver are not greater than the first threshold value; and executing a target adjustment operation on the first sensing receiver to enable an overlapping area between the first sensing receiver and the second sensing receiver to be smaller than or equal to a first threshold value.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of wireless sensing, and in particular, to a wireless sensing environment noise elimination method and device, a storage medium, an electronic device, and a computer program product. BACKGROUND

[0002] Under the background of the fourth industrial revolution, wireless sensing technology in complex scenarios has gradually become a research hotspot. In complex scenarios, wireless sensing often needs to face the problem of environmental noise (for example, traffic noise, industrial noise, natural environmental noise, etc.) interference. These noises will interfere with the transmission of wireless signals and affect the accuracy of sensing data, which may lead to a large sensing error. In related technologies, there is a lack of solutions to reduce the influence of environmental noise on sensing results, and therefore, there is often a problem of large sensing result error. SUMMARY

[0003] Embodiments of the present application provide a wireless sensing environment noise elimination method, device, storage medium, electronic device, and computer program product to at least solve the problem that related technologies cannot effectively eliminate environmental noise, thereby affecting the sensing result.

[0004] According to an embodiment of the present application, a wireless sensing environment noise elimination method is provided, comprising: determining a noise region set of each sensing receiver based on configuration parameters of a plurality of sensing receivers and sensing data received by the plurality of sensing receivers; determining an overlapping region of the noise region set of each sensing receiver and other sensing receivers included in the plurality of sensing receivers; for any two sensing receivers, performing the following operations to make the overlapping region of the noise region set between any two sensing receivers less than or equal to a first threshold value: in the case that the overlapping region between the first sensing receiver and the second sensing receiver is greater than the first threshold value, performing a target adjustment operation on the first sensing receiver to make the overlapping region between the first sensing receiver and the second sensing receiver less than or equal to the first threshold value, wherein the target adjustment operation includes at least one of adjusting the position of the first sensing receiver and adjusting the sensing signal receiving direction of the first sensing receiver, and the first sensing receiver and the second sensing receiver are any two sensing receivers.

[0005] In an example embodiment, in a case where the target adjustment operation comprises adjusting the position of the first sensing receiver, performing the target adjustment operation on the first sensing receiver comprises: performing a preliminary adjustment on the position of the first sensing receiver; after the preliminary adjustment is completed, determining the size of the overlapping area; in a case where the overlapping area is determined to be smaller than or equal to the first threshold value, obtaining a reference distance difference of a sensing area of the first sensing receiver, wherein the reference distance difference of the sensing area is a difference between distances between two points included in the sensing area and the first sensing receiver, and the two points are equidistant from the second sensing receiver; in a case where the reference distance difference of the sensing area is determined to be smaller than or equal to a second threshold value, continuing to adjust the position of the first sensing receiver so that the overlapping area between the first sensing receiver and the second sensing receiver is smaller than or equal to the first threshold value and the reference distance difference of the sensing area is greater than the second threshold value.

[0006] In an example embodiment, the configuration parameters comprise at least one of the following: a sensing mode, a sensing period, a transmission power of a sensing transmitter, a receiving antenna direction of a sensing receiver, a sensing signal time-frequency resource, a sensing signal transmission period, a sensing signal standard.

[0007] In an example embodiment, before determining the noise area set of each sensing receiver based on the configuration parameters of the plurality of sensing receivers and the sensing data received by the plurality of sensing receivers, the method further comprises: receiving the sensing data reported by each sensing receiver, wherein the sensing data is data obtained by processing a received sensing signal by the sensing receiver according to a sensing period included in the configuration parameters.

[0008] In an example embodiment, before receiving the sensing data reported by each sensing receiver, the method further comprises: sending sensing configuration information to the sensing receiver to instruct the sensing receiver to be configured based on the sensing configuration information and to process a received sensing signal according to a sensing period included in the sensing configuration information, wherein the sensing configuration information further comprises at least one of the following: a sensing signal time-frequency resource, a sensing signal transmission period, a sensing signal standard.

[0009] In an example embodiment, the sensing data comprises at least one of the following: sensing signal frequency domain data, sensing signal time domain data, sensing signal Doppler data.

[0010] In an example embodiment, determining the set of noise regions of each of the plurality of sensing receivers based on the configuration parameters of the plurality of sensing receivers and the sensing data received by the plurality of sensing receivers comprises: in a case that the mode of the sensing receiver is a single-station sensing mode, determining the set of noise regions of the sensing receiver according to the sensing data in a self-sensing manner, wherein the noise distance is twice the distance from the sensing base station to the sensing region, and the noise angle is the angle of arrival of the noise signal to the sensing receiver; in a case that the mode of the sensing receiver is a signal transmitter and receiver separation mode, determining the set of noise regions of the sensing receiver according to the sensing data in a cooperative sensing manner, wherein the noise distance is the sum of the distance from the sensing transmitter to the sensing region and the distance from the sensing region to the sensing receiver, and the noise angle is the angle of arrival of the noise signal to the sensing receiver.

[0011] In an example embodiment, determining the overlapping region of the set of noise regions of the plurality of sensing receivers comprises: determining the overlapping region Ω of any two sensing receivers included in the plurality of sensing receivers by the following formula i,j :

[0012]

[0013] wherein i and j are the identities of any two sensing receivers; O i is the set of noise regions of the sensing receiver i, and O i = {S i,1 ,S i,2 ...S i,Ni}, S i,Ni is the N i th noise region of the sensing receiver i; O j is the set of noise regions of the sensing receiver j, and O j = {S j,1 ,S j,2 ...S j,Nj}, S j,Nj is the N j th noise region of the sensing receiver j.

