Method and apparatus in node for wireless communication

Abstract

The invention provides a method and an apparatus in a node for wireless communication. The method comprises the following steps: receiving a sensing signal from a second node; receiving a sensing instruction from the second node; in response to the sensing instruction, performing double-station sensing based on the sensing signal to obtain a double-station sensing result; and sending a double-station sensing result to the second node, the double-station sensing result being used for performing joint sensing to obtain a joint sensing result, the joint sensing result being determined based on the double-station sensing result and a single-station sensing result of the second node.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of communication technology, and more particularly, to a method and apparatus in a node for wireless communication. BACKGROUND

[0002] The communication system evolves from the 5th generation mobile communication technology (5G) to the 6th generation mobile communication technology (6G), and produces network visions such as global coverage, green intelligence, and sensory interconnection. The realization of the 6G vision needs to rely on the acquisition of environmental sensing information, information interaction and sharing, intelligent information processing, and closed-loop information flow processing of control information layer by layer. The existing wireless network technology has been difficult to meet the application requirements in the post-5G era and the 6G era, and it is urgent to develop a new network architecture that can efficiently utilize resources, differentiate applications, and intelligently adapt to the environment, so as to integrate communication and sensing, that is, realize the wireless sensing technology of harmonized communication and sensing (HCS).

[0003] The wireless sensing technology realizes the detection and recognition of information such as object position, motion state, and physiological characteristics by analyzing the interaction relationship between wireless signals and objects. When sensing signals and communication signals coexist in the system, the sensing signals and the communication signals can share hardware and communication resources. Therefore, how to realize the cooperative sensing of base stations and users in the communication system has become a problem to be solved. SUMMARY

[0004] The present application provides a method and apparatus in a node for wireless communication. The following introduces each aspect of the present application.

[0005] In a first aspect, a method in a first node for wireless communication is provided, comprising: receiving a sensing signal from a second node; receiving a sensing instruction from the second node; performing a two-station sensing based on the sensing signal to obtain a two-station sensing result in response to the sensing instruction; and sending the two-station sensing result to the second node, wherein the two-station sensing result is used to perform a joint sensing to obtain a joint sensing result, and the joint sensing result is determined based on the two-station sensing result and a one-station sensing result of the second node.

[0006] In a second aspect, a method in a second node for wireless communication is provided, comprising: sending a sensing signal to a first node; sending a sensing instruction to the first node, the sensing instruction being used to instruct the first node to perform a two-station sensing according to the sensing signal; receiving a two-station sensing result from the first node, the two-station sensing result being used to perform a joint sensing to obtain a joint sensing result, the joint sensing result being determined based on the two-station sensing result and a one-station sensing result of the second node.

[0007] In a third aspect, a communication apparatus is provided, which comprises units or modules for performing embodiments of any of the first aspect. The communication apparatus is configured to implement the method of any of the preceding first aspect.

[0008] In a fourth aspect, a communication apparatus is provided, which comprises units or modules for performing embodiments of any of the first aspect. The communication apparatus is configured to implement the method of any of the preceding second aspect.

[0009] In a fifth aspect, a first node is provided, which comprises a processor, a memory and a communication interface, the memory is used to store one or more computer programs, and the processor is used to invoke the computer program in the memory to make the terminal execute part or all of the steps described in the method of the first aspect.

[0010] In a sixth aspect, a second node is provided, which comprises a processor, a memory and a communication interface, the memory is used to store one or more computer programs, and the processor is used to invoke the computer program in the memory to make the second node execute part or all of the steps described in the method of the second aspect.

[0011] In a seventh aspect, a communication system is provided, which comprises the communication apparatus described above. In another possible design, the system can further comprise other devices interacting with the communication apparatus in the solutions provided by the embodiments.

[0012] In an eighth aspect, a computer-readable storage medium is provided, which stores a computer program. The computer program is configured to make a computer execute part or all of the steps in the methods of the aspects described above.

[0013] In a ninth aspect, a computer program product is provided, which comprises a non-transitory computer-readable storage medium storing a computer program. The computer program is operable to cause a computer to execute part or all of the steps in the methods of the aspects described above. In some implementations, the computer program product can be a software installation package.

[0014] In a tenth aspect, embodiments of this application provide a chip including a memory and a processor, the processor being able to call and run a computer program from the memory to implement some or all of the steps described in the methods of the foregoing aspects.

[0015] Eleventhly, embodiments of this application provide an apparatus in which the chip includes a memory and a processor, the processor being able to call and run a computer program from the memory to implement some or all of the steps described in the methods of the foregoing aspects.

[0016] In this embodiment, by coordinating single-station and dual-station sensing modes, the sensing effect of any single sensing mode can be improved, thereby enhancing the accuracy of target positioning and reducing the resource overhead of various sensing modes, thus improving resource utilization efficiency. Attached Figure Description

[0017] Figure 1 This is a system architecture example diagram of a wireless communication system applicable to embodiments of this application.

[0018] Figure 2 This is a schematic diagram of a network architecture applicable to embodiments of this application.

[0019] Figure 3A and Figure 3B A schematic diagram of the wireless protocol stack structure provided in this application.

