Perception method and apparatus, communication device, communication system, and storage medium

Abstract

The method comprises: receiving, by a perception receiver, first information, the first information being used to indicate a first time and a second time; and determining, according to the first information, a perception amount of a scatterer or a target that changes between the first time and the second time. The embodiments of the present disclosure can perceive the scatterer or the target that changes in a period of time, and determine the perception amount of the scatterer or the target that changes, which can greatly reduce or even completely eliminate the interference of the known scatterer / target, and focus on the scatterer / target that changes in a given time, and facilitate triggering a predefined event according to the change of the scatterer / target.

Description

Perception method, device, communication equipment, communication system and storage medium Technical Field

[0001] The present disclosure relates to the field of communication technology, and in particular to a perception method, apparatus, communication equipment, communication system, and storage medium. Background Art

[0002] Wireless communication and wireless sensing technologies are highly similar. Integrated sensing and communication (ISAC) can combine wireless communication and wireless sensing, introducing close collaboration between the two, thereby improving spectrum efficiency and reducing network deployment costs.

[0003] Summary of the Invention

[0004] The embodiments of the present disclosure provide a perception method, apparatus, communication equipment, communication system, and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a perception method is proposed, the method comprising:

[0006] receiving first information, where the first information is used to indicate a first time and a second time;

[0007] A perceived amount of a scatterer or target that changes between the first moment and the second moment is determined based on the first information.

[0008] According to a second aspect of an embodiment of the present disclosure, a perception method is proposed, the method comprising:

[0009] First information is sent, where the first information is used to indicate a first moment and a second moment, and the first information is used to determine a perceived amount of a scatterer or target that changes between the first moment and the second moment.

[0010] According to a third aspect of an embodiment of the present disclosure, a sensing device is provided, comprising:

[0011] A transceiver module is configured to receive first information, where the first information is used to indicate a first time and a second time;

[0012] The processing module is configured to determine, based on the first information, a perceived amount of the scatterer or target that changes between the first moment and the second moment.

[0013] According to a fourth aspect of an embodiment of the present disclosure, a sensing device is provided, comprising:

[0014] The transceiver module is configured to send first information, where the first information is used to indicate a first moment and a second moment, and the first information is used to determine a perception amount of a scatterer or target that changes between the first moment and the second moment.

[0015] According to a fifth aspect of an embodiment of the present disclosure, a communication device is provided, including:

[0016] one or more processors;

[0017] The communication device is used to execute the perception method proposed in the first aspect or the second aspect of the embodiment of this disclosure.

[0018] According to the sixth aspect of an embodiment of the present disclosure, a communication system is proposed, comprising a perceptual transmitter and a perceptual receiver, wherein the perceptual receiver is configured to implement the perceptual method proposed in the first aspect of the embodiment of the present disclosure, and the perceptual transmitter is configured to implement the perceptual method proposed in the second aspect of the embodiment of the present disclosure.

[0019] According to the seventh aspect of an embodiment of the present disclosure, a storage medium is proposed, which stores instructions. When the instructions are executed on a communication device, the communication device executes the perception method proposed in the first aspect or the second aspect of the embodiment of the present disclosure.

[0020] The embodiments of the present disclosure can perceive scatterers or targets that change over a period of time, that is, determine the perception quantity of the changing scatterers or targets (such as at least one of distance, angle, and speed). This can greatly reduce or even completely eliminate the interference of known (already perceived or detected) scatterers / targets, and instead focus on scatterers / targets that change (newly appearing or disappearing) within a given time, which is conducive to triggering predefined events based on changes in scatterers / targets. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following drawings required for describing the embodiments are introduced. The following drawings are merely some embodiments of the present disclosure and do not impose specific limitations on the protection scope of the present disclosure.

[0022] FIG1 is a schematic diagram of the architecture of a communication system provided according to an embodiment of the present disclosure.

[0023] FIG2 is an interactive schematic diagram of a perception method provided according to an embodiment of the present disclosure.

[0024] FIG3 is a flow chart of a perception method according to an embodiment of the present disclosure.

[0025] FIG4 is a flow chart of a perception method according to an embodiment of the present disclosure.

[0026] FIG5 is an interactive schematic diagram of a perception method provided according to an embodiment of the present disclosure.

[0027] FIG6A is a schematic structural diagram of a sensing device according to an embodiment of the present disclosure.

[0028] FIG6B is a schematic structural diagram of a sensing device according to an embodiment of the present disclosure.

[0029] FIG7A is a schematic structural diagram of a communication device according to an embodiment of the present disclosure.

[0030] FIG7B is a schematic structural diagram of a chip provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] The embodiments of the present disclosure provide a perception method, apparatus, communication equipment, communication system, and storage medium.

[0032] In a first aspect, an embodiment of the present disclosure provides a perception method, the method comprising:

[0033] receiving first information, where the first information is used to indicate a first time and a second time;

[0034] A perceived amount of a scatterer or target that changes between the first moment and the second moment is determined based on the first information.

[0035] In the above embodiment, it is possible to perceive scatterers or targets that change over a period of time, that is, to determine the perception quantity of the changing scatterers or targets (such as at least one of distance, angle, and speed). This can greatly reduce or even completely eliminate the interference of known (already perceived or detected) scatterers / targets, and instead focus on scatterers / targets that change (newly appearing or disappearing) within a given time, which is conducive to triggering predefined events based on changes in scatterers / targets.

[0036] In conjunction with some embodiments of the first aspect, in some embodiments, the first information includes at least one of the following:

[0037] Perception type;

[0038] one or more time periods;

[0039] multiple moments;

[0040] The first moment and the second moment are two moments corresponding to one time period, or the first moment and the second moment are two moments among the multiple moments.

[0041] In conjunction with some embodiments of the first aspect, in some embodiments, the first moment and / or the second moment includes at least one of the following:

[0042] one or more frames;

[0043] one or more subframes;

[0044] one or more time slots;

[0045] One or more Orthogonal Frequency Division Multiplexing (OFDM) symbols.

[0046] In conjunction with some embodiments of the first aspect, in some embodiments, the perception quantity includes at least one of the following:

[0047] distance;

[0048] horizontal azimuth;

[0049] vertical azimuth;

[0050] speed.

[0051] In conjunction with some embodiments of the first aspect, in some embodiments, the perceived quantity includes distance, and determining, based on the first information, the perceived quantity of the scatterer or target that changes between the first moment and the second moment includes:

[0052] Determining a first matrix according to a channel frequency domain response matrix at a resource element where a sensing reference signal is located, where the first matrix represents a difference between a first covariance matrix and a second covariance matrix of the channel frequency domain response matrix, where the first covariance matrix includes subspace information for estimating distance at the first moment, and the second covariance matrix includes subspace information for estimating distance at the second moment;

[0053] The distance of the scatterer or target that changes between the first moment and the second moment is determined based on the first matrix.

[0054] In the above embodiment, the covariance matrix of the first moment and the second moment is utilized, the covariance matrix of the first moment contains the subspace information for estimating the distance at the first moment, and the covariance matrix of the second moment contains the subspace information for estimating the distance at the second moment, and the subspace information of the two moments is subtracted to capture the scatterer or target that changes between the two moments, thereby determining the distance of the changed scatterer or target.

[0055] In conjunction with some embodiments of the first aspect, in some embodiments, the element in the u-th row and v-th column in the first matrix is:

[0056] in, is the nth sensor transmitter tThe antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l β ) on the channel frequency domain response; k u is the number of the u-th subcarrier containing the perception reference signal; k v is the number of the vth subcarrier containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter.

[0057] In conjunction with some embodiments of the first aspect, in some embodiments, determining, according to the first matrix, the distance of the scatterer or target that changes between the first moment and the second moment includes:

[0058] Perform eigenvalue decomposition on the first matrix to obtain a first standard orthogonal basis, which is the standard orthogonal basis U of the noise subspace. r，n , or the orthonormal basis U of the signal subspace r，s ;

[0059] Determine a first spectral function, where the first spectral function is a function related to first scanning vectors and the first orthonormal basis, and each first scanning vector corresponds to a first parameter;

[0060] The distance of the scatterer or target that changes between the first moment and the second moment is determined according to a first parameter corresponding to the peak value of the first spectral function.

[0061] In the above embodiment, spectrum estimation is performed according to the first matrix, thereby determining the distance of the scatterer or target that changes between the first moment and the second moment.

[0062] In conjunction with some embodiments of the first aspect, in some embodiments, the first spectral function is one of the following:

[0063] The first scan vector is:

[0064] Among them, τ is the first parameter, Δ f is the subcarrier spacing, k i is the number of the i-th subcarrier containing the perception reference signal, is the number of subcarriers containing the perception reference signal, For size The unit array.

[0065] In the above embodiment, the first spectral function may have two equivalent forms, namely, a spectral function expression based on a standard orthogonal basis of the noise subspace and a spectral function expression based on a standard basis of the signal subspace.

[0066] In conjunction with some embodiments of the first aspect, in some embodiments, determining the distance of the scatterer or target that changes between the first moment and the second moment based on the first parameter corresponding to the peak of the first spectral function includes:

[0067] The distance of the scatterer or target that changes between the first moment and the second moment is determined according to the speed of light and a first parameter corresponding to the peak value of the first spectral function.

[0068] In conjunction with some embodiments of the first aspect, in some embodiments, the perception quantity includes a horizontal azimuth angle, and determining, based on the first information, the perception quantity of the scatterer or target that changes between the first moment and the second moment includes:

[0069] Determining a second matrix according to a channel frequency domain response matrix at a resource element where a perception reference signal is located, where the second matrix represents a difference between a third covariance matrix and a fourth covariance matrix of the channel frequency domain response matrix, where the third covariance matrix includes subspace information for estimating the horizontal azimuth angle at the first moment, and the fourth covariance matrix includes subspace information for estimating the horizontal azimuth angle at the second moment;

[0070] The horizontal azimuth angle of the scatterer or target that changes between the first time instant and the second time instant is determined based on the second matrix.