[0014] According to another embodiment of the present application, there is provided a wireless aware ambient noise cancellation device, comprising: a first determining module configured to determine a noise region set of each of a plurality of aware receivers based on configuration parameters of the plurality of aware receivers and aware data received by the plurality of aware receivers; a second determining module configured to determine an overlapping region of the noise region set of each of the plurality of aware receivers and other aware receivers included in the plurality of aware receivers; and an adjusting module configured to, for any two of the plurality of aware receivers, perform the following operation to make the overlapping region of the noise region set between any two of the plurality of aware receivers less than or equal to a first threshold: performing a target adjusting operation on a first aware receiver to make the overlapping region between the first aware receiver and a second aware receiver less than or equal to the first threshold, if the overlapping region between the first aware receiver and the second aware receiver is greater than the first threshold, wherein the target adjusting operation comprises at least one of adjusting a position of the first aware receiver and adjusting an aware signal receiving direction of the first aware receiver, and the first aware receiver and the second aware receiver are any two of the plurality of aware receivers.

[0015] According to yet another embodiment of the present application, there is also provided a computer readable storage medium having a computer program stored therein, wherein the computer program is configured to perform the steps of any one of the method embodiments described above when executed.

[0016] According to yet another embodiment of the present application, there is also provided an electronic device comprising a memory and a processor, wherein the memory has a computer program stored therein, and the processor is configured to execute the computer program to perform the steps of any one of the method embodiments described above.

[0017] According to yet another embodiment of the present application, there is also provided a computer program product comprising a computer program, wherein the computer program is executed by a processor to implement the steps of any one of the method embodiments described above.

[0018] By the present application, the overlapping region of the noise region set of the aware receivers is determined based on the configuration parameters of the aware receivers and the received aware data, and the target adjusting operation is performed to minimize the overlapping region, thereby reducing the influence of the noise on the aware result, and thus the problem that the ambient noise cannot be effectively cancelled in the related art and thus influences the aware result is solved, and the effect of improving the accuracy of the aware result is achieved. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a schematic diagram of a noise affecting aware trajectory according to the related art;

[0020] Figure 2 is a mapping diagram of a continuous-time angular Doppler spectrum according to the related art in the angular dimension;

[0021] Figure 3 is a mapping diagram of a continuous-time time-delay Doppler spectrum according to the related art in the time-delay dimension;

[0022] Figure 4 is a hardware structure block diagram of a mobile terminal according to the wireless sensing ambient noise cancellation method of an embodiment of the present application;

[0023] Figure 5 is a network architecture diagram of the wireless sensing ambient noise cancellation method according to an embodiment of the present application;

[0024] Figure 6 is a flow of the wireless sensing ambient noise cancellation method according to an embodiment of the present application Figure 1 ;

[0025] Figure 7 is a flow of the wireless sensing ambient noise cancellation method according to an embodiment of the present application Figure 2 ;

[0026] Figure 8 is a sensing receiver position distribution and noise region distribution diagram according to an embodiment of the present application;

[0027] Figure 9 is a sensing receiver position adjustment and noise region distribution change diagram according to an embodiment of the present application;

[0028] Figure 10 is a distance diagram before noise influence reduction according to an embodiment of the present application;

[0029] Figure 11 is a distance diagram after noise influence reduction according to an embodiment of the present application;

[0030] Figure 12 is a flow of the wireless sensing ambient noise cancellation method according to an embodiment of the present application Figure 3 ;

[0031] Figure 13 is a diagram before noise influence reduction according to an embodiment of the present application;

[0032] Figure 14 is a diagram after noise influence reduction according to an embodiment of the present application;

[0033] Figure 15 is a structure block diagram of a wireless sensing ambient noise cancellation device according to an embodiment of the present application. DETAILED DESCRIPTION

[0034] Hereinafter, embodiments of the present application will be described in detail with reference to the accompanying drawings and in conjunction with embodiments.

[0035] It should be noted that the terms "first", "second", and the like in the description and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence.

[0036] First, the related technologies involved in the present application will be described:

[0037] The current era is the fourth industrial revolution, and the important feature of the fourth industrial revolution is ubiquitous intelligence. Ubiquitous intelligent technology mainly includes ubiquitous sensing technology, ubiquitous computing technology, and product development, and ubiquitous intelligent technology needs a ubiquitous system. Among the currently deployed systems, only wireless communication networks meet ubiquity, so ubiquitous sensing and ubiquitous computing through wireless communication networks have become the main feasible technical route, and 5G wireless sensing technology has also become a research hotspot.

[0038] Wireless sensing technology has been deeply explored in the field of radar. The sensing scenarios of radar equipment mainly include sensing of air planes (e.g., airport radars), short-range sensing (e.g., vehicle-mounted radars), etc. Both of these two scenarios belong to simple scenarios. Ubiquitous sensing needs to be able to realize sensing in various complex scenarios, such as indoor multipath environment, ground multi-building, multi-vehicle environment, shopping mall multi-person environment, etc. At present, there are few sensing researches for complex environments, and even fewer commercialized sensing technologies. At present, the sensing of complex environments is a research hotspot in standardization and academia, and is in the early stage of technical breakthrough.