[0020] Figure 4 These are schematic diagrams of various sensing scenarios in embodiments of this application.

[0021] Figure 5 This is a flowchart illustrating a wireless communication method provided in an embodiment of this application.

[0022] Figure 6 This is a flowchart illustrating another wireless communication method provided in an embodiment of this application.

[0023] Figure 7 This is a schematic diagram of a joint sensing system between a base station and a UE provided in an embodiment of this application.

[0024] Figure 8 This is a flowchart illustrating another wireless communication method provided in an embodiment of this application.

[0025] Figure 9 This is a schematic diagram of the joint sensing geometric relationship between the base station and the UE provided in an embodiment of this application.

[0026] Figure 10 This is a schematic diagram of a performance simulation scenario between a base station and a UE provided in an embodiment of this application.

[0027] Figure 11is a schematic diagram of simulation results between a base station and a UE provided by an embodiment of the present application

[0028] Figure 12 is a structural schematic diagram of a first node provided by an embodiment of the present application.

[0029] Figure 13 is a structural schematic diagram of a second node provided by another embodiment of the present application.

[0030] Figure 14 is a structural schematic diagram of a communication apparatus provided by another embodiment of the present application.

[0031] Figure 15 is a structural schematic diagram of a communication device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0032] The technical solutions in the present application will be described below with reference to the accompanying drawings.

[0033] Wireless communication system

[0034] Figure 1 is an example diagram of a system architecture of a wireless communication system 100 to which embodiments of the present application can be applied. The wireless communication system 100 can include a network device 110 and a terminal device 120. The network device 110 can be a device that communicates with the terminal device 120. The network device 110 can provide network coverage for a specific geographic area and can communicate with the terminal device 120 located within the coverage area. The terminal device 120 can access a network, such as a wireless network, through the network device 110. Optionally, the wireless communication system 100 can also include a network controller, a mobile management entity, and other network entities, which are not limited by embodiments of the present application.

[0035] It should be understood that the technical solutions of the embodiments of the present application can be applied to various communication systems, such as a fifth generation (5G) system or new radio (NR), a long term evolution (LTE) system, an LTE frequency division duplex (FDD) system, an LTE time division duplex (TDD), and the like. The technical solutions provided by the present application can also be applied to future communication systems, such as a sixth generation mobile communication system, a satellite communication system, and the like.

[0036] In the embodiments of the present application, the terminal device can also be referred to as a user equipment (UE), an access terminal, a user unit, a user station, a mobile station, a mobile station (MS), a mobile terminal (MT), a remote station, a remote terminal, a mobile device, a user terminal, a terminal, a wireless communication device, a user agent or a user apparatus. The terminal device in the embodiments of the present application can refer to a device providing voice and / or data connectivity for a user, and can be used to connect people, things and machines, such as handheld devices with wireless connection function, vehicle-mounted devices, etc. The terminal device can also be a mobile phone, a tablet computer (Pad), a notebook computer, a palm computer, a mobile internet device (MID), a wearable device, a virtual reality (VR) device, an augmented reality (AR) device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical surgery, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, a wireless terminal in smart home, etc. Optionally, the terminal device can be used to act as a base station. For example, the terminal device can act as a scheduling entity, which provides sidelink signals between terminal devices in vehicle to everything (V2X) or device to device (D2D), etc. For example, a cellular phone and a car communicate with each other using sidelink signals. The cellular phone and the smart home device communicate with each other without relaying the communication signals through the base station.

[0037] In embodiments of the present application, the network device can be a device for communicating with the terminal device. The network device can be an access network device or a radio access network device. For example, the network device can be a base station. The base station can broadly cover various names in the following or can be replaced by the following names, for example: Node B (Node B), evolved Node B (eNB), next generation Node B (gNB), relay station, transmitting and receiving point (TRP), transmitting point (TP), master station (MeNB), secondary station (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. The base station can be a macro base station, a micro base station, a relay node, a donor node, or the like, or a combination thereof. The base station can also refer to a communication module, modem, or chip configured to be disposed in the foregoing devices or apparatuses. The base station can also be a mobile switching center and a device that performs a base station function in device-to-device (D2D), vehicle-to-everything (V2X), machine-to-machine (M2M) communication, a network side device in a 6G network, a device that performs a base station function in a future communication system, etc. The base station can support networks of the same or different access technologies. Embodiments of the present application do not limit the specific technology and specific device form adopted by the network device. The base station can support networks of the same or different access technologies. Embodiments of the present application do not limit the specific technology and specific device form adopted by the network device.

[0038] In addition, the base station can be fixed or mobile. For example, a helicopter or a drone can be configured to act as a mobile base station, and one or more cells can move according to the location of the mobile base station. In other examples, the helicopter or the drone can be configured to act as a device that communicates with another base station.

[0039] The network device and the terminal device can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on water surface; and can also be deployed on airplanes, balloons and satellites in the air. The scene where the network device and the terminal device are located is not limited in the embodiments of the present application.

[0040] It should be understood that all or part of the functions of the communication device in the present application can also be implemented by software functions running on hardware, or by virtualized functions instantiated on a platform, such as a cloud platform.