[0071] In the above embodiment, the covariance matrix of the first moment and the second moment is used. The covariance matrix of the first moment contains the subspace information for estimating the horizontal azimuth angle at the first moment, and the covariance matrix of the second moment contains the subspace information for estimating the horizontal azimuth angle at the second moment. By subtracting the subspace information of the two moments, the scatterer or target that changes between the two moments is captured, thereby determining the horizontal azimuth angle of the changed scatterer or target.

[0072] In combination with some embodiments of the first aspect, in some embodiments, the element in the u-th row and v-th column in the second matrix is:

[0073] in, is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response, is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter.

[0074] In conjunction with some embodiments of the first aspect, in some embodiments, determining, according to the second matrix, the horizontal azimuth angle of the scatterer or target that changes between the first moment and the second moment includes:

[0075] Perform eigenvalue decomposition on the second matrix to obtain a second orthogonal basis, which is the orthogonal basis U of the noise subspace. Φ，n Or the orthonormal basis U of the signal subspace Φ，s ;

[0076] determining a second spectral function, where the second spectral function is a function related to the second scanning vectors and the second orthonormal basis, and each of the second scanning vectors corresponds to a second parameter;

[0077] The horizontal azimuth angle of the scatterer or target that changes between the first moment and the second moment is determined according to the second parameter corresponding to the peak value of the second spectral function.

[0078] In the above embodiment, spectrum estimation is performed according to the second matrix, thereby determining the horizontal azimuth angle of the scatterer or target that changes between the first moment and the second moment.

[0079] In conjunction with some embodiments of the first aspect, in some embodiments, the second spectral function is one of the following:

[0080] The second scan vector is:

[0081] Wherein, φ is the second parameter, λ is the wavelength, N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension, d H is the antenna spacing in the horizontal dimension of the receiving antenna array of the sensing receiver, For size The unit array.

[0082] In the above embodiment, the second spectral function may have two equivalent forms, namely, a spectral function expression based on a standard orthogonal basis of the noise subspace and a spectral function expression based on a standard basis of the signal subspace.

[0083] In conjunction with some embodiments of the first aspect, in some embodiments, the perception quantity includes a vertical azimuth angle, and determining, based on the first information, the perception quantity of the scatterer or target that changes between the first moment and the second moment includes:

[0084] Determining a third matrix according to a channel frequency domain response matrix at a resource element where a perception reference signal is located, where the third matrix represents a difference between a fifth covariance matrix and a sixth covariance matrix of the channel frequency domain response matrix, where the fifth covariance matrix includes subspace information for estimating the vertical azimuth angle at the first moment, and the sixth covariance matrix includes subspace information for estimating the vertical azimuth angle at the second moment;

[0085] The vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment is determined according to the third matrix.

[0086] In the above embodiment, the covariance matrix of the first moment and the second moment is used. The covariance matrix of the first moment contains the subspace information for estimating the vertical azimuth angle at the first moment, and the covariance matrix of the second moment contains the subspace information for estimating the vertical azimuth angle at the second moment. The subspace information of the two moments is subtracted to capture the scatterer or target that changes between the two moments, thereby determining the vertical azimuth angle of the changed scatterer or target.

[0087] In combination with some embodiments of the first aspect, in some embodiments, the element in the u-th row and v-th column of the third matrix is:

[0088] in, is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l β ) on the channel frequency domain response; is the nth sensor transmitter tThe antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter.

[0089] In conjunction with some embodiments of the first aspect, in some embodiments, determining the vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment according to the third matrix includes:

[0090] Perform eigenvalue decomposition on the third matrix to obtain a third standard orthogonal basis, which is the standard orthogonal basis U of the noise subspace. Θ，n Or the orthonormal basis U of the signal subspace Θ，s ;

[0091] determining a third spectral function, where the third spectral function is a function related to third scanning vectors and the third orthonormal basis, and each of the third scanning vectors corresponds to a third parameter;

[0092] The vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment is determined according to the third parameter corresponding to the peak value of the third spectral function.

[0093] In the above embodiment, spectrum estimation is performed according to the third matrix, thereby determining the vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment.

[0094] In conjunction with some embodiments of the first aspect, in some embodiments, the third spectral function is one of the following:

[0095] The third scan vector is:

[0096] Wherein, θ is the third parameter, λ is the wavelength, M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension, d V is the antenna spacing in the vertical dimension of the receiving antenna array of the sensing receiver, For size The unit array.

[0097] In the above embodiment, the third spectral function may have two equivalent forms, namely, a spectral function expression based on a standard orthogonal basis of the noise subspace and a spectral function expression based on a standard basis of the signal subspace.

[0098] In a second aspect, an embodiment of the present disclosure provides a perception method, the method comprising:

[0099] First information is sent, where the first information is used to indicate a first moment and a second moment, and the first information is used to determine a perceived amount of a scatterer or target that changes between the first moment and the second moment.

[0100] In conjunction with some embodiments of the second aspect, in some embodiments, the first information includes at least one of the following:

[0101] Perception type;

[0102] one or more time periods;

[0103] multiple moments;

[0104] The first moment and the second moment are two moments corresponding to one time period, or the first moment and the second moment are two moments among the multiple moments.

[0105] In conjunction with some embodiments of the second aspect, in some embodiments, the first moment and / or the second moment includes at least one of the following:

[0106] one or more frames;

[0107] one or more subframes;

[0108] one or more time slots;

[0109] One or more OFDM symbols.

[0110] In conjunction with some embodiments of the second aspect, in some embodiments, the perception quantity includes at least one of the following:

[0111] distance;

[0112] horizontal azimuth;

[0113] vertical azimuth;

[0114] speed.

[0115] In a third aspect, an embodiment of the present disclosure provides a sensing device, comprising:

[0116] A transceiver module is configured to receive first information, where the first information is used to indicate a first time and a second time;

[0117] The processing module is configured to determine, based on the first information, a perceived amount of the scatterer or target that changes between the first moment and the second moment.

[0118] In a fourth aspect, an embodiment of the present disclosure provides a sensing device, comprising:

[0119] The transceiver module is configured to send first information, where the first information is used to indicate a first moment and a second moment, and the first information is used to determine a perception amount of a scatterer or target that changes between the first moment and the second moment.

[0120] In a fifth aspect, an embodiment of the present disclosure provides a communication device, including:

[0121] one or more processors;

[0122] The communication device is used to execute the method described in the optional implementation of the first aspect or the optional implementation of the second aspect.

[0123] In a sixth aspect, an embodiment of the present disclosure proposes a communication system, comprising a perceptual transmitter and a perceptual receiver, wherein the perceptual receiver is configured to implement the method described in the optional implementation of the first aspect, and the perceptual transmitter is configured to implement the method described in the optional implementation of the second aspect.

[0124] In the seventh aspect, an embodiment of the present disclosure proposes a storage medium, which stores instructions. When the instructions are executed on a communication device, the communication device executes the method described in the optional implementation of the first aspect or the optional implementation of the second aspect.

[0125] In an eighth aspect, an embodiment of the present disclosure proposes a program product. When the program product is executed by a communication device, the communication device executes the method described in the optional implementation of the first aspect or the optional implementation of the second aspect.

[0126] In a ninth aspect, an embodiment of the present disclosure proposes a computer program, which, when executed on a computer, enables the computer to execute the method described in the optional implementation of the first aspect or the optional implementation of the second aspect.

[0127] In a tenth aspect, an embodiment of the present disclosure provides a chip or a chip system, wherein the chip or chip system includes a processing circuit configured to execute the method described in the optional implementation of the first aspect or the optional implementation of the second aspect.

[0128] It is understandable that the above-mentioned devices, communication devices, communication systems, storage media, program products, computer programs, chips, or chip systems are all used to perform the methods proposed in the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects of the corresponding methods and will not be repeated here.

[0129] The embodiments of the present disclosure are not exhaustive and are merely illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0130] In each embodiment of the present disclosure, unless otherwise specified or provided for by logic, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form a new embodiment based on their inherent logical relationships.

[0131] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0132] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular, such as "a", "an", "the", "above", "said", "the", "the", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun following the article may be understood as a singular expression or a plural expression.

[0133] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0134] In some embodiments, the terms "at least one," "one or more," "a plurality of," "multiple," etc. may be used interchangeably.

[0135] In some embodiments, descriptions such as "at least one of A and B," "A and / or B," "A in one case, B in another case," or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); and in some embodiments, A and B (both A and B are executed). The above is also applicable when there are more branches such as A, B, and C.

[0136] In some embodiments, "A or B" and other descriptions may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The above is also applicable when there are more branches such as A, B, C, etc.

[0137] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects and do not constitute any restriction on the position, order, priority, quantity or content of the description objects. For the statement of the description object, please refer to the description in the context of the claims or embodiments, and no unnecessary restriction should be constituted due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields". "First" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", then the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different; for another example, if the description object is "information", then the "first information" and the "second information" can be the same information or different information, and their contents can be the same or different.

[0138] In some embodiments, “including A,” “comprising A,” “used to indicate A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0139] In some embodiments, terms such as "in response to...", "in response to determining...", "in the case of...", "at the time of...", "when...", "if...", "if...", etc. can be used interchangeably.

[0140] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not less than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0141] In some embodiments, devices and equipment can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. In some cases, they can also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", etc.

[0142] In some embodiments, "network" can be interpreted as devices included in the network, such as access network equipment, core network equipment, etc.