[0039] Complex scene sensing has greater technical difficulties than traditional flight space sensing. In addition to sensing conventional moving objects, complex scene sensing also needs to sense moving objects existing in the environment, such as forests, highways, air conditioner fans, etc. At the same time, there are Doppler spread noises caused by large signal deformation in complex scenes, etc. These environmental noises greatly affect the sensing of target objects in complex environments. Figure 1 is a schematic diagram of noise affecting a sensing trajectory according to related technologies, Figure 2 is a schematic diagram of mapping a continuous-time angle Doppler spectrum in an angle dimension according to related technologies, Figure 3 is a schematic diagram of mapping a continuous-time time delay Doppler spectrum in a time delay dimension according to related technologies, as shown in Figure 2 , 3 The environmental noise can form interference in the time distance dimension and the angle dimension on the Doppler spectrum of the sensed target object.

[0040] In view of the above-mentioned problems in related technologies, the present invention proposes a corresponding solution. In the present invention, by instructing the sensing receiver to perform a target adjustment operation, the impact of environmental noise on the sensing results is reduced so as to achieve accurate sensing in complex scenarios.

[0041] The present invention will now be described with reference to the following embodiments:

[0042] The methods and embodiments provided in this application can be executed on a mobile terminal, computer terminal, or similar computing device. Taking running on a mobile terminal as an example, Figure 4 This is a hardware structure block diagram of a mobile terminal for a wireless sensing environmental noise cancellation method according to an embodiment of the present invention. Figure 4 As shown, a mobile terminal may include one or more ( Figure 4 Only one is shown in the diagram. A processor 402 (which may include, but is not limited to, a microprocessor MCU or a programmable logic device FPGA, etc.) and a memory 404 for storing data are also shown. The mobile terminal may further include a transmission device 406 for communication functions and an input / output device 408. Those skilled in the art will understand that... Figure 4 The structure shown is for illustrative purposes only and does not limit the structure of the mobile terminal described above. For example, the mobile terminal may also include components that are more... Figure 4 The more or fewer components shown, or having the same Figure 4 The different configurations shown.

[0043] The memory 404 can be used to store computer programs, such as application software programs and modules, like the computer program corresponding to the wireless sensing environmental noise cancellation method in this embodiment of the invention. The processor 402 executes various functional applications and data processing by running the computer program stored in the memory 404, thereby implementing the above-described method. The memory 404 may include high-speed random access memory, and may also include non-volatile memory, such as one or more magnetic storage devices, flash memory, or other non-volatile solid-state memory. In some instances, the memory 404 may further include memory remotely located relative to the processor 402, and these remote memories can be connected to the mobile terminal via a network. Examples of such networks include, but are not limited to, the Internet, corporate intranets, local area networks, mobile communication networks, and combinations thereof.

[0044] The transmission device 406 is used to receive or send data via a network. Specific examples of the network described above may include a wireless network provided by the mobile terminal's communication provider. In one example, the transmission device 406 includes a Network Interface Controller (NIC), which can connect to other network devices via a base station to communicate with the Internet. In another example, the transmission device 406 may be a Radio Frequency (RF) module, used for wireless communication with the Internet.

[0045] Figure 5 This is a schematic diagram of the network architecture of the wireless sensing environmental noise cancellation method according to an embodiment of the present invention. The application embodiment can be operated in... Figure 5 In the network architecture shown, such as Figure 5 As shown, the network architecture includes: a sensing server and one or more sensing base stations, wherein the sensing base stations include, but are not limited to: sensing base stations that can self-transmit and self-receive sensing signals, sensing base stations that integrate sensing signal transmitters and sensing signal receivers, sensing base stations that only include sensing signal transmitters, and sensing base stations that only include sensing signal receivers. The sensing server is used to send sensing configuration instructions to the one or more sensing base stations to instruct the sensing base stations to configure themselves according to the configuration parameters included in the sensing configuration instructions. The sensing base stations return a response message of the sensing configuration instructions to the sensing server and, when the sensing base stations include the sensing signal receiving capability (for example, the sensing base station is a self-transmitting and self-receiving sensing base station, or the sensing base station is configured with a sensing receiver), send sensing information to the sensing server.

[0046] This embodiment provides a wireless sensing environmental noise cancellation method operating on the above-described network architecture. Figure 6 This is a flowchart of a wireless sensing environmental noise cancellation method according to an embodiment of the present invention. Figure 1 ,like Figure 6 As shown, the process includes the following steps:

[0047] Step S602: Determine the noise region set of each sensing receiver based on the configuration parameters of multiple sensing receivers and the sensing data received by the multiple sensing receivers.

[0048] Step S604: Determine the overlapping region of the noise region set of each of the sensing receivers and other sensing receivers included in the plurality of sensing receivers;

[0049] In step S606, for any two of the perception receivers, the following operations are performed to make the overlapping area of the noise area set between any two of the perception receivers less than or equal to a first threshold value: in a case where the overlapping area between a first perception receiver and a second perception receiver is greater than the first threshold value, performing a target adjustment operation on the first perception receiver to make the overlapping area between the first perception receiver and the second perception receiver less than or equal to the first threshold value, wherein the target adjustment operation includes at least one of adjusting a position of the first perception receiver and adjusting a perception signal receiving direction of the first perception receiver, and the first perception receiver and the second perception receiver are any two of the perception receivers.

[0050] In step S604, the noise area refers to a planar range S of noise generation or a spatial range in a three-dimensional space, and the noise area includes but is not limited to a 6-tuple, S=(near distance, far distance, left angle, right angle, upper angle, lower angle), and in a case where the perception range is a ground, the noise area can be simplified as a 4-tuple (near distance, far distance, left angle, right angle).

[0051] In step S606, the first threshold value can be set according to a scene.