[0041] Figure 2 A schematic diagram of a network architecture 200 of one embodiment of the present application is exemplarily shown. The network architecture 200 illustrates the network architecture of the 5G NR / LTE / LTE-A system, which can also be referred to as the 5G system (5GS) / evolved packet system (EPS) network architecture. The network architecture 200 includes at least one of a network device 110, a terminal device 120, a 5G core network (5GC) / evolved packet core (EPC) 210, a home subscriber server (HSS) / unified data management (UDM) 220 and an Internet service 230. Figure 2 The network device and the terminal device in the above are exemplarily shown by taking the RAN and the UE as examples respectively.

[0042] In combination with Figure 1 and Figure 2The network equipment 110 provides user plane protocol and control plane protocol termination towards the terminal equipment 120. The network equipment 110 is connected to the 5GC / EPC 210 through an S1 / NG interface. The 5GC / EPC 210 includes a mobility management entity (MME) / authentication management field (AMF) / session management function (SMF) 211, other MME / AMF / SMF 214, a service gateway (S-GW) / user plane function (UPF) 212, and a packet data network gateway (P-GW) / UPF 213. The MME / AMF / SMF 211 is a control node that handles signaling between the terminal equipment 120 and the 5GC / EPC 210. Generally, the MME / AMF / SMF 211 provides bearer and connection management. All user internet protocol (IP) packets are transferred through the S-GW / UPF 212, which is itself connected to the P-GW / UPF 213. The P-GW provides UE IP address allocation as well as other functions. The P-GW / UPF 213 is connected to the internet services 230. The internet services 230 include operator corresponding internet protocol services, which can specifically include the internet, an intranet, an IP multimedia subsystem (IMS), and a packet switched streaming service. It can be seen that the network architecture 200 provides a packet switched service, however, those skilled in the art will readily understand that the various concepts presented throughout this application are extensible to networks or other cellular networks that provide circuit switched services.

[0043] Figure 3A Figure 3B Figures 1 and 2 respectively show a wireless protocol stack structure diagram of one embodiment of the present application. Figure 3A Figure 3B The 5G wireless protocol stack is taken as an example for introduction. The 5G wireless protocol stack is divided into two planes: a user plane (UP) protocol stack and a control plane (CP) protocol stack. The user plane protocol stack is a protocol cluster adopted for user data transmission, and the control plane protocol stack is a protocol cluster adopted for control signaling transmission of the 5G system. The names of the layers of each protocol stack are as follows:

[0044] As shown in Figures 1 and 2, the wireless protocol stack includes a physical layer, a data link layer, and a network layer. The physical layer is responsible for transmitting and receiving data between the terminal equipment and the network equipment. The data link layer is responsible for transmitting and receiving data between the terminal equipment and the network equipment. The network layer is responsible for transmitting and receiving data between the terminal equipment and the network equipment. Figure 3A ​​As shown, the user plane protocol stack includes, from top to bottom, a service data adaptation protocol (SDAP) layer, a packet data convergence protocol (PDCP) layer, a radio link control (RLC) layer, a medium access control (MAC) layer, and a physical (PHY) layer.

[0045] As shown, Figure 3B the control plane protocol stack includes, from top to bottom, a non-access stratum (NAS) layer, a radio resource control (RRC) layer, a PDCP layer, a RLC layer, a MAC layer, and a PHY layer.

[0046] It should be understood that different layers in the above protocol stack have different functions, and the communication function between the terminal device and the network device is realized through the interaction between the layers. With the development of artificial intelligence technology, artificial intelligence assisted computing functions have penetrated into the processing implementation method of the above protocol stack, such as the scheduling algorithm of the MAC layer and the encoding and decoding algorithm of the PHY layer, which can apply artificial intelligence algorithms to improve the communication algorithm performance.

[0047] As an embodiment, Figure 3A the wireless protocol architecture in Figure 3B is applicable to the first node in the present application.

[0048] As an embodiment, Figure 3A the wireless protocol architecture in Figure 3B is applicable to the second node in the present application.

[0049] It should be understood that some functions in the wireless protocol architecture can also be implemented in one or more devices. For example, the functions of different layers in the control plane protocol stack can be combined and implemented by multiple nodes on the network side.

[0050] It should be understood that the explanation of the terminology (Terminology) in the embodiments of the present application can refer to the specification protocols TS36 series, TS37 series and TS38 series of the 3rd generation partnership project (3rd generation partnership project, 3GPP), but also can refer to the specification protocols of the Institute of Electrical and Electronics Engineers (Institute of Electrical and Electronics Engineers, IEEE).

[0051] For ease of understanding, some related technical knowledge involved in the embodiments of the present application is introduced first. The following related technologies can be combined with the technical solutions of the embodiments of the present application in any way as an optional scheme, which all belong to the protection scope of the embodiments of the present application. The embodiments of the present application include at least part of the following contents.

[0052] Wireless sensing, as an independently developed technology, has no obvious intersection with the development of mobile communication systems. Sensing services are provided by various specialized sensing devices, such as ordinary radar, laser radar, computer tomography, magnetic resonance imaging, etc. In 5G and earlier communication systems, positioning is the earliest sensing service that mobile communication systems can provide.