[0143] In some embodiments, "access network device (AN device)" may also be referred to as "radio access network device (RAN device)", "base station (BS)", "radio base station", "fixed station", and in some embodiments may also be understood as "node", "access point", "transmission point (TP)", "reception point (RP)", "transmission and / or reception point (TRP)" "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)", etc.

[0144] In some embodiments, "terminal" or "terminal device" may be referred to as "user equipment (UE)", "user terminal" "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, etc.

[0145] In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

[0146] In some embodiments, data, information, etc. may be obtained with the user's consent.

[0147] In addition, each element, each row, or each column in the table of the embodiment of the present disclosure can be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns can also be implemented as an independent embodiment.

[0148] Figure 1 is a schematic diagram of a communication system according to an embodiment of the present disclosure. As shown in Figure 1, communication system 100 may include a perceptual transmitter 101 and a perceptual receiver 102. In some embodiments, the communication system may also be referred to as a perceptual system, a synaesthesia system, etc., the perceptual transmitter may be referred to as a transmitter, a communication transmitter, etc., and the perceptual receiver may be referred to as a receiver, a communication receiver, etc.

[0149] It should be noted that the number of perceptual transmitters 101 and perceptual receivers 102 shown in FIG1 is merely an example and does not limit the embodiments of the present disclosure. In practice, there may be one or more perceptual transmitters 101 and one or more perceptual receivers 102. A perceptual transmitter may be located in a communication device, and a perceptual receiver may be located in a communication device. In some embodiments, a communication device may also be referred to as a perceptual device, a telepathic device, or the like.

[0150] In some embodiments, the sensing transmitter 101 may be located in a terminal or a network device.

[0151] In some embodiments, the perceptual receiver 102 may be located in a terminal or a network device.

[0152] In some embodiments, the perceptual transmitter 101 and the perceptual receiver 102 may be located in the same device, for example, the perceptual transmitter 101 and the perceptual receiver 102 may be located in the same terminal or the same network device.

[0153] In some embodiments, the perceptual transmitter 101 and the perceptual receiver 102 may be located in different devices respectively, for example, the perceptual transmitter 101 is located in a terminal, and the perceptual receiver 102 is located in another terminal; for example, the perceptual transmitter 101 is located in a terminal, and the perceptual receiver 102 is located in a network device; for example, the perceptual transmitter 101 is located in a network device, and the perceptual receiver 102 is located in another network device; for example, the perceptual transmitter 101 is located in a network device, and the perceptual receiver 102 is located in a terminal.

[0154] In some embodiments, the terminal may include at least one of a mobile phone, a wearable device, an Internet of Things device, a car with sensing capabilities, a smart car, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and a wireless terminal device in a smart home, but is not limited thereto.

[0155] In some embodiments, the network device includes, for example, an access network device, and the access network device may include an evolved NodeB (eNB), a next generation evolved NodeB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved nodeB (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, and at least one of an access node in a Wi-Fi system, but is not limited thereto.

[0156] It can be understood that the communication system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution proposed in the embodiment of the present disclosure. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present disclosure is also applicable to similar technical problems.

[0157] The following embodiments of the present disclosure may be applied to the communication system 100 shown in FIG1 , or a portion thereof, but are not limited thereto. The entities shown in FIG1 are illustrative only. The communication system may include all or part of the entities shown in FIG1 , or may include other entities outside of FIG1 . The number and form of the entities are arbitrary, and the entities may be physical or virtual. The connection relationships between the entities are illustrative only. The entities may be connected or disconnected, and the connection may be in any manner, including direct or indirect, wired or wireless.

[0158] The embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), future radio access (FRA), new radio access technology (RAT), new radio (NR), new radio access (NX), future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X), systems utilizing other communication methods, and next-generation systems based on and extending these methods. Furthermore, multiple systems may be combined (for example, a combination of LTE or LTE-A with 5G).

[0159] Wireless communication and wireless sensing share a high degree of similarity. Integrated Sensing and Communication (ISAC) can unite wireless communication and wireless sensing, fostering close collaboration between the two. This approach benefits both wireless communication and wireless sensing, improving the effectiveness and reliability of wireless communication, as well as the accuracy and spectrum efficiency of wireless sensing. Furthermore, devices that support both wireless communication and wireless sensing can reduce network deployment costs.

[0160] Wireless sensing typically requires estimating the target's range, azimuth angle (such as horizontal and vertical angles), and velocity. Broadly speaking, sensing also includes wireless tracking and radio frequency identification of the target. To perform sensing, a sensing transmitter typically transmits a dedicated reference signal for sensing. For ease of description, this signal is referred to as a sensing reference signal. Alternatively, the sensing reference signal can be referred to as a sensing signal.

[0161] It is understandable that wireless perception may include multiple perception scenarios, such as perception between terminals, perception between terminals and network devices, perception between network devices and network devices, etc.

[0162] In some embodiments, wireless sensing includes a monostatic mode and a bistatic mode. In the monostatic mode, a sensing transmitter and a sensing receiver are co-located, and the sensing transceiver measures the echo of a sensing reference signal to estimate at least one of the distance, angle, and speed of a sensing target. In the bistatic mode, the sensing transmitter and the sensing receiver are not co-located, and the sensing transmitter transmits a sensing reference signal, and the sensing receiver measures the sensing reference signal to estimate at least one of the distance, angle, and speed of a sensing target (hereinafter referred to as the target).

[0163] In actual application scenarios, the perception environment contains a variety of scatterers / targets. The perception reference signal sent by the perception transmitter is reflected by the scatterers and / or targets before reaching the perception receiver. From the perspective of electromagnetic wave propagation, there is no essential difference between scatterers and targets. The difference is that the perception system is subjectively interested in the targets and not in scatterers other than the perception targets. Scatterers / targets in the perception environment include but are not limited to the following three categories:

[0164] Static scatterers that are not of concern, such as the ground, buildings, walls, etc.

[0165] Scatterers / targets that have been successfully sensed or detected;

[0166] Unknown scatterers / targets, such as intruders, etc.

[0167] In typical cases, you often need to be concerned with scatterers / targets that change over a period of time, for example:

[0168] emerging scatterers / targets;

[0169] disappearing scatterers / targets;

[0170] A target is known to move from one location to another.

[0171] Depending on the specific application, the changes in the scatterers / targets mentioned above often need to trigger some predefined events, such as sending notification messages, alarms, etc. Therefore, the embodiments of the present disclosure provide a dedicated sensing mechanism to capture or target these scatterers / targets that change over a period of time.

[0172] FIG2 is an interactive diagram of a perception method according to an embodiment of the present disclosure. As shown in FIG2 , the method includes:

[0173] Step S2101: The perception transmitter sends first information to the perception receiver.

[0174] In some embodiments, the perceptual receiver receives first information. For example, the perceptual receiver receives first information sent by a perceptual transmitter.

[0175] In some embodiments, the first information is used to instruct the perception receiver to perform differential perception, i.e., to perceive a scatterer or target that changes between a first moment and a second moment. Specifically, the perception receiver determines, based on the first information, a perceived amount of the scatterer or target that changes between the first moment and the second moment.

[0176] In some embodiments, the name of the first information is not limited, for example, it can be "configuration information" or the like.

[0177] In some embodiments, the first information may include but is not limited to at least one of the following:

[0178] Perception type;

[0179] one or more time periods;

[0180] Multiple moments.

[0181] The first moment and the second moment can be two moments corresponding to a time period. For example, the first moment and the second moment are the start and end moments of a time period, respectively; or the first moment and the second moment are the end and start moments of a time period, respectively; or the first moment and the second moment are two moments within a time period. The first moment and the second moment can be two moments among the above-mentioned multiple moments.

[0182] In some embodiments, the first moment may include at least one of the following:

[0183] One or more frames (frame);

[0184] One or more subframes;

[0185] One or more time slots;

[0186] One or more OFDM symbols.

[0187] In some embodiments, the second moment may include at least one of the following:

[0188] one or more frames;

[0189] one or more subframes;

[0190] one or more time slots;

[0191] One or more OFDM symbols.

[0192] In some embodiments, the sensing type may include differential sensing, for example: sensingType=Differential.

[0193] In some embodiments, the first information may include one or more time periods. A time period may be determined by a start time and an end time. Different time periods may have the same start time or the same end time, or different time periods may overlap.

[0194] In some embodiments, the first information may include multiple time instants.

[0195] In some embodiments, the first information may include a perception type, and one or more time periods.

[0196] In some embodiments, the first information may include a perception type, and a plurality of time moments.

[0197] In some embodiments, the first information includes a time instant, which means that the first information includes at least one of a frame number, a subframe number, a time slot number, and an OFDM symbol number corresponding to the time instant.

[0198] In some embodiments, the first moment and the second moment may be in the same frame or different frames. The first moment and the second moment may be in the same subframe or different subframes. The first moment and the second moment may be in the same time slot or different time slots.

[0199] In some embodiments, the first information may be carried in at least one of downlink control information (DCI), a media access control element (MAC CE), and a radio resource control (RRC).

[0200] In some embodiments, step S2101 is an optional step. For example, the first information may be predefined by a protocol, or the first information may be a default or default value.

[0201] Step S2102: The perception receiver determines, based on the first information, a perception amount of the scatterer or target that changes between the first moment and the second moment.

[0202] In some embodiments, the perception receiver performs differential perception based on the first information, that is, determines (estimates) the perception amount of the scatterer or target that changes between the first moment and the second moment.

[0203] In some embodiments, the perception receiver measures the perception reference signal to obtain a channel frequency domain response matrix at the resource element where the perception reference signal is located, and determines (estimates) the perception amount of the scatterer or target that changes between the first moment and the second moment based on the first information and the channel frequency domain response matrix.