[0052] Through the above steps, since the overlapping area of the noise area set of the perception receiver is determined based on the configuration parameters of the perception receiver and the received perception data, and the target adjustment operation is performed to minimize the overlapping area, the influence of noise on the perception result is reduced, thereby solving the problem in the related art that the environmental noise cannot be effectively eliminated, the accuracy of the perception result is improved, and the problem that the perception result is affected is solved.

[0053] The execution subject of the above steps can be a perception server, a perception system including the perception server, a device in specific association with the perception server, or other server devices with similar functions, but is not limited thereto.

[0054] In an optional embodiment, when the target adjustment operation comprises adjusting the position of the first sensing receiver, performing the target adjustment operation on the first sensing receiver comprises: preliminarily adjusting the position of the first sensing receiver; after the preliminary adjustment is completed, determining the size of the overlap region; when it is determined that the overlap region is smaller than or equal to the first threshold value, obtaining a reference distance difference of a sensing region of the first sensing receiver, wherein the reference distance difference of the sensing region is a difference between distances between two points included in the sensing region and the first sensing receiver, the two points having equal distances to the second sensing receiver; when it is determined that the reference distance difference of the sensing region is smaller than or equal to a second threshold value, continuing to adjust the position of the first sensing receiver so that the overlap region between the first sensing receiver and the second sensing receiver is smaller than or equal to the first threshold value and the reference distance difference of the sensing region is greater than the second threshold value.

[0055] In the above steps, for example, after the position of the first sensing receiver is preliminarily adjusted, two points in the sensing region having equal distances to the second sensing receiver can be extracted, a distance difference between the two points and the first sensing receiver is calculated, if the distance difference is greater than or equal to the second threshold value, it is determined that the position adjustment of the first sensing receiver is completed, if the distance difference is smaller than the second threshold value, the position of the first sensing receiver is continuously adjusted until the overlap region is smaller than or equal to the first threshold value and the distance difference is greater than or equal to the second threshold value, the second threshold value can be set according to an application scenario, and the two points having equal distances can be pre-set.

[0056] In an optional embodiment, the configuration parameter comprises at least one of the following: a sensing mode, a sensing period, a transmission power of a sensing transmitter, a receiving antenna direction of a sensing receiver, a sensing signal time-frequency resource, a sensing signal transmission period, and a sensing signal standard.

[0057] In the above steps, the sensing mode includes but is not limited to a sensing receiver spontaneous self-reception mode, a signal transmitter and receiver separation mode, the sensing period includes but is not limited to 1s, 1.5s, 2s, etc., the sensing transmitter transmission power includes but is not limited to 40dBm, 50dBm, 60dBm, etc., the sensing receiver receiving antenna direction includes but is not limited to a beam horizontal angle of 60°, 65°, 70°, etc., a vertical angle of 5°, 6°, 7°, etc., the sensing signal time-frequency resource includes but is not limited to a frequency point of 4.8GHz, 4.9GHz, 5GHz, etc., the sensing signal transmission period includes but is not limited to 4ms, 5ms, 6ms, etc., and the sensing signal standard includes but is not limited to an analog signal standard, a digital signal standard, a network communication standard, etc.

[0058] In an optional embodiment, before determining the noise region set of each sensing receiver based on the configuration parameters of multiple sensing receivers and the sensing data received by the multiple sensing receivers, the method further includes: receiving the sensing data reported by each sensing receiver, wherein the sensing data is data obtained by processing the received sensing signal by the sensing receiver according to the sensing period included in the configuration parameters.

[0059] In the above steps, the sensing transmitter periodically transmits the sensing signal according to the sensing signal transmission period, the sensing receiver periodically processes the sensing signal according to the sensing signal transmission period, and periodically feeds back the sensing data to the sensing server according to the sensing signal transmission period. The sensing data includes the frequency domain or time domain data of the sensing signal received by the multi-antenna of each sensing receiver according to the sensing signal transmission period, and the Doppler data obtained by processing the continuously received data. In this embodiment, the sensing transmitter and the sensing receiver perform sensing-related operations based on the pre-received configuration information according to the same period, thereby helping to improve the consistency of the transmission and reception of the sensing data, and further improving the reliability of the data sensing result.

[0060] The sensing data includes the frequency domain or time domain data of the sensing signal received by the multi-antenna of each sensing receiver according to the sensing period, and also includes the Doppler data obtained by processing the continuously received data.

[0061] In an optional embodiment, before receiving the sensing data reported by each of the sensing receivers, the method further comprises: sending sensing configuration information to the sensing receivers, to instruct the sensing receivers to be configured based on the sensing configuration information, and to process the received sensing signals according to the sensing period included in the sensing configuration information, wherein the sensing configuration information further includes at least one of the following: sensing signal time-frequency resource, sensing signal transmission period, sensing signal standard.

[0062] In the above step, the sensing receiver sends a response message to the sensing server to indicate that the configuration information is received.

[0063] In an optional embodiment, the sensing data includes at least one of the following: sensing signal frequency domain data, sensing signal time domain data, sensing signal Doppler data.

[0064] In the above step, the sensing signal Doppler data is actually the data obtained after the received sensing signal is processed by Doppler. In addition, it should be noted that the above-mentioned types of sensing data are only exemplary, and in actual application, other types of sensing data can be obtained by processing the received sensing signal in other types.