[0053] In the future mobile communication system, it will cross people and things, and move towards a new era of wisdom of everything. For example, the future mobile communication system may include 6 main application scenarios, 3 of which are communication scenarios enhanced on the basis of the 5G system, and the other 3 are new scenarios beyond communication, which include integrated sensing and communication (also referred to as integrated sensing and communication, ISAC). Therefore, the future communication system has the characteristics of full frequency band, large bandwidth, large-scale antenna array, multi-node cooperation, etc. It is because the future communication system has such characteristics that ISAC can be realized in the same system, so that the communication and sensing functions complement each other.

[0054] In the 6G system, general sensing services other than positioning will be integrated into the communication system and become a new function, thus opening up a new service. ISAC can help mobile operators provide many new services, such as high-precision positioning, tracking, biomedical and security imaging, simultaneous localization and mapping for complex indoor and outdoor environment mapping, pollution and natural disaster monitoring, gesture and motion recognition, defect and material detection, etc. These new services will in turn create new business scenarios for future consumers and various vertical industries. ISAC systems may support new services, and different industry (e.g. vertical industry, consumer, public service) application scenarios are divided into the following four categories according to function: high-precision positioning and tracking; simultaneous imaging, mapping and positioning; human sensory enhancement; gesture and motion recognition.

[0055] In addition to providing the above new services and new businesses, sensing can assist communication and positioning, and sub-centimeter-level positioning solutions are needed in 6G systems to meet various types of application scenarios in the future. In order to achieve such positioning accuracy, a more in-depth understanding of the propagation environment of wireless signals is needed. By obtaining the radio frequency map of the propagation environment, the position of the corresponding terminal device is obtained. In this way, the multipath characteristics of the propagation channel will play a certain auxiliary role. The high-frequency channel is more sparse, and the number of main reflection paths is less, and the mapping between the position of the terminal device and its propagation channel is easier, which is more conducive to the sensing-assisted positioning of this way.

[0056] For the ISAC scenario, on the one hand, the entire communication network can serve as a huge sensor, and the network elements send and receive wireless signals, and use the transmission, reflection and scattering of radio waves to better perceive and understand the physical world. By obtaining distance, speed, angle and other information from wireless signals, high-precision positioning, gesture capture, motion recognition, detection and tracking of passive objects, imaging and environment reconstruction and other wide range of new services can be provided, realizing "network as a sensor" and providing ultra-high resolution detection and positioning tracking, environment target reconstruction and imaging, target motion recognition and other capabilities, realizing network service scenarios such as smart home, smart factory, smart medical care, and ultimate autonomous driving. On the other hand, the high-precision positioning, imaging and environment reconstruction capabilities provided by sensing can help improve communication performance, such as more accurate beamforming, faster beam failure recovery, lower overhead for terminal channel state information (CSI) tracking, and "sensing-assisted communication". Sensing is also an observation and sampling of the physical world and the biological world, making it a "new channel" connecting the digital world. For this reason, real-time network sensing can replicate a parallel digital world for the physical world, which is extremely important for the realization of the concept of "digital twin" in the future. As a strategic emerging industry, the low-altitude economy plays an increasingly important role in promoting economic development and strengthening social security. Therefore, future communication networks need to provide more three-dimensional coverage for communication and sensing.

[0057] In the case where sensing and communication coexist in the same system, sensing signals and communication signals can share hardware and resources (e.g., spectrum resources). Hardware sharing can effectively reduce costs, simplify deployment, and reduce maintenance issues, enabling sensing to benefit from the economies of scale of mobile communication networks; spectrum sharing is more efficient in spectrum utilization than using independent spectrum for each. Further, from the perspective of waveforms and signal processing, time-domain, frequency-domain, spatial-domain waveform and signal processing techniques can be combined to serve both sensing and communication functions. Furthermore, communication and sensing information can be shared across layers, modules, and nodes, and communication and sensing are fully integrated, significantly improving system performance, greatly reducing the overall cost and energy consumption of the network system, and making the system smaller in scale. Other technical innovations such as large-scale coordination between base stations and terminal devices, communication-sensing waveform joint design, advanced interference cancellation techniques, and native artificial intelligence (AI) techniques can further improve the processing capacity of sensing data.

[0058] The terms involved in the embodiments of the present application are briefly described below.

[0059] 1. Sensing

[0060] The term "sensing" refers to obtaining information of an object, such as position, direction, speed, size, trajectory, and internal and external shape and structure of the object, by transmitting electromagnetic waves into space and receiving reflected waves. It senses the physical world by exploring the transmission, echo, reflection, and scattering of electromagnetic waves. Wireless sensing is the use of wireless signals to perform this process, which generates sensing results by collecting and processing collected data. For example, the distance, shape, and type of surrounding obstacles, or biological signals such as the breathing rate and heartbeat of an object, can be determined by collecting data. Data collection can be achieved through sensors or wireless signals.

[0061] 2. Sensing-communication fusion

[0062] The term "sensing-communication fusion" is mainly achieved through communication-sensing integration technology, which can also be referred to as sensing-communication integration. ISAC has advantages such as reduced cost, reduced device size, reduced power consumption, improved frequency efficiency, and reduced mutual interference between communication and sensing compared to systems in which sensing and communication are separated.