[0204] In some embodiments, when the perception type in the first information is differential perception, the perception receiver performs differential perception, that is, determines the perception amount of the scatterer or target that changes between the first moment and the second moment; when the perception type in the first information is not differential perception, the perception receiver does not perform differential perception, that is, does not determine the perception amount of the scatterer or target that changes between the first moment and the second moment.

[0205] In some embodiments, the aforementioned perception quantity includes at least one of the following:

[0206] distance;

[0207] horizontal azimuth;

[0208] vertical azimuth;

[0209] speed.

[0210] For ease of understanding, the following describes in detail the process of differential perception of the perception receiver, that is, determining the perception amount of the scatterer or target that changes between the first moment and the second moment, in combination with the distance, horizontal azimuth, and vertical azimuth.

[0211] First, the sensing receiver measures and estimates the sensing reference signal to obtain an estimated value of the channel frequency domain response at the resource element (RE) where the sensing reference signal is located, which is recorded as a 6-dimensional matrix or 6-dimensional array, that is:

[0212] in:

[0213] M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension;

[0214] N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension;

[0215] P is the number of polarizations of the receiving antenna of the sensing receiver, for example, for cross-polarization, P = 2;

[0216] N t is the number of transmitting antenna ports of the sensing transmitter;

[0217] Indicates a set of subcarrier numbers where the perception reference signal is located, or is described as a set of subcarrier numbers containing the perception reference signal;

[0218] For collection The number of subcarriers included, or described as the number of subcarriers where the perception reference signal is located, or described as the number of subcarriers containing the perception reference signal;

[0219] Indicates a set of numbers of OFDM symbols where the perceptual reference signal is located, or is described as a set of numbers of OFDM symbols containing the perceptual reference signal;

[0220] For collection The number of OFDM symbols included may be described as the number of OFDM symbols where the perceptual reference signal is located, or as the number of OFDM symbols including the perceptual reference signal.

[0221] is an element of the channel frequency domain response matrix H, representing the nth t The channel frequency domain response from the antenna port of the mth row, nth column, and pth polarization direction of the receiving antenna array of the sensing receiver on the resource element (k, l) where the sensing reference signal is located.

[0222] (1) Distance:

[0223] Step a: The sensing receiver determines a first matrix according to a channel frequency domain response matrix at a resource element where a sensing reference signal is located.

[0224] In some embodiments, the first matrix represents the difference between a first covariance matrix and a second covariance matrix of the channel frequency domain response matrix, the first covariance matrix contains subspace information for estimating distance at a first moment, and the second covariance matrix contains subspace information for estimating distance at a second moment.

[0225] In some embodiments, the first matrix is ​​denoted as

[0226] In some embodiments, the element in the uth row and vth column of the first matrix is:

[0227] in:

[0228] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver in the mth row, nth column and pth polarization direction is located in the resource element (k u , l α ) on the channel frequency domain response;

[0229] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver in the mth row, nth column and pth polarization direction is located in the resource element (k v , l α ) on the channel frequency domain response;

[0230] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver in the mth row, nth column and pth polarization direction is located in the resource element (k u , l β ) on the channel frequency domain response;

[0231] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver in the mth row, nth column and pth polarization direction is located in the resource element (k v , l β ) on the channel frequency domain response;

[0232] k u is the number of the u-th subcarrier containing the perception reference signal;

[0233] k v is the number of the vth subcarrier containing the perception reference signal;

[0234] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the first moment;

[0235] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the second moment;

[0236] M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension;

[0237] N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension;

[0238] P is the number of polarizations of the receiving antenna of the sensing receiver, for example, for cross-polarization, P = 2;

[0239] N t is the number of transmitting antenna ports of the sensing transmitter;

[0240] In some embodiments, when the first time instant includes only one OFDM symbol containing a perceptual reference signal, then It contains only one element, namely When the second time instant includes only one OFDM symbol containing a perceptual reference signal, then It contains only one element, namely

[0241] It should be noted that when and Each contains only one element, that is, When , the element in the uth row and vth column of the first matrix is:

[0242] Step b: The perceptual receiver performs eigenvalue decomposition on the first matrix to obtain a first orthogonal basis. In some embodiments, the first orthogonal basis may be an orthogonal basis U of the noise subspace. r，n , or the standard orthogonal basis U of the signal subspace r，s .

[0243] In some embodiments, the first matrix is ​​subjected to the following eigenvalue decomposition:

[0244] Λ r，s is the diagonal matrix composed of the eigenvalues ​​of the signal subspace, Λ r，n is a diagonal matrix composed of the eigenvalues ​​of the noise subspace.

[0245] Step c: The perceptual receiver determines a first spectral function, where the first spectral function is a function related to the first scanning vector and the first orthonormal basis.

[0246] In some embodiments, the first spectral function can have two equivalent forms, namely, a spectral function expression based on a standard orthogonal basis of the noise subspace and a spectral function expression based on a standard orthogonal basis of the signal subspace. For example, the first spectral function is one of the following:

[0247] v r (τ) is the first scanning vector, τ is the first parameter, For size Each first scan vector corresponds to a first parameter τ.

[0248] In some embodiments, the first parameter τ represents a time delay. The value of τ may represent the time it takes for a sensing reference signal to leave the sensing transmitter and arrive at the sensing receiver.

[0249] In some embodiments, the first scan vector is:

[0250] Δ f is the subcarrier spacing, k i is the number of the i-th subcarrier containing the perception reference signal, i.e., k1 to For the 1st to The number of the subcarrier containing the perception reference signal.

[0251] Step d: The perception receiver determines the distance of the scatterer or target that changes between the first moment and the second moment based on the first parameter corresponding to the peak value of the first spectral function.

[0252] In some embodiments, the distance of the scatterer or target that changes between the first moment and the second moment is determined based on the speed of light and the first parameter τ corresponding to the peak of the first spectral function. It can be understood that the first parameter τ corresponding to the peak of the first spectral function is the delay estimated by the perception receiver, and the perception receiver estimates the distance of the changing scatterer or target based on the estimated delay τ. For a single-station mode, the perception transmitter and the perception receiver are at the same location, and the distance estimated based on the delay τ (τ value multiplied by the speed of light) is understood as twice the distance from the scatterer / target to the perception transmitter / perception receiver, or the distance estimated based on the delay τ (τ value multiplied by half the speed of light) is understood as the distance from the scatterer / target to the perception transmitter / perception receiver. In the dual-station mode, the sensing transmitter and sensing receiver are not in the same location. The sensing reference signal may go through multiple hops, that is, multiple reflections (possibly including the target and other scatterers), from the sensing transmitter to the sensing receiver. The distance estimated based on the time delay τ (τ value multiplied by the speed of light) is understood as the sum of the distances of the sensing reference signal from leaving the sensing transmitter to reaching the sensing receiver. For example, it is the sum of the two distances from the sensing transmitter to the target and then to the sensing receiver. Therefore, the relationship between the estimated distance and the actual distance from the target to the sensing receiver also depends on the topology between the sensing transmitter, the sensing receiver, and the target.

[0253] It is worth noting that the first spectral function may have one or more peaks. In some embodiments, assuming that the first spectral function has multiple peaks, the distances of multiple scatterers or targets that change between the first moment and the second moment can be determined.

[0254] For example, in single-station mode, the distance of the changing scatterer or target (τ value multiplied by half the speed of light) is determined to be 10m and 20m, indicating that there is a scatterer or target that changes between the first moment and the second moment at 10m and 20m respectively.

[0255] In some embodiments, the perception receiver may determine, based on the characteristic value, that the changing scatterer or target belongs to one of the following:

[0256] Newly emerging scatterers or targets;

[0257] Disappearing scatterers or targets.

[0258] In some embodiments, assuming that the first moment is earlier than the second moment in the time domain, since the first matrix represents the subspace information used for estimating distance at the first moment minus the subspace information used for estimating distance at the second moment, then a positive eigenvalue corresponds to a disappeared scatterer or target, and a negative eigenvalue corresponds to a newly appeared scatterer or target. Assuming that the first moment is later than the second moment in the time domain, since the first matrix represents the subspace information used for estimating distance at the first moment minus the subspace information used for estimating distance at the second moment, then a positive eigenvalue corresponds to a newly appeared scatterer or target, and a negative eigenvalue corresponds to a disappeared scatterer or target.

[0259] For example, combined with the above example, it is determined that there is a newly appeared scatterer or target at 10m (the scatterer or target did not appear at the first moment and appeared at the second moment), and there is a disappearing scatterer or target at 20m (the scatterer or target appeared at the first moment and did not appear at the second moment).

[0260] (2) Horizontal azimuth

[0261] Step a: The sensing receiver determines a second matrix according to a channel frequency domain response matrix at a resource element where a sensing reference signal is located.

[0262] In some embodiments, the second matrix represents the difference between a third covariance matrix and a fourth covariance matrix of the channel frequency domain response matrix, the third covariance matrix contains subspace information for estimating the horizontal azimuth angle at the first moment, and the fourth covariance matrix contains subspace information for estimating the horizontal azimuth angle at the second moment.

[0263] In some embodiments, the second matrix is ​​denoted as

[0264] In some embodiments, the element in the uth row and vth column of the second matrix is:

[0265] in:

[0266] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver in the mth row, uth column and pth polarization direction is located in the resource element (k, l α ) on the channel frequency domain response;

[0267] is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver in the mth row, vth column and pth polarization direction is located in the resource element (k, l α ) on the channel frequency domain response;

[0268] is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response;

[0269] is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response;

[0270] is a set of subcarrier numbers containing perception reference signals;

[0271] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the first moment;

[0272] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the second moment;

[0273] M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension;

[0274] P is the number of polarizations of the receiving antenna of the sensing receiver, for example, for cross-polarization, P = 2;

[0275] N t is the number of transmitting antenna ports of the sensing transmitter. u, v = 1, 2, ..., N.