[0065] In an optional embodiment, determining the noise region set of each of the sensing receivers based on the configuration parameters of the plurality of sensing receivers and the sensing data received by the plurality of sensing receivers comprises: in the case that the mode of the sensing receiver is a single-station sensing mode, determining the noise region set of the sensing receiver according to the sensing data by using a self-transmitting and self-receiving sensing mode, wherein the noise distance is twice the distance from the sensing base station to the sensing region, and the noise angle is the angle of arrival of the noise signal to the sensing receiver; in the case that the mode of the sensing receiver is a separate mode of signal transmitter and receiver, determining the noise region set of the sensing receiver according to the sensing data by using a cooperative sensing mode, wherein the noise distance is the sum of the distance from the sensing transmitter to the sensing region and the distance from the sensing region to the sensing receiver, and the noise angle is the angle of arrival of the noise signal to the sensing receiver.

[0066] In the above step, in the case that the sensing receiver uses the self-transmitting and self-receiving sensing mode, the sensing receiver transmits the sensing signal according to the predetermined period and receives the sensing data of the sensing signal transmitted by itself, and in the case that the sensing receiver uses the separate mode, a plurality of sensing receivers receive the sensing data, and optionally, one of the plurality of sensing receivers can be integrated with the sensing transmitter on a sensing base station.

[0067] In an optional embodiment, determining the overlapping region of the noise region set of the plurality of sensing receivers includes: determining the overlapping region Ω of any two sensing receivers included in the plurality of sensing receivers using the following formula. i,j :

[0068]

[0069] Where i and j are the identifiers of any two of the sensing receivers; O i Let O be the set of noise regions for sensing receiver i, and O i ={S i,1 ,S i,2 ...S i,Ni}, S i,Ni For the Nth sensing receiver i i Noise zone; O j Let O be the set of noise regions for sensing receiver j, and O j ={S j,1 ,S j,2 ...S j,Nj}, S j,Nj For the Nth sensing receiver j j Noise zone.

[0070] The technical solution of the present invention will be described below with reference to specific embodiments:

[0071] Specific Implementation Example 1: In a scenario with two sensing base stations in self-transmitting and self-receiving mode, the impact of environmental noise on the sensing results is eliminated by distance adjustment. Figure 7 This is a flowchart of a wireless sensing environmental noise cancellation method according to an embodiment of the present invention. Figure 2 ,like Figure 7 As shown, the specific steps include the following:

[0072] First, the relevant parameters are explained. In this embodiment, the sensing mode of the sensing signal transmitter is self-transmitting and self-receiving, the sensing period is 1s, the transmission power is 50dBm, the transmission frequency is 4.9GHz, the bandwidth is 100MHz, the sensing signal transmission period (for the transmitter, this period is the sensing signal transmission period; for the receiver, this period is the sensing signal reception period) is 5ms, the number of sensing symbols transmitted in each period is 1, the horizontal angle of the transmitted signal beam is 65°, the vertical angle is 6°, and the sensing base station panel has 8 horizontal elements and 4 vertical elements, which can perform dual-polarized transmission in the horizontal and vertical directions respectively.

[0073] Step S702: Determine the noise region range of the two sensing base stations respectively, wherein the noise region range includes: noise distance and noise angle.

[0074] In the above steps, exemplary, the noise region range of the two cognitive base stations S1 = (near distance d near , far distance d far , left angle angle left , right angle angle right , upper angle angle up , lower angle angle down ) and S2 = (near distance d near , far distance d far , left angle angle left , right angle angle right , upper angle angle up , lower angle angle down ) are shown. The noise distance is twice the distance from the cognitive base station to the noise region range, d near and d far are the minimum and maximum distances from the cognitive base station to the noise region range. angle left and angle right are the minimum and maximum angles of the arrival angle of the noise signal to the cognitive receiver in the horizontal direction, and angle up and angle down are the minimum and maximum angles of the arrival angle of the noise signal to the cognitive receiver in the vertical direction.

[0075] Step S704, determine all noise regions of the receiver of each cognitive base station as a set of noise regions.

[0076] In the above steps, the noise region set of the cognitive receiver 1 on the cognitive base station 1 is O1 = {S 1,1 , S 1, 2... S 1,N1}, the noise region set of the cognitive receiver 2 on the cognitive base station 2 is O2 = {S 2,1 , S 2,2 ... S 2,N2}, and N1 and N2 are the number of noise regions of the cognitive receiver 1 and the cognitive receiver 2, respectively.

[0077] Step S706, determine the overlapping region of the noise region sets of the two cognitive receivers by the following formula (Ω represents the overlapping region):

[0078] wherein, Figure 8 is a schematic diagram of the distribution of the cognitive receiver position and the distribution of the noise region according to an embodiment of the present application.

[0079] Step S708, adjust the position of the perception receiver 2 (the perception receiver for which the position is adjusted can be any of the perception receivers, and in this embodiment, the adjustment of the position of the perception receiver 2 is taken as an example for illustration), so that Ω 1,2 <Threshold 1, which can be set according to the scene.

[0080] wherein, Figure 9 is a schematic diagram of the adjustment of the position of the perception receiver and the change in the distribution of the noise area according to an embodiment of the present application, as shown in Figure 8 、 9 The adjusted noise area has no overlap.

[0081] Step S710, extract points a and b in the perception area that are equal (L11=L21) in distance from the perception receiver 1, and calculate the difference L22-L12 in distance from the perception receiver 2.

[0082] Step S712, if L22-L12>Threshold 2, the adjustment of the perception receiver is complete, and the probability of the target of the perception area further reducing the noise area of the perception receivers 1 and 2 is reduced.

[0083] Step S714, if L22-L12<Threshold 2, continue to adjust the position of the perception receiver 2 until Ω 1,2 <Threshold 1 and L22-L12>Threshold 2.