[0063] 3. Sensing target

[0064] The term "sensing target" can be a tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include movable objects such as vehicles, drones, pedestrians, and terminal devices. The sensing target can also be referred to as a target, a sensed target, a detected target, a sensed object, a detected object, or a sensed device, and the embodiments of the present application are not limited in this regard.

[0065] 4. Sensing signals

[0066] The aforementioned sensing signal can be referred to as a detection signal, linear frequency modulated signal, radar signal, radar sensing signal, radar detection signal, or environmental sensing signal, etc. The sensing signal can be a pulse signal or a signal from a wireless communication system. For example, the sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, predefined sequence, etc. The pseudo-random sequence includes any of the following sequences: longest linear feedback shift register sequence (m-sequence), Gold sequence, etc. The predefined sequence can be, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK), quadrature amplitude modulation (QAM), etc.

[0067] Optionally, when the above-mentioned sensing signal is used for communication, the sensing signal can also be called an HCS signal. It can be understood that the HCS signal carries the communication data or communication reference signal sequence transmitted between communication devices.

[0068] 5. Perception Mode

[0069] The perception modes (which can also be understood as perception scenarios) can be divided into single-site perception modes based on network devices, dual-site perception modes based on both network devices and terminal devices, and single-site perception modes based on terminal devices. For a description of perception modes, please refer to [link to relevant documentation]. Figure 4 .

[0070] Figure 4 This is a schematic diagram illustrating various sensing modes according to embodiments of this application. Exemplarily:

[0071] Figure 4 The sensing mode shown in (1) is a single-site sensing mode based on network devices, where the network device acts as both the transmitter and receiver of sensing signals. For example, when sensing signal 1 sent by the network device reaches the target object (e.g., a vehicle), the sensing signal 1 is reflected by the target object, and the network device can receive the reflected sensing signal 2, which can then be processed to obtain the sensing result.

[0072] Figure 4The sensing mode shown in (2) is a dual-station sensing mode based on network devices, where one network device acts as the transmitter of the sensing signal and the other network device acts as the receiver of the sensing signal. For example, sensing signal 1 sent by network device A (such as Tx) reaches the target object. After being reflected by the target object, sensing signal 1 is received by network device B (such as Rx). Then, network device B can process sensing signal 2 to obtain the sensing result.

[0073] Figure 4 The sensing mode shown in (3) is a dual-station sensing mode based on network devices and terminal devices. The network device acts as the transmitter of the sensing signal, and the terminal device acts as the receiver of the sensing signal. For example, the sensing signal 1 sent by the network device (such as Tx) reaches the target object. After the sensing signal 1 is reflected by the target object, the terminal device (such as Rx) can receive the sensing signal 2 formed by the reflection. Then, the terminal device can process the sensing signal 2 to obtain the sensing result.

[0074] Figure 4 The sensing mode shown in (4) is also a dual-station sensing mode based on network devices and terminal devices. The terminal device acts as the transmitter of the sensing signal, and the network device acts as the receiver of the sensing signal. For example, the sensing signal 1 sent by the terminal device (such as Tx) reaches the target object. After the sensing signal 1 is reflected by the target object, the network device (such as Rx) can receive the sensing signal 2 formed by the reflection. Then, the network device can process the sensing signal 2 to obtain the sensing result.

[0075] Figure 4 The sensing mode shown in (5) is a single-station sensing mode based on terminal devices, where the terminal devices act as both the transmitter and receiver of sensing signals. For example, when sensing signal 1 sent by the terminal devices (such as Rx and Tx) reaches the target object, the sensing signal 1 is reflected by the target object, and the terminal devices can receive the sensing signal 2 formed by the reflection. The terminal devices can then process the sensing signal 2 to obtain the sensing result.

[0076] Figure 4 The sensing mode shown in (6) is also a dual-station sensing mode based on terminal devices. One terminal device acts as the transmitter of the sensing signal, and the other terminal device acts as the receiver of the sensing signal. For example, the sensing signal 1 sent by terminal device a (such as Tx) reaches the target object. After the sensing signal 1 is reflected by the target object, terminal device b (such as Rx) can receive the sensing signal 2 formed by the reflection. Then, terminal device b can process the sensing signal 2 to obtain the sensing result.

[0077] It is understandable that sensing signal 2 can be understood as a reflected signal of sensing signal 1. Sensing signal 2 carries more information than sensing signal 1. For example, sensing signal 2 can carry source information and environmental information.

[0078] In simple terms, the above-mentioned sensing scenarios can be divided into two types: single-site sensing and dual-site sensing. In single-site sensing, the transmitting and receiving equipment are in the same location, the transmitted data is known, it is less affected by noise, and has good synchronization. However, the base station itself has strong self-interference and requires a full-duplex transceiver, placing high demands on hardware performance. Compared to single-site sensing, dual-site sensing has a higher sensing range and resolution, and better sensing performance. However, because the transmitting and receiving ends are not in the same location, synchronization performance is difficult to guarantee.

[0079] To reduce the difficulty of achieving high-precision positioning, this application proposes a joint sensing wireless communication method, which can mainly rely on single-station sensing of the base station and supplement it with dual-station sensing of the base station and the user. This reduces the implementation requirements of single-station sensing mode and dual-station sensing mode, and can achieve target positioning accuracy and velocity measurement accuracy that cannot be achieved by a single sensing mode.