[0276] It should be noted that when and Each contains only one element, that is, When , the element in the uth row and vth column of the second matrix is:

[0277] Step b: The perceptual receiver performs eigenvalue decomposition on the second matrix to obtain a second orthogonal basis. In some embodiments, the second orthogonal basis can be an orthogonal basis U of the noise subspace. Φ，n , or the standard orthogonal basis U of the signal subspace Φ，s .

[0278] In some embodiments, the second matrix is ​​subjected to the following eigenvalue decomposition:

[0279] ΛΦ，s is the diagonal matrix composed of the eigenvalues ​​of the signal subspace, Λ Φ，n is a diagonal matrix composed of the eigenvalues ​​of the noise subspace.

[0280] Step c: The perceptual receiver determines a second spectral function, where the second spectral function is a function related to the second scanning vector and the second orthonormal basis.

[0281] In some embodiments, the second spectral function can have two equivalent forms, namely, a spectral function expression based on a standard orthogonal basis of the noise subspace and a spectral function expression based on a standard orthogonal basis of the signal subspace. For example, the second spectral function is one of the following:

[0282] v Φ (φ) is the second scanning vector, φ is the second parameter, For size Each second scanning vector corresponds to a second parameter. In some embodiments, the second parameter φ represents a horizontal azimuth angle.

[0283] In some embodiments, the second scan vector is:

[0284] λ is the wavelength, d H is the antenna spacing in the horizontal dimension of the receiving antenna array of the sensing receiver.

[0285] In some embodiments, the wavelength λ corresponds to the frequency at which the perception reference signal is located.

[0286] Step d: The perception receiver determines the horizontal azimuth angle of the scatterer or target that changes between the first moment and the second moment based on the second parameter corresponding to the peak value of the second spectral function.

[0287] It is worth noting that the second spectral function may have one or more peaks. In some embodiments, assuming that the second spectral function has multiple peaks, the horizontal azimuth angles of multiple scatterers or targets that change between the first moment and the second moment can be determined.

[0288] For example, determining that the horizontal azimuth angle of the changing scatterer or target is 30 degrees and 60 degrees indicates that there is a scatterer or target that changes between the first moment and the second moment at 30 degrees and 60 degrees in the horizontal direction, respectively.

[0289] In some embodiments, the perception receiver may determine, based on the characteristic value, that the changing scatterer or target belongs to one of the following:

[0290] Newly emerging scatterers or targets;

[0291] Disappearing scatterers or targets.

[0292] For example, combined with the above example, it is determined that there is a newly appeared scatterer or target at 30 degrees in the horizontal direction (the scatterer or target did not appear at the first moment and appeared at the second moment), and there is a disappearing scatterer or target at 60 degrees in the horizontal direction (the scatterer or target appeared at the first moment and did not appear at the second moment).

[0293] (3) Vertical azimuth

[0294] Step a: The sensing receiver determines a third matrix according to the channel frequency domain response matrix at the resource element where the sensing reference signal is located.

[0295] In some embodiments, the third matrix represents the difference between a fifth covariance matrix and a sixth covariance matrix of the channel frequency domain response matrix, the fifth covariance matrix contains subspace information for estimating the vertical azimuth angle at the first moment, and the sixth covariance matrix contains subspace information for estimating the vertical azimuth angle at the second moment.

[0296] In some embodiments, the third matrix is ​​denoted as

[0297] In some embodiments, the element in the uth row and vth column of the third matrix is:

[0298] in:

[0299] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver in the uth row, nth column and pth polarization direction is located in the resource element (k, l α ) on the channel frequency domain response;

[0300] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response;

[0301] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response;

[0302] is the nth sensor transmitter tThe antenna port of the receiving antenna array of the sensing receiver in the vth row, nth column and pth polarization direction is located in the resource element (k, l β ) on the channel frequency domain response;

[0303] is a set of subcarrier numbers containing perception reference signals;

[0304] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the first moment;

[0305] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the second moment;

[0306] N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension;

[0307] P is the number of polarizations of the receiving antenna of the sensing receiver;

[0308] N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., M.

[0309] It should be noted that when and Each contains only one element, that is, When , the element in the uth row and vth column of the third matrix is:

[0310] Step b: The sensing receiver performs eigenvalue decomposition on the third matrix to obtain a third orthogonal basis. In some embodiments, the third orthogonal basis can be an orthogonal basis U of the noise subspace. Θ，n , or the standard orthogonal basis U of the signal subspace Θ，s .

[0311] In some embodiments, the third matrix is ​​subjected to the following eigenvalue decomposition:

[0312] Λ Θ，s is the diagonal matrix composed of the eigenvalues ​​of the signal subspace, Λ Θ，n is a diagonal matrix composed of the eigenvalues ​​of the noise subspace.

[0313] Step c: The perceptual receiver determines a third spectral function, where the third spectral function is a function related to the third scanning vector and the third orthonormal basis.

[0314] In some embodiments, the third spectral function can have two equivalent forms, namely, a spectral function expression based on a standard orthogonal basis of the noise subspace and a spectral function expression based on a standard orthogonal basis of the signal subspace. For example, the third spectral function is one of the following:

[0315] v Θ (θ) is the third scanning vector, θ is the third parameter, For size Each third scanning vector corresponds to a third parameter. In some embodiments, the third parameter θ represents a vertical azimuth angle.

[0316] In some embodiments, the third scan vector is:

[0317] λ is the wavelength, d V is the antenna spacing in the vertical dimension of the receiving antenna array of the sensing receiver.

[0318] In some embodiments, the wavelength λ corresponds to the frequency at which the perception reference signal is located.

[0319] Step d: The perception receiver determines the vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment based on the third parameter corresponding to the peak value of the third spectral function.

[0320] It is worth noting that the third spectral function may have one or more peaks. In some embodiments, assuming that the third spectral function has multiple peaks, the vertical azimuth angles of multiple scatterers or targets that change between the first moment and the second moment can be determined.

[0321] For example, determining the vertical azimuth angle of the changing scatterer or target to be 45 degrees and 70 degrees indicates that there is a scatterer or target that changes between the first moment and the second moment at 45 degrees and 70 degrees in the vertical direction, respectively.

[0322] In some embodiments, the perception receiver may determine, based on the characteristic value, that the changing scatterer or target belongs to one of the following:

[0323] Newly emerging scatterers or targets;

[0324] Disappearing scatterers or targets.

[0325] For example, combined with the above example, it is determined that there is a newly appeared scatterer or target at 45 degrees in the vertical direction (the scatterer or target did not appear at the first moment and appeared at the second moment), and there is a disappearing scatterer or target at 70 degrees in the vertical direction (the scatterer or target appeared at the first moment and did not appear at the second moment).

[0326] In the above embodiment, a differential sensing method is provided, which can sense scatterers or targets that change over a period of time, that is, determine the sensing quantity of the changing scatterers or targets (such as at least one of distance, angle, and speed). This can greatly reduce or even completely eliminate the interference of known (already sensed or detected) scatterers / targets, and instead focus on scatterers / targets that change (newly appearing or disappearing) within a given time, which is conducive to triggering predefined events based on changes in scatterers / targets.

[0327] According to an optional implementation method, the perception receiver uses the covariance matrix of the first moment and the second moment, the covariance matrix of the first moment contains the subspace information for estimating the perception quantity (such as distance / horizontal azimuth / vertical azimuth) at the first moment, and the covariance matrix of the second moment contains the subspace information for estimating the perception quantity (such as distance / horizontal azimuth / vertical azimuth) at the second moment. By subtracting the subspace information of the two moments, the scatterer or target that changes between the two moments is captured, thereby determining the perception quantity (such as distance / horizontal azimuth / vertical azimuth) of the changed scatterer or target.

[0328] In some embodiments, the names of information, etc. are not limited to the names described in the embodiments, and terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codeword", "codebook", "codeword", "codepoint", "bit", "data", "program", and "chip" can be used interchangeably.

[0329] In some embodiments, terms such as "moment", "time point", "time", "time position", "time unit" can be replaced with each other, and terms such as "duration", "period", "time window", "window", "time" can be replaced with each other.

[0330] In some embodiments, terms such as "frame", "radio frame", "subframe", "slot", "sub-slot", "mini-slot", and "symbol" may be used interchangeably.

[0331] In some embodiments, "obtain", "get", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive" can be interchangeable, and can be interpreted as receiving from other entities, obtaining from protocols, obtaining from higher layers, obtaining by self-processing, autonomous implementation, etc.

[0332] In some embodiments, terms such as "send", "transmit", "report", "download", "transmit", "bidirectional transmission", "send and / or receive" can be used interchangeably.

[0333] The communication method involved in the embodiment of the present disclosure may include at least one of steps S2101 to S2102. For example, step S2102 may be implemented as an independent embodiment.

[0334] In some embodiments, step S2101 and step S2102 are optional and may be omitted or replaced in different embodiments.

[0335] In some embodiments, reference may be made to other optional implementations described before or after the description corresponding to FIG. 2 .

[0336] FIG3 is a flow chart of a perception method according to an embodiment of the present disclosure. As shown in FIG3 , the embodiment of the present disclosure is applied to a perception receiver, and the method includes:

[0337] Step S3101: Obtain first information.

[0338] The optional implementation of step S3101 can refer to the optional implementation of step S2101 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0339] In some embodiments, the cognitive receiver may receive first information sent by the cognitive transmitter, but is not limited thereto and may also receive first information sent by other entities.

[0340] In some embodiments, the perceptual receiver obtains first information specified by a protocol.