[0084] Figure 10 is a schematic diagram of the distance before the reduction of the influence of the noise according to an embodiment of the present application, Figure 11 is a schematic diagram of the distance after the reduction of the influence of the noise according to an embodiment of the present application.

[0085] Specific embodiment two: in a scene in which two perception base stations with a self-transmitting and self-receiving perception mode are provided, the influence of environmental noise on the perception result is eliminated through angle adjustment, Figure 12 is a flow of a wireless perception environmental noise elimination method according to an embodiment of the present application Figure 3 , as shown in Figure 12 , specifically includes the following steps:

[0086] First, the relevant parameters are described. In this embodiment, the perception mode of the perception signal transmitter is self-transmitting and self-receiving, the perception period is 1s, the transmission power is 50dBm, the transmission frequency point is 4.9GHz, the bandwidth is 100MHz, the perception signal transmission period (for the transmitter, this period is the perception signal transmission period, and for the receiver, this period is the perception signal reception period) is 5ms, the number of perception symbols sent in each period is 1, the horizontal angle of the transmitted signal beam is 65°, the vertical angle is 6°, the perception base station panel has 8 horizontal array elements and 4 vertical array elements, and can perform dual-polarized transmission in the horizontal and vertical directions.

[0087] Step S1202, respectively determine the noise region range of two sensing base stations, wherein the noise region range comprises noise distance and noise angle.

[0088] In the above steps, exemplary, the noise region range S1 = (near distance d near , far distance d far , left angle angle left , right angle angle right , upper angle angle up , lower angle angle down ) and S2 = (near distance d near , far distance d far , left angle angle left , right angle angle right , upper angle angle up , lower angle angle down ) of two sensing base stations. The noise distance is 2 times the distance from the sensing base station to the noise region range, d near and d far are the minimum and maximum distances from the sensing base station in the noise region range. angle left , angle right are the minimum and maximum angles of the arrival angle of the noise signal to the sensing receiver in the horizontal direction, angle up , angle down are the minimum and maximum angles of the arrival angle of the noise signal to the sensing receiver in the vertical direction.

[0089] Step S1204, determine all noise regions of the receiver of each sensing base station as the set of noise regions.

[0090] In the above steps, the noise region set O1 = {S 1,1 , S 1, 2... S 1,N1} of the sensing receiver 1 on the sensing base station 1, the noise region set O2 = {S 2,1 , S 2,2 ... S 2,N2} of the sensing receiver 2 on the sensing base station 2, N1, N2 are the number of noise regions of the sensing receiver 1 and the sensing receiver 2 respectively.

[0091] Step S1206, determine the overlapping region of the noise region sets of two sensing receivers by the following formula (Ω represents the overlapping region):

[0092] Step S1208, adjust the angle of the perception receiver 2 (the perception receiver which is adjusted in angle can be any one of the perception receivers, in the embodiment, the perception receiver 2 is taken as an example to be described), recalculate Ω 1,2 .

[0093] Step S1210, if Ω 1,2 The threshold 1, complete the adjustment of the receiver.

[0094] Step S1212, if Ω 1,2> The threshold 1, continue to adjust the receiver until Ω 1,2 The threshold 1.

[0095] Figure 13 is a schematic diagram before the noise influence is reduced according to the embodiment of the application; Figure 14 is a schematic diagram after the noise influence is reduced according to the embodiment of the application.

[0096] Through the above description of the embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be realized by means of software and the necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the application or the part which contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as a ROM / RAM, a magnetic disk, an optical disk) and includes a plurality of instructions to make a terminal device (which can be a mobile phone, a computer, a server, or a network device, etc.) execute the method described in each embodiment of the application.

[0097] In the embodiment, a wireless perception environment noise elimination device is also provided, which is used to realize the above embodiments and preferred embodiments, which have been described and will not be repeated. As used below, the term "module" can be a combination of software and / or hardware that implements a predetermined function. Although the device described in the following embodiments is preferably realized in software, the realization of hardware, or a combination of software and hardware is also possible and is conceived.

[0098] Figure 15 The structure block diagram of the wireless perception environment noise elimination device according to the embodiment of the application is as follows, Figure 15The apparatus comprises: a first determining module 152, configured to determine a set of noise regions of each of a plurality of sensing receivers based on configuration parameters of the plurality of sensing receivers and sensing data received by the plurality of sensing receivers; a second determining module 154, configured to determine an overlapping region of the set of noise regions of each of the plurality of sensing receivers and other sensing receivers included in the plurality of sensing receivers; and an adjusting module 156, configured to, for any two of the plurality of sensing receivers, perform the following operation to make the overlapping region of the set of noise regions between the any two of the plurality of sensing receivers less than or equal to a first threshold value: in a case where the overlapping region between a first sensing receiver and a second sensing receiver is greater than the first threshold value, performing a target adjusting operation on the first sensing receiver to make the overlapping region between the first sensing receiver and the second sensing receiver less than or equal to the first threshold value, wherein the target adjusting operation comprises at least one of adjusting a position of the first sensing receiver and adjusting a sensing signal receiving direction of the first sensing receiver, and the first sensing receiver and the second sensing receiver are the any two of the plurality of sensing receivers.