[0080] Figure 5 This is a flowchart illustrating a wireless communication method provided in an embodiment of this application. Figure 5 The method shown is described from the perspective of the interaction between the first node and the second node.

[0081] Figure 5 The method shown may include S510 to S550.

[0082] In S510, the first node receives sensing instructions from the second node.

[0083] Alternatively, the sensing command can be transmitted via higher-level radio resource control (RRC) reconfiguration information or downlink control information (DCI).

[0084] In some embodiments, the first node can be any type of terminal device mentioned above. In the following description, the first node is often referred to as the UE.

[0085] In some embodiments, the second node may include an access network device, such as a satellite device that deploys a base station.

[0086] In other embodiments, the second node may include a network device, which may be a core network element, such as an MME element or an AMF element. Alternatively, the network device may be a gateway device, such as a gateway or a user plane function (UPF) gateway (SGW).

[0087] In some embodiments, when the first node and the second node establish an RRC connection, the service authorization request sent by the first node carries the first node's sensing capabilities. Alternatively, after the first node completes identity verification and security authentication, the second node retrieves the sensing capability-related information uploaded by the first node during its initial network connection by querying the database.

[0088] In some embodiments, the information related to sensing capability may include at least one of the following: (a) the antenna type, number, and gain of the first node; (b) the signal processing capability of the first node, including at least one of the signal sampling rate, processable signal bandwidth, frequency range, or intensity range of detectable signals; (c) the data processing capability and memory of the first node; and (d) the range that the first node can sense and the time during which it can perform sensing tasks.

[0089] In some embodiments, the first node may send a service authorization request to the second node, or the second node may send service authorization-related information to the first node. For example, the base station, considering the user's perception capability and signal-to-noise ratio, takes into account the different suitable ranges for single-site, dual-site, and joint perception under different signal-to-noise ratios. When the UE is suitable for joint perception or dual-site perception, a perception command is sent to the user to authorize the perception service. After the UE confirms receipt of the perception command, the perception service is activated.

[0090] In some embodiments, the sensing instruction may include at least one of the following information: (a) sensing start time, frequency resources used by the user for sensing, and time resource indication; (b) sensing resolution and false alarm probability specification; (c) sensing signal carrier frequency f. c Signal bandwidth B, signal type, number of subcarriers N, number of symbols M, OFDM symbol duration T OFDM .

[0091] In S520, the first node receives sensing signals from the second node.

[0092] In S530, the first node performs bi-station sensing based on the sensing signal to obtain the bi-station sensing result.

[0093] In S540, the first node reports the dual-station sensing results, which are used for joint sensing.

[0094] In some embodiments, the system further includes S550, in which the first node receives a joint sensing result, which is determined based on the dual-station sensing result and the single-station sensing result, wherein the single-station sensing result may come from the first node or the second node.

[0095] In some embodiments, taking the UE as an example, the specific process of the first node performing bi-station sensing based on the sensing signal may include: the sensing signal transmitted by the base station is refracted by a dynamic target (hereinafter referred to as the target) and a static scatterer before reaching the UE; the UE receives the refracted signal, then removes the interference from the static scatterer, corrects the time delay and Doppler frequency of the received signal, and uses it to estimate the total distance between the base station, the target, and the UE, and the radial velocity of the target relative to the UE. For example, there are l targets in the environment, and the base station is located at q. B The UE position is q U The UE can perform bi-station sensing based on sensing signals from the base station to estimate the time delay of the received signal relative to the transmitted signal. Doppler shift

[0096] In some embodiments, taking the second node as a base station as an example, the specific process of the second node performing single-station sensing may include: There are generally static scatterers and multiple dynamic targets in the environment; the base station receives echo signals reflected by the scatterers and echo signals reflected by the targets; the base station can estimate the angle of arrival of the echo signals; and the base station uses the time delay, Doppler frequency, and angle of arrival of each path to estimate the distance of each target relative to the base station, the position of the target, the radial velocity of the target relative to the base station, and the angle. For example, there are l targets in the environment, and the base station is located at position q. B The UE position is q U Base stations can perform single-site sensing and estimate the time delay of the received signal relative to the transmitted signal. Doppler shift Angle of target relative to base station

[0097] As can be seen, in mono-site sensing, the base station receives the echo signal reflected from the target and estimates the distance, radial velocity, and angle of each target relative to the base station using the time delay, Doppler frequency, and angle of arrival for each path. Conversely, in bi-site sensing, the UE uses the received signal delay and Doppler frequency to estimate the total distance between the base station, the target, and the UE, as well as the radial velocity of each target relative to the UE.

[0098] It should be understood that, considering the presence of multiple static scatterers and dynamic targets in the environment, the velocities of static scatterers and dynamic targets are different, and their Doppler frequencies are also different. The base station receives the echo signals reflected by the static scatterers and dynamic targets and the user's received signal. Then, the base station can distinguish between static scatterers and dynamic targets by using the Doppler frequency.