[0341] In some embodiments, the perceptual receiver obtains the first information from upper layer(s).

[0342] In some embodiments, the perceptual receiver performs processing to obtain the first information.

[0343] In some embodiments, step S3101 may be omitted, and the perception receiver autonomously determines the first information, or the first information is default or acquiescent.

[0344] In some embodiments, the first information may include but is not limited to at least one of the following:

[0345] Perception type;

[0346] one or more time periods;

[0347] Multiple moments.

[0348] In some embodiments, the first moment and the second moment may be two moments corresponding to a time period.

[0349] In some embodiments, the first moment and the second moment may be two moments among the aforementioned multiple moments.

[0350] In some embodiments, the first moment and / or the second moment may include at least one of the following:

[0351] one or more frames;

[0352] one or more subframes;

[0353] one or more time slots;

[0354] One or more OFDM symbols.

[0355] Step S3102: Determine, based on the first information, a perceived amount of the scatterer or target that changes between the first moment and the second moment.

[0356] The optional implementation of step S3102 can refer to the optional implementation of step S2102 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0357] In some embodiments, the aforementioned perception quantity includes at least one of the following:

[0358] distance;

[0359] horizontal azimuth;

[0360] vertical azimuth;

[0361] speed.

[0362] In some embodiments, the perception receiver measures the perception reference signal to obtain a channel frequency domain response matrix at the resource element where the perception reference signal is located, and determines the perception amount of the scatterer or target that changes between the first moment and the second moment based on the first information and the channel frequency domain response matrix.

[0363] In some embodiments, the sensing quantity includes distance. Step S3102 may include: determining a first matrix based on a channel frequency domain response matrix at a resource element where the sensing reference signal is located, the first matrix representing a difference between a first covariance matrix and a second covariance matrix of the channel frequency domain response matrix, the first covariance matrix including subspace information for estimating distance at a first moment, and the second covariance matrix including subspace information for estimating distance at a second moment; and determining, based on the first matrix, a distance of a scatterer or target that changes between the first moment and the second moment.

[0364] In some embodiments, the element in the uth row and vth column of the first matrix is:

[0365] According to the above embodiment, the perception receiver uses the covariance matrix of the first moment and the second moment, the covariance matrix of the first moment contains the subspace information for estimating the distance at the first moment, and the covariance matrix of the second moment contains the subspace information for estimating the distance at the second moment. By subtracting the subspace information of the two moments, the scatterer or target that changes between the two moments is captured, thereby determining the distance of the changing scatterer or target.

[0366] In some embodiments, the perceptual receiver performs eigenvalue decomposition on the first matrix to obtain a first orthogonal basis, which is the orthogonal basis U of the noise subspace. r，n , or the orthonormal basis U of the signal subspace r，s ; Determine a first spectral function, which is a function related to the first scanning vector and the first standard orthogonal basis, and each first scanning vector corresponds to a first parameter; based on the first parameter corresponding to the peak value of the first spectral function, determine the distance of the scatterer or target that changes between the first moment and the second moment.

[0367] According to the above embodiment, the perception receiver performs spectrum estimation (estimates distance) based on the first matrix, thereby determining the distance of the scatterer or target that changes between the first moment and the second moment.

[0368] In some embodiments, the first spectral function is one of the following:

[0369] The first scan vector is:

[0370] Among them, τ is the first parameter, Δf is the subcarrier spacing, k i is the number of the i-th subcarrier containing the perception reference signal, is the number of subcarriers containing the perception reference signal, For size The unit array.

[0371] In some embodiments, the sensing receiver determines the distance of a scatterer or target that changes between a first moment and a second moment based on the speed of light and a first parameter corresponding to a peak value of the first spectral function. For example, in a single-station mode, the distance of the changing scatterer or target is obtained by multiplying the τ value corresponding to the peak value by half the speed of light.

[0372] In some embodiments, the sensing quantity includes a horizontal azimuth angle. Step S3102 may include: determining a second matrix based on a channel frequency domain response matrix at a resource element where the sensing reference signal is located, the second matrix representing a difference between a third covariance matrix and a fourth covariance matrix of the channel frequency domain response matrix, the third covariance matrix including subspace information for estimating the horizontal azimuth angle at a first moment, and the fourth covariance matrix including subspace information for estimating the horizontal azimuth angle at a second moment; and determining, based on the second matrix, a horizontal azimuth angle of a scatterer or target that changes between the first moment and the second moment.

[0373] In some embodiments, the element in the uth row and vth column of the second matrix is:

[0374] According to the above embodiment, the perception receiver uses the covariance matrix of the first moment and the second moment, where the covariance matrix of the first moment contains the subspace information for estimating the horizontal azimuth angle at the first moment, and the covariance matrix of the second moment contains the subspace information for estimating the horizontal azimuth angle at the second moment. By subtracting the subspace information of the two moments, the scatterer or target that changes between the two moments is captured, thereby determining the horizontal azimuth angle of the changed scatterer or target.

[0375] In some embodiments, the perceptual receiver performs eigenvalue decomposition on the second matrix to obtain a second orthogonal basis, which is the orthogonal basis U of the noise subspace. Φ，n Or the orthonormal basis U of the signal subspace Φ，s ; Determine a second spectral function, which is a function related to the second scanning vector and the second standard orthogonal basis, and each second scanning vector corresponds to a second parameter; determine the horizontal azimuth angle of the scatterer or target that changes between the first moment and the second moment based on the second parameter corresponding to the peak value of the second spectral function.

[0376] According to the above embodiment, the perception receiver performs spectrum estimation (estimates the horizontal azimuth angle) according to the second matrix, thereby determining the horizontal azimuth angle of the scatterer or target that changes between the first moment and the second moment.

[0377] In some embodiments, the second spectral function is one of the following:

[0378] The second scan vector is:

[0379] Where φ is the second parameter, λ is the wavelength, N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension, and d H is the antenna spacing in the horizontal dimension of the receiving antenna array of the sensing receiver, For size The unit array.

[0380] In some embodiments, the sensing quantity includes a vertical azimuth angle. Step S3102 may include: determining a third matrix based on a channel frequency domain response matrix at a resource element where the sensing reference signal is located, the third matrix representing a difference between a fifth covariance matrix and a sixth covariance matrix of the channel frequency domain response matrix, the fifth covariance matrix including subspace information for estimating the vertical azimuth angle at a first moment, and the sixth covariance matrix including subspace information for estimating the vertical azimuth angle at a second moment; and determining the vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment based on the third matrix.

[0381] In some embodiments, the element in the uth row and vth column of the third matrix is:

[0382] According to the above embodiment, the perception receiver uses the covariance matrix of the first moment and the second moment, the covariance matrix of the first moment contains the subspace information for estimating the vertical azimuth angle at the first moment, and the covariance matrix of the second moment contains the subspace information for estimating the vertical azimuth angle at the second moment, and captures the scatterer or target that changes between the two moments by subtracting the subspace information at the two moments, thereby determining the vertical azimuth angle of the changed scatterer or target.

[0383] In some embodiments, the perceptual receiver performs eigenvalue decomposition on the third matrix to obtain a third orthogonal basis, which is the orthogonal basis U of the noise subspace. Θ，n Or the orthonormal basis U of the signal subspace Θ，s; Determine a third spectral function, which is a function related to the third scanning vector and the third standard orthogonal basis, and each third scanning vector corresponds to a third parameter; determine the vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment based on the third parameter corresponding to the peak value of the third spectral function.

[0384] According to the above embodiment, the perception receiver performs spectrum estimation (estimates the vertical azimuth angle) according to the third matrix, thereby determining the vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment.

[0385] In some embodiments, the third spectral function is one of the following:

[0386] The third scan vector is:

[0387] Wherein, θ is the third parameter, λ is the wavelength, M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension, dV is the antenna spacing of the receiving antenna array of the perception receiver in the vertical dimension, For size The unit array.

[0388] FIG4 is a flow chart of a sensing method according to an embodiment of the present disclosure. As shown in FIG4 , the embodiment of the present disclosure is applied to a sensing transmitter, and the method includes:

[0389] Step S4101: Send the first information.

[0390] The optional implementation of step S4101 can refer to the optional implementation of step S2101 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0391] In some embodiments, the perceptual transmitter sends first information to the perceptual receiver.

[0392] In some embodiments, the first information is used to indicate a first time and a second time.

[0393] In some embodiments, the first information is used by the sensing receiver to perform differential sensing, ie, to determine a sensing amount of a scatterer or target that changes between a first moment and a second moment.

[0394] In some embodiments, the aforementioned perception quantity includes at least one of the following:

[0395] distance;

[0396] horizontal azimuth;

[0397] vertical azimuth;

[0398] speed.

[0399] The optional implementation method of the perception receiver determining the perception quantity (such as distance / horizontal azimuth / vertical azimuth) of the scatterer or target that changes between the first moment and the second moment can be referred to the optional implementation method of step S2102 of Figure 2, the optional implementation method of step S3102 of Figure 3, and other related parts in the embodiments involved in Figures 2 and 3, which will not be repeated here.

[0400] In some embodiments, the first information may include but is not limited to at least one of the following:

[0401] Perception type;

[0402] one or more time periods;

[0403] Multiple moments.

[0404] In some embodiments, the first moment and the second moment may be two moments corresponding to a time period.

[0405] In some embodiments, the first moment and the second moment may be two moments among the aforementioned multiple moments.

[0406] In some embodiments, the first moment and / or the second moment may include at least one of the following:

[0407] one or more frames;

[0408] one or more subframes;

[0409] one or more time slots;

[0410] One or more OFDM symbols.

[0411] FIG5 is an interactive diagram of a perception method according to an embodiment of the present disclosure. As shown in FIG5 , the method includes:

[0412] Step S5101: The sensing transmitter configures the sensing receiver to perform differential sensing.