[0099] In an optional embodiment, the adjusting module 156 comprises an adjusting unit, configured to, in a case where the target adjusting operation comprises adjusting the position of the first sensing receiver, perform the following target adjusting operation on the first sensing receiver: performing a preliminary adjustment on the position of the first sensing receiver; determining a size of the overlapping region after the preliminary adjustment is completed; in a case where the overlapping region is determined to be less than or equal to the first threshold value, obtaining a reference distance difference of a sensing region of the first sensing receiver, wherein the reference distance difference of the sensing region is a difference between distances between the first sensing receiver and two points included in the sensing region and being equal in distance to the second sensing receiver; and in a case where the reference distance difference of the sensing region is determined to be less than or equal to a second threshold value, continuing to adjust the position of the first sensing receiver to make the overlapping region between the first sensing receiver and the second sensing receiver less than or equal to the first threshold value and the reference distance difference of the sensing region greater than the second threshold value.

[0100] In an optional embodiment, the configuration parameters comprise at least one of a sensing mode, a sensing period, a transmission power of a sensing transmitter, a receiving antenna direction of a sensing receiver, a sensing signal time-frequency resource, a sensing signal transmission period, and a sensing signal standard.

[0101] In an optional embodiment, the apparatus further comprises a receiving module, configured to receive the sensing data reported by each of the sensing receivers before determining the set of noise regions of each of the sensing receivers based on configuration parameters of the plurality of sensing receivers and the sensing data received by the plurality of sensing receivers, wherein the sensing data is data obtained by processing a received sensing signal by the sensing receiver according to a sensing period included in the configuration parameters.

[0102] In an optional embodiment, the apparatus further comprises a sending module, configured to send sensing configuration information to the sensing receivers before receiving the sensing data reported by each of the sensing receivers, so as to instruct the sensing receivers to be configured based on the sensing configuration information and to process a received sensing signal according to the sensing period included in the sensing configuration information, wherein the sensing configuration information further comprises at least one of the following: sensing signal time-frequency resource, sensing signal transmission period, sensing signal standard.

[0103] In an optional embodiment, the sensing data comprises at least one of the following: sensing signal frequency domain data, sensing signal time domain data, sensing signal Doppler data.

[0104] In an optional embodiment, the first determining module 152 comprises: a first determining unit, configured to determine the set of noise regions of the sensing receiver according to the sensing data by using a self-emission self-reception sensing mode in a case where the mode of the sensing receiver is a single-station sensing mode, wherein the noise distance is twice the distance from the sensing base station to the sensing region, and the noise angle is the angle of arrival of the noise signal to the sensing receiver; and a second determining unit, configured to determine the set of noise regions of the sensing receiver according to the sensing data by using a cooperative sensing mode in a case where the mode of the sensing receiver is a mode in which the signal transmitter and the receiver are separated, wherein the noise distance is the sum of the distance from the sensing transmitter to the sensing region and the distance from the sensing region to the sensing receiver, and the noise angle is the angle of arrival of the noise signal to the sensing receiver.

[0105] In an optional embodiment, the second determining module 154 comprises a third determining unit, configured to determine the overlapping region Ω of any two of the plurality of sensing receivers by using the following formula: i,j :

[0106]

[0107] wherein i and j are respectively the identities of any two of the sensing receivers; O i is the set of noise regions of the sensing receiver i, and O i = {S i,1 , Si,2 ...S i,Ni}, S i,Ni For the Nth sensing receiver i i Noise zone; O j Let O be the set of noise regions for sensing receiver j, and O j ={S j,1 ,S j,2 ...S j,Nj}, S j,Nj For the Nth sensing receiver j j Noise zone.

[0108] It should be noted that the above modules can be implemented by software or hardware. For the latter, they can be implemented in the following ways, but are not limited to: all the above modules are located in the same processor; or, the above modules are located in different processors in any combination.

[0109] Embodiments of the present invention also provide a computer-readable storage medium storing a computer program, wherein the computer program is configured to perform the steps in any of the above method embodiments when executed.

[0110] In one exemplary embodiment, the aforementioned computer-readable storage medium may include, but is not limited to, various media capable of storing computer programs, such as a USB flash drive, read-only memory (ROM), random access memory (RAM), portable hard disk, magnetic disk, or optical disk.

[0111] Embodiments of the present invention also provide an electronic device including a memory and a processor, the memory storing a computer program and the processor being configured to run the computer program to perform the steps in any of the above method embodiments.

[0112] In one exemplary embodiment, the electronic device may further include a transmission device and an input / output device, wherein the transmission device is connected to the processor and the input / output device is connected to the processor.

[0113] Embodiments of the present invention also provide a computer program product, which includes a computer program that, when executed by a processor, implements the steps in any of the above method embodiments.

[0114] Specific examples in this embodiment can be found in the examples described in the above embodiments and exemplary implementations, and will not be repeated here.

[0115] It should be apparent to those skilled in the art that the modules or steps of the application described above can be implemented with general computing devices, which can be centralized on a single computing device or distributed on a network of multiple computing devices, which can be implemented with program codes executable by the computing devices, so that they can be stored in storage devices and executed by the computing devices, and in some cases, the steps shown or described can be executed in different orders than shown, or made into individual integrated circuit modules, or made into a single integrated circuit module. Thus, the application is not limited to any particular combination of hardware and software.

[0116] The preferred embodiments of the application described above are intended to be merely exemplary and those skilled in the art will recognize that many changes and modifications can be made to the application without departing from the spirit and scope of the application. Any modifications, equivalent substitutions, improvements, etc. made within the principles of the application should be included in the protection scope of the application.