[0099] In some embodiments, taking the UE as an example, the specific process of the first node performing single-station perception may include: there are generally static scatterers and multiple dynamic targets in the environment; the UE receives the echo signal reflected by the scatterer and the echo signal reflected by the target; the UE can estimate the angle of arrival of the echo signal; the UE uses the time delay, Doppler frequency and angle of arrival of each path to estimate the distance of each target relative to the UE, the position of the target, the radial velocity and angle of the target relative to the UE.

[0100] In some embodiments, in S505, the method for determining the joint sensing result may include the following steps, such as... Figure 6 As shown.

[0101] S5051, the first node reports the dual-station sensing results to the second node.

[0102] Optionally, the dual-station sensing results reported by the first node may include the peak index and intensity corresponding to the distance and velocity sensed by the dual-station sensing.

[0103] S5052, the second node performs single-station sensing.

[0104] S5053, the second node fuses the single-station sensing results and the dual-station sensing results to obtain the joint sensing results.

[0105] In one possible embodiment, the second node matches the single-station sensing results, the dual-station sensing results, and each target. Using the distance from the second node to the target, the angle of the target relative to the second node, and the total distance between the second node, the target, and the first node, it initially estimates the target's position and velocity. Optionally, the second node can establish a geometric relationship between the sensing results and the parameters of the base station, target, and UE, iteratively optimizing the error between the sensing results and the estimated position and velocity, such as minimizing the theoretical error between the sensing results and the initial estimation results, and iteratively optimizing to obtain the optimal estimates of the target's position and velocity, thereby obtaining a joint sensing result. The joint sensing result includes the optimal estimates of the target's position and / or the target's velocity.

[0106] In one possible embodiment, an alternative to the above S5053 could be: the second node can send the single-station sensing result to the first node, and the first node can fuse the single-station sensing result and the dual-station sensing result to obtain the joint sensing result.

[0107] Optionally, in order to save spectrum resources and quantify the sensing results, the dual-station sensing results reported by the user can be the peak index and intensity of the sensing location and velocity that meet the false alarm rate. This results in a small amount of data transmission, consumes less user computing resources, and avoids the impact of noise on the sensing results during transmission.

[0108] To explain the above method and process more systematically, the following text combines... Figure 7 The scenario shown illustrates the process of the above method in stages. Figure 7 An exemplary system for joint sensing between a base station and a UE is shown. The base station is equipped with a massive MIMO antenna array, while the UE typically has a single antenna, and the sensed target is relatively close to the UE. Figure 7 The reflectance coefficients of the scatterers in the system are randomly set according to various common reflectance coefficients, and their positions are also randomly distributed.

[0109] like Figure 8 As shown, the method flow includes the following steps:

[0110] Phase 1

[0111] S810, the UE sends a sensing service request to the base station and reports its own capability information.

[0112] S815: Based on the UE's capability information, the base station determines that the UE has sensing capabilities and then issues authorized sensing services.

[0113] S820: After receiving the notification of authorized sensing services, the UE prepares for sensing functions and notifies the base station that the sensing function preparation is complete.

[0114] S825, the base station sends a sensing command to the UE, which instructs the UE to activate the sensing function.

[0115] Optionally, the sensing command issued by the base station may include the carrier frequency f for transmitting the sensing signal. c Signal bandwidth B, signal type, symbol duration T OFDM The number of subcarriers is N, and the number of symbols is M.

[0116] S830: The base station sends sensing signals to scatterers and targets.

[0117] Phase Two

[0118] S835 allows users to perform dual-site sensing using the sensing information from the base station.

[0119] In dual-site sensing, the UE uses the delay of the received signal and the Doppler frequency to estimate the total distance between the base station, the target, and the UE, as well as the radial velocity of each target relative to the UE.

[0120] S840, base station performs single-site sensing.

[0121] In single-station sensing, the base station receives the echo signal reflected by the target and uses the time delay, Doppler frequency and angle of arrival of each path to estimate the distance, radial velocity and angle of each target relative to the base station.

[0122] Phase Three

[0123] S845, UE reports dual-site perception results

[0124] The S850 base station performs data fusion and processing.

[0125] S855, the base station sends the joint sensing results to the UE.

[0126] In the aforementioned S850, the base station needs to perform parameter matching for each target based on single-site sensing results and dual-site sensing results, and preliminarily estimate the base station's estimated position and velocity of the target based on geometric relationships. Further, the following section combines... Figure 9 This calculation process will be explained. Figure 9 A schematic diagram of the joint sensing geometry is shown. A circle exists with the distance *r* from the target to the base station as its radius and the base station as its center. An ellipse exists with the base station and UE as foci, the line connecting the UE and the base station as the horizontal axis, and the total distance from the base station to the target to the UE as the major axis. The ellipse and the circle intersect at two points. The point where the line connecting the ellipse and the base station intersects the target at an angle close to the angle observed by the base station can be used to confirm the approximate location of the target.

[0127] like Figure 9 As shown, assume there is one base station (BS), one user device (UE), and one target in the communication scenario. A is labeled as the real target location, and B is labeled as the pseudo-target location. The base station location is q. B =(-c,0) T UE position q U =(c,0) T (c>0), target position q=(q x ,q y ) T , target velocity v = (v x ,v y ) T Since the distance from the base station to the target is a constant r, a circle can be constructed with the base station as the center and the distance r from the base station to the target as the radius. The equation of this circle is (x+c). 2 +y 2 =r 2 .

[0128] Since the distances from the base station to the target and from the target to the UE are constant, the base station and the UE can be represented as the foci of an ellipse. Let the foci of the ellipse lie on the x-axis, and the target coordinates be q (the length of the major axis).B ‖2+‖qq U If ||2 = 2a (a > 0), then the length of the minor semi-axis is b = ac, and the equation of the ellipse is... By solving the equations of the circle and the ellipse simultaneously, we can obtain the coordinates of the point marked A. The coordinates of marker B are

[0129] Here, the angle between the line connecting the target and the base station observed by the base station and the y-axis is θ. Then, the initial estimated position of the target by the base station can be solved.

[0130]

[0131] The relationship between sin(θ) and the coordinates of marker A (the actual target coordinates) is as follows:

[0132]

[0133] The initial estimated position of the target Substituting into the following equation, the estimated velocity of the target can be obtained.

[0134]

[0135] in The radial velocity of the target relative to the base station, as observed by the base station. The radial velocity of the target relative to the UE as observed by the UE. The initial estimated x-coordinate of the target's position. Let q be the y-coordinate of the initial estimated position of the target. B (1) is the x-coordinate of the base station, q B (2) is the y-coordinate of the base station, q U (1) is the x-coordinate of UE, q U (2) is the y-coordinate of UE.

[0136] In this embodiment, to summarize, assume there are l targets and the base station coordinates are q. B UE coordinates q U The base station performs single-site sensing to estimate the time delay of the received signal relative to the transmitted signal. Doppler shift Angle of target relative to base station The UE performs dual-site sensing to estimate the time delay of the received signal relative to the transmitted signal. Doppler shift Delay And Doppler frequency shift satisfies in and It is the peak index of the FFT response of the received signal in both the subcarrier and range dimensions, where Δf is the subcarrier frequency interval, N is the number of subcarriers, M is the number of symbols, and T is the distance. OFDM The duration of the OFDM symbol.

[0137] To reduce data transmission resource overhead, the UE will estimate latency. The peak index and peak value corresponding to the Doppler frequency shift are sent to the base station. The base station utilizes the relationship... Obtain the distance of the target relative to the base station. Total distance between base station, target, and UE Target radial velocity relative to base station Radial velocity of the target relative to the UE By using the target's distance relative to the base station, the target's angle relative to the base station, and the total distance between the base station, the target, and the UE, combined with geometric relationships, an initial estimate of the target's location can be obtained. By substituting all the known preliminary estimates into the equation and solving it using equation A, the initial estimate of the target velocity can be obtained. in

[0138]

[0139] In one possible embodiment, when the base station performs data fusion, the observations from the dual-station sensing results can be combined. Preliminary estimates of target position and target velocity The relationship is expressed by the following equation:

[0140]

[0141] Where e = [e l1 ,e l2 ,e l3 ,e l4 ,e l5 The symbol ] indicates the error caused by perceived resolution. This is the initial estimate of the target location. The initial estimate of the target velocity is given by the base station coordinate q. B UE coordinates q U , The initial estimate of the x-coordinate of the target position. Let q be the initial estimate of the y-coordinate of the target position. B (1) is the x-coordinate of the base station, q B (2) is the y-coordinate of the base station, q U (1) is the x-coordinate of UE, q U (2) is the y-coordinate of UE.

[0142] In this embodiment, the above equations and geometric relationships can also be used as constraints to establish an objective function: Using the least squares iterative method and a genetic algorithm, the optimal weight allocation W = [w1, w2, w3, w4, w5, w6] is solved to minimize the sum of errors, ultimately yielding the optimal estimates of the target's position and velocity.

[0143] Figure 10 An exemplary scenario diagram used in performance simulation is shown. With the base station as the origin of the coordinate system, the UE is located at [80, 60]. The actual positions of the three targets are q1 = [60, 25], q2 = [70, 15], and q3 = [90, 30]. 200 scatterers are randomly placed between the base station and the UE. The reflection coefficients of the scatterers are randomly generated, and the reflection coefficients of the targets are set to 3.5. The system carrier frequency is 24 GHz, the bandwidth is 245.76 MHz, and the number of base station antennas is 16. OFDM signals are transmitted. The subcarrier spacing is 120 kHz, the number of subcarriers is 617, the number of symbols is 512, and the symbol interval is 1.0335 × e^(-1 / 2). -5 .

[0144] Figure 11 An illustrative diagram is provided, showing simulation results including the true values, initial estimates, and optimal estimates of the target's position and velocity. Arrows point in the direction of the estimated velocity, dots represent the target's true position, squares represent the initial estimates, and triangles represent the final estimates. Figure 11 In the diagram, the targets in each sub-graph, from left to right, are target 1, target 2, and target 3. Figure 11 As shown in (a), the initial estimated positions of targets 2 and 3 deviate from their actual positions to a certain extent, and the optimized target positions are almost the same as their actual positions. Figure 11 In (b) of the experiment, the angle of target 1 was incorrectly estimated, deviating