[0413] In some embodiments, the above configuration includes at least one of the following:

[0414] Sensing type: differential sensing (e.g., sensingType=Differential);

[0415] one or more time periods;

[0416] Multiple moments.

[0417] In some embodiments, a time period is determined by two time points (a start time and an end time).

[0418] In some embodiments, a moment in time is determined by at least one of:

[0419] One or more frame numbers;

[0420] One or more subframe numbers;

[0421] One or more time slot numbers;

[0422] One or more OFDM symbol numbers.

[0423] In some embodiments, the above configuration is completed by at least one of DCI, MAC CE, and RRC signaling.

[0424] Step S5102: The perception receiver performs differential perception according to the configuration.

[0425] In some embodiments, the sensing receiver performs differential sensing, ie, calculates the sensing amount of the changing scatterers / targets.

[0426] The specific process of differential sensing is described below.

[0427] For ease of description, based on the measurement and estimation of the configured sensing reference signal, the sensing receiver obtains the estimated value of the channel frequency domain response at the resource element (RE) where the sensing reference signal is located, which is recorded as a 6-dimensional matrix or 6-dimensional array.

[0428] That is:

[0429] If the perceptual receiver is configured as α and l β The difference between two moments is perceived, and the perceived quantity includes distance. Then the perception receiver can use the spectrum estimation algorithm to estimate the range. Specifically, the spectrum function can be expressed as:

[0430] Among them, U r，n is the standard orthogonal basis of the noise subspace, which can be obtained by Perform eigenvalue decomposition (EVD) to obtain, that is:

[0431] in:

[0432] is the scanning vector. According to the τ value corresponding to the peak value of the spectrum function, l α and l β The distance estimate of the scatterer / target that changes between two moments is also known as the distance perception quantity. For example, for single-station mode, the distance estimate is the value of τ multiplied by half the speed of light.

[0433] If the perceptual receiver is configured as α and l β The difference between the two moments is sensed, and the sensed quantity includes the horizontal azimuth angle. Then the sensing receiver can use the spectrum estimation algorithm to estimate the horizontal azimuth angle. Specifically, the spectrum function can be expressed as:

[0434] Among them, U Φ，n is the standard orthogonal basis of the noise subspace, which can be obtained by Perform eigenvalue decomposition (EVD) to obtain, that is:

[0435] in:

[0436] is the scanning vector. According to the φ value corresponding to the peak value of the spectrum function, l α and l β The estimated value of the horizontal azimuth angle of the scatterer / target that changes between two moments, that is, the horizontal azimuth angle perception value.

[0437] If the perceptual receiver is configured as α and l β The difference between the two moments is perceived, and the perceived quantity includes the vertical azimuth angle. Then the perception receiver can use the spectrum estimation algorithm to estimate the vertical azimuth angle. Specifically, the spectrum function can be expressed as:

[0438] Among them, U Θ，n is the standard orthogonal basis of the noise subspace, which can be obtained by Perform eigenvalue decomposition (EVD) to obtain, that is:

[0439] in:

[0440] is the scanning vector. According to the θ value corresponding to the peak value of the spectrum function, l α and l β The vertical azimuth angle estimation value of the scatterer / target that changes between two moments, that is, the vertical azimuth angle perception value.

[0441] In the embodiments of the present disclosure, some or all of the steps and their optional implementations may be arbitrarily combined with some or all of the steps in other embodiments, or may be arbitrarily combined with the optional implementations of other embodiments.

[0442] In some embodiments, an embodiment of the present disclosure provides a communication device, comprising: one or more processors; wherein the communication device is used to execute the steps performed by the perceptual receiver in any of the above methods, or the steps performed by the perceptual transmitter in any of the above methods.

[0443] In some embodiments, the present disclosure provides a communication system including a perceptual transmitter and a perceptual receiver, wherein the perceptual receiver is configured to implement the steps performed by the perceptual receiver in any of the above methods, and the perceptual transmitter is configured to implement the steps performed by the perceptual transmitter in any of the above methods.

[0444] In some embodiments, an embodiment of the present disclosure provides a storage medium storing instructions. When the instructions are executed on a communication device, the communication device executes the steps performed by the perception receiver in any of the above methods, or the steps performed by the perception transmitter in any of the above methods.

[0445] The embodiments of the present disclosure further provide an apparatus for implementing any of the above methods. For example, an apparatus is provided, comprising units or modules for implementing each step performed by a terminal in any of the above methods. For another example, another apparatus is provided, comprising units or modules for implementing each step performed by a network device (e.g., an access network device, a core network function node, a core network device, etc.) in any of the above methods.

[0446] It should be understood that the division of the various units or modules in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a physical entity, or they may be physically separated. In addition, the units or modules in the device may be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the various units or modules of the above device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units or modules can be realized by designing the hardware circuits. The above-mentioned hardware circuits can be understood as one or more processors; for example, in one implementation, the above-mentioned hardware circuit is an application-specific integrated circuit (ASIC), which realizes the functions of some or all of the above units or modules by designing the logical relationship of the components in the circuit; for example, in another implementation, the above-mentioned hardware circuit can be realized by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by configuring the configuration file, thereby realizing the functions of some or all of the above units or modules. All units or modules of the above devices can be realized in the form of software called by the processor, or in the form of hardware circuits, or in part by the form of software called by the processor, and the rest by hardware circuits.

[0447] In the embodiments of the present disclosure, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of the hardware circuit. The logical relationship of the above-mentioned hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and implementing the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0448] FIG6A is a schematic diagram of the structure of the perception device proposed in an embodiment of the present disclosure. As shown in FIG6A , the perception device 6100 may include: at least one of a transceiver module 6101 and a processing module 6102. In some embodiments, the transceiver module 6101 is configured to receive first information, and the first information is used to indicate a first moment and a second moment. The processing module 6102 is configured to determine the perception amount of the scatterer or target that changes between the first moment and the second moment based on the first information. Optionally, the transceiver module is used to execute at least one of the communication steps such as sending and / or receiving performed by the perception receiver in any of the above methods, which will not be repeated here. Optionally, the processing module is used to execute at least one of the other steps (such as step S2102, but not limited to this) performed by the perception receiver in any of the above methods, which will not be repeated here.

[0449] FIG6B is a schematic diagram of the structure of the perception device proposed in an embodiment of the present disclosure. As shown in FIG6B , the perception device 6200 may include: at least one of a transceiver module 6201 and a processing module 6202. In some embodiments, the transceiver module 6201 is configured to send a first information, wherein the first information is used to indicate a first moment and a second moment, and the first information is used to determine the perception amount of the scatterer or target that changes between the first moment and the second moment. Optionally, the transceiver module is used to execute at least one of the communication steps such as sending and / or receiving (such as step S2101, but not limited to this) performed by the perception transmitter in any of the above methods, which will not be repeated here. Optionally, the processing module is used to execute at least one of the other steps performed by the perception transmitter in any of the above methods, which will not be repeated here.

[0450] In some embodiments, the transceiver module may include a transmitting module and / or a receiving module, and the transmitting module and the receiving module may be separate or integrated. Optionally, the transceiver module may be interchangeable with the transceiver.

[0451] In some embodiments, the processing module can be a single module or can include multiple submodules. Optionally, the multiple submodules respectively execute all or part of the steps required to be executed by the processing module. Optionally, the processing module can be interchangeable with the processor.

[0452] Figure 7A is a schematic diagram of the structure of a communication device 7100 proposed in an embodiment of the present disclosure. Communication device 7100 can be a network device (e.g., an access network device), a terminal (e.g., a user equipment), a chip, a chip system, or a processor that supports a network device in implementing any of the above methods, or a chip, a chip system, or a processor that supports a terminal in implementing any of the above methods. Communication device 7100 can be used to implement the methods described in the above method embodiments. For details, please refer to the description of the above method embodiments.

[0453] As shown in FIG7A , the communication device 7100 includes one or more processors 7101. The processor 7101 may be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor may be used to process communication protocols and communication data, and the central processing unit may be used to control a communication device (e.g., a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute programs, and process program data. The communication device 7100 is used to perform any of the above methods.

[0454] In some embodiments, the communication device 7100 further includes one or more memories 7102 for storing instructions. Optionally, all or part of the memories 7102 may be located outside the communication device 7100.

[0455] In some embodiments, the communication device 7100 further includes one or more transceivers 7103. When the communication device 7100 includes one or more transceivers 7103, the transceiver 7103 performs at least one of the communication steps such as sending and / or receiving in the above method (for example, step S2101, but not limited thereto), and the processor 7101 performs at least one of the other steps (for example, step S2102, but not limited thereto).

[0456] In some embodiments, a transceiver may include a receiver and / or a transmitter. The receiver and transmitter may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, and transceiver circuit may be used interchangeably; the terms transmitter, transmitting unit, transmitter, and transmitting circuit may be used interchangeably; and the terms receiver, receiving unit, receiver, and receiving circuit may be used interchangeably.

[0457] In some embodiments, the communication device 7100 may include one or more interface circuits 7104. Optionally, the interface circuit 7104 is connected to the memory 7102. The interface circuit 7104 may be configured to receive signals from the memory 7102 or other devices, and may be configured to send signals to the memory 7102 or other devices. For example, the interface circuit 7104 may read instructions stored in the memory 7102 and send the instructions to the processor 7101.

[0458] The communication device 7100 described in the above embodiment may be a network device or a terminal, but the scope of the communication device 7100 described in the present disclosure is not limited thereto, and the structure of the communication device 7100 may not be limited by FIG. 7A. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data or programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, an in-vehicle device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0459] 7B is a schematic diagram of the structure of a chip 7200 proposed in an embodiment of the present disclosure. If the communication device 7100 can be a chip or a chip system, please refer to the schematic diagram of the structure of the chip 7200 shown in FIG7B , but the present disclosure is not limited thereto.