Claims

1. A wireless sensing method for eliminating environmental noise, characterized in that, include: The noise region set for each sensing receiver is determined based on the configuration parameters of multiple sensing receivers and the sensing data received by the multiple sensing receivers. Determine the overlapping region of each of the sensing receivers with the noise region set of other sensing receivers included in the plurality of sensing receivers; For any two of the sensing receivers, the following operation is performed to ensure that the overlap of the noise region set between any two of the sensing receivers is less than or equal to a first threshold value: If the overlap area between the first sensing receiver and the second sensing receiver is greater than a first threshold, a target adjustment operation is performed on the first sensing receiver to make the overlap area between the first sensing receiver and the second sensing receiver less than or equal to the first threshold. The target adjustment operation includes at least one of the following: adjusting the position of the first sensing receiver, adjusting the sensing signal receiving direction of the first sensing receiver, wherein the first sensing receiver and the second sensing receiver are any two sensing receivers.

2. The method according to claim 1, characterized in that, When the target adjustment operation includes adjusting the position of the first sensing receiver, performing the target adjustment operation on the first sensing receiver includes: The position of the first sensing receiver is initially adjusted; After completing the initial adjustments, determine the size of the overlapping area; If the overlapping area is determined to be less than or equal to the first threshold value, a reference distance difference of the sensing area of ​​the first sensing receiver is obtained, wherein the reference distance difference of the sensing area is the difference between the distance between the first sensing receiver and two points within the sensing area that are equidistant from the second sensing receiver. If the reference distance difference of the sensing area is determined to be less than or equal to the second threshold, the position of the first sensing receiver is further adjusted so that the overlapping area between the first sensing receiver and the second sensing receiver is less than or equal to the first threshold and the reference distance difference of the sensing area is greater than the second threshold.

3. The method according to claim 1, characterized in that, The configuration parameters include at least one of the following: Sensing mode, sensing period, transmitting power of the sensing transmitter, receiving antenna direction of the sensing receiver, time and frequency resources of the sensing signal, transmitting period of the sensing signal, and sensing signal standard.

4. The method according to claim 1, characterized in that, Before determining the noise region set for each of the multiple sensing receivers based on configuration parameters of the multiple sensing receivers and sensing data received by the multiple sensing receivers, the method further includes: The sensor receives the sensing data reported by each of the sensing receivers, wherein the sensing data is the data obtained by the sensing receivers after processing the received sensing signals according to the sensing period included in the configuration parameters.

5. The method according to claim 4, characterized in that, Before receiving the sensing data reported by each of the sensing receivers, the method further includes: Sensing configuration information is sent to the sensing receiver to instruct the sensing receiver to configure itself based on the sensing configuration information and to process the received sensing signal according to the sensing period included in the sensing configuration information. The sensing configuration information further includes at least one of the following: sensing signal time-frequency resources, sensing signal transmission period, and sensing signal standard.

6. The method according to claim 4, characterized in that, The sensed data includes at least one of the following: Sensing signal frequency domain data, sensing signal time domain data, sensing signal Doppler data.

7. The method according to claim 1, characterized in that, Based on the configuration parameters of multiple sensing receivers and the sensing data received by the multiple sensing receivers, the noise region set for each sensing receiver is determined as follows: When the sensing receiver is in single-site sensing mode, the noise region set of the sensing receiver is determined based on the sensing data using a self-transmitting and self-receiving sensing method. The noise distance is twice the distance from the sensing base station to the sensing region, and the noise angle is the angle of arrival of the noise signal to the sensing receiver. When the sensing receiver is in a signal transmitter and receiver separation mode, a collaborative sensing method is used to determine the noise region set of the sensing receiver based on the sensing data. Here, the noise distance is the sum of the distances from the sensing transmitter to the sensing region and from the sensing region to the sensing receiver, and the noise angle is the angle of arrival of the noise signal to the sensing receiver.

8. The method according to claim 1, characterized in that, Determining the overlapping region of the noise region sets of the plurality of sensing receivers includes: The overlapping region Ω of any two sensing receivers included in the plurality of sensing receivers is determined by the following formula. i,j : Where i and j are the identifiers of any two of the sensing receivers; O i Let O be the set of noise regions for sensing receiver i, and O i ={S i,1 ,S i,2 ...S i,Ni }, S i,Ni For the Nth sensing receiver i i One noise zone; O j Let O be the set of noise regions for sensing receiver j, and O j ={S j,1 ,S j,2 ...S j,Nj }, S j,Nj For the Nth sensing receiver j j Noise zone.

9. A wireless sensing environmental noise cancellation device, characterized in that, include: The first determining module is used to determine the noise region set of each of the multiple sensing receivers based on the configuration parameters of the multiple sensing receivers and the sensing data received by the multiple sensing receivers. The second determining module is used to determine the overlapping area between each of the sensing receivers and the noise region set of other sensing receivers included in the plurality of sensing receivers; The adjustment module is configured to perform the following operation for any two of the sensing receivers, such that the overlap of the noise region set between any two of the sensing receivers is less than or equal to a first threshold value: If the overlap area between the first sensing receiver and the second sensing receiver is greater than a first threshold, a target adjustment operation is performed on the first sensing receiver to make the overlap area between the first sensing receiver and the second sensing receiver less than or equal to the first threshold. The target adjustment operation includes at least one of the following: adjusting the position of the first sensing receiver, adjusting the sensing signal receiving direction of the first sensing receiver, wherein the first sensing receiver and the second sensing receiver are any two sensing receivers.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, wherein the computer program, when executed by a processor, implements the steps of the method described in any one of claims 1 to 8.

11. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method described in any one of claims 1 to 8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method described in any one of claims 1 to 8.

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