[0460] The chip 7200 includes one or more processors 7201 , and the chip 7200 is configured to execute any of the above methods.

[0461] In some embodiments, the chip 7200 further includes one or more interface circuits 7202. Optionally, the interface circuit 7202 is connected to the memory 7203. The interface circuit 7202 can be used to receive signals from the memory 7203 or other devices, and can be used to send signals to the memory 7203 or other devices. For example, the interface circuit 7202 can read instructions stored in the memory 7203 and send the instructions to the processor 7201.

[0462] In some embodiments, the interface circuit 7202 performs at least one of the communication steps such as sending and / or receiving in the above method (for example, step S2101, but not limited to this), and the processor 7201 performs at least one of the other steps (for example, step S2102, but not limited to this).

[0463] In some embodiments, terms such as interface circuit, interface, transceiver pin, and transceiver may be used interchangeably.

[0464] In some embodiments, the chip 7200 further includes one or more memories 7203 for storing instructions. Alternatively, all or part of the memories 7203 may be located outside the chip 7200.

[0465] The present disclosure also proposes a storage medium having instructions stored thereon. When the instructions are executed on the communication device 7100, the communication device 7100 executes any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited thereto and may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but is not limited thereto and may also be a temporary storage medium.

[0466] The present disclosure also provides a program product, which, when executed by the communication device 7100, enables the communication device 7100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0467] The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any one of the above methods.

Claims

1. A perception method, characterized in that: The method comprises: receiving first information, where the first information is used to indicate a first time and a second time; A perceived amount of a scatterer or target that changes between the first moment and the second moment is determined based on the first information.

2. The method according to claim 1, characterized in that The first information includes at least one of the following: Perception type; one or more time periods; multiple moments; The first moment and the second moment are two moments corresponding to one time period, or the first moment and the second moment are two moments among the multiple moments.

3. The method according to claim 2, characterized in that The first moment and / or the second moment include at least one of the following: one or more frames; one or more subframes; one or more time slots; One or more Orthogonal Frequency Division Multiplexing (OFDM) symbols.

4. The method according to any one of claims 1 to 3, characterized in that The perception quantity includes at least one of the following: distance; horizontal azimuth; vertical azimuth; speed.

5. The method according to any one of claims 1 to 4, characterized in that The perception quantity includes distance, and determining, based on the first information, the perception quantity of the scatterer or target that changes between the first moment and the second moment includes: Determining a first matrix according to a channel frequency domain response matrix at a resource element where a sensing reference signal is located, where the first matrix represents a difference between a first covariance matrix and a second covariance matrix of the channel frequency domain response matrix, where the first covariance matrix includes subspace information for estimating distance at the first moment, and the second covariance matrix includes subspace information for estimating distance at the second moment; The distance of the scatterer or target that changes between the first moment and the second moment is determined based on the first matrix.

6. The method according to claim 5, characterized in that The element in the uth row and vth column of the first matrix is: in, is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l β ) on the channel frequency domain response; k u is the number of the u-th subcarrier containing the perception reference signal; k v is the number of the vth subcarrier containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter.

7. The method according to claim 5 or 6, characterized in that The determining, according to the first matrix, a distance of a scatterer or target that changes between the first moment and the second moment, includes: Perform eigenvalue decomposition on the first matrix to obtain a first standard orthogonal basis, which is the standard orthogonal basis U of the noise subspace. r，n , or the orthonormal basis U of the signal subspace r，s ; Determine a first spectral function, where the first spectral function is a function related to first scanning vectors and the first orthonormal basis, and each first scanning vector corresponds to a first parameter; The distance of the scatterer or target that changes between the first moment and the second moment is determined according to a first parameter corresponding to the peak value of the first spectral function.

8. The method according to claim 7, characterized in that The first spectral function is one of the following: The first scan vector is: Among them, τ is the first parameter, Δ f is the subcarrier spacing, k i is the number of the i-th subcarrier containing the perception reference signal, is the number of subcarriers containing the perception reference signal, For size The unit array.

9. The method according to claim 7 or 8, characterized in that The determining, based on a first parameter corresponding to a peak value of the first spectral function, a distance of a scatterer or target that changes between the first moment and the second moment includes: The distance of the scatterer or target that changes between the first moment and the second moment is determined according to the speed of light and a first parameter corresponding to the peak value of the first spectral function.

10. The method according to any one of claims 1 to 9, characterized in that The perception quantity includes a horizontal azimuth angle, and determining, based on the first information, the perception quantity of the scatterer or target that changes between the first moment and the second moment includes: Determining a second matrix according to a channel frequency domain response matrix at a resource element where a perception reference signal is located, where the second matrix represents a difference between a third covariance matrix and a fourth covariance matrix of the channel frequency domain response matrix, where the third covariance matrix includes subspace information for estimating the horizontal azimuth angle at the first moment, and the fourth covariance matrix includes subspace information for estimating the horizontal azimuth angle at the second moment; The horizontal azimuth angle of the scatterer or target that changes between the first time instant and the second time instant is determined based on the second matrix.

11. The method according to claim 10, characterized in that The element in the u-th row and v-th column of the second matrix is: in, is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response, is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter.

12. The method according to claim 10 or 11, characterized in that The determining, according to the second matrix, the horizontal azimuth angle of the scatterer or target that changes between the first moment and the second moment includes: Perform eigenvalue decomposition on the second matrix to obtain a second orthogonal basis, which is the orthogonal basis U of the noise subspace. Φ，n Or the orthonormal basis U of the signal subspace Φ，s ; determining a second spectral function, where the second spectral function is a function related to the second scanning vectors and the second orthonormal basis, and each of the second scanning vectors corresponds to a second parameter; The horizontal azimuth angle of the scatterer or target that changes between the first moment and the second moment is determined according to the second parameter corresponding to the peak value of the second spectral function.

13. The method according to claim 12, characterized in that The second spectral function is one of the following: The second scan vector is: Wherein, φ is the second parameter, λ is the wavelength, N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension, d H is the antenna spacing in the horizontal dimension of the receiving antenna array of the sensing receiver, For size The unit array.

14. The method according to any one of claims 1 to 13, characterized in that The perception quantity includes a vertical azimuth angle, and determining, based on the first information, the perception quantity of the scatterer or target that changes between the first moment and the second moment includes: Determining a third matrix according to a channel frequency domain response matrix at a resource element where a perception reference signal is located, where the third matrix represents a difference between a fifth covariance matrix and a sixth covariance matrix of the channel frequency domain response matrix, where the fifth covariance matrix includes subspace information for estimating the vertical azimuth angle at the first moment, and the sixth covariance matrix includes subspace information for estimating the vertical azimuth angle at the second moment; The vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment is determined according to the third matrix.

15. The method according to claim 14, characterized in that The element in the uth row and vth column of the third matrix is: in, is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter.

16. The method according to claim 14 or 15, characterized in that The determining, according to the third matrix, a vertical azimuth angle of a scatterer or target that changes between the first moment and the second moment includes: Perform eigenvalue decomposition on the third matrix to obtain a third standard orthogonal basis, which is the standard orthogonal basis U of the noise subspace. Θ，n Or the orthonormal basis U of the signal subspace Θ，s ; determining a third spectral function, where the third spectral function is a function related to third scanning vectors and the third orthonormal basis, and each of the third scanning vectors corresponds to a third parameter; The vertical azimuth angle of the scatterer or target that changes between the first moment and the second moment is determined according to the third parameter corresponding to the peak value of the third spectral function.

17. The method according to claim 16, characterized in that The third spectral function is one of the following: The third scan vector is: Wherein, θ is the third parameter, λ is the wavelength, M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension, d V is the antenna spacing in the vertical dimension of the receiving antenna array of the sensing receiver, For size The unit array.

18. A sensing method, characterized in that: The method comprises: First information is sent, where the first information is used to indicate a first moment and a second moment, and the first information is used to determine a perceived amount of a scatterer or target that changes between the first moment and the second moment.

19. The method according to claim 18, characterized in that The first information includes at least one of the following: Perception type; one or more time periods; multiple moments; The first moment and the second moment are two moments corresponding to one time period, or the first moment and the second moment are two moments among the multiple moments.

20. The method according to claim 18 or 19, characterized in that The first moment and / or the second moment include at least one of the following: one or more frames; one or more subframes; one or more time slots; One or more OFDM symbols.

21. The method according to any one of claims 18 to 20, characterized in that The perception quantity includes at least one of the following: distance; horizontal azimuth; vertical azimuth; speed.

22. A sensing device, characterized in that: The device comprises: A transceiver module is configured to receive first information, where the first information is used to indicate a first time and a second time; The processing module is configured to determine, based on the first information, a perceived amount of the scatterer or target that changes between the first moment and the second moment.

23. A sensing device, characterized in that: The device comprises: The transceiver module is configured to send first information, where the first information is used to indicate a first moment and a second moment, and the first information is used to determine a perception amount of a scatterer or target that changes between the first moment and the second moment.

24. A communication device, characterized in that: include: one or more processors; The communication device is used to execute the perception method described in any one of claims 1-17 or any one of claims 18-21.

25. A communication system, characterized in that: The system comprises a perceptual transmitter and a perceptual receiver, wherein the perceptual receiver is configured to implement the perceptual method according to any one of claims 1 to 17, and the perceptual transmitter is configured to implement the perceptual method according to any one of claims 18 to 21.

26. A storage medium storing instructions, characterized in that: When the instruction is executed on a communication device, the communication device is caused to execute the sensing method according to any one of claims 1 to 17 or any one of claims 18 to 21.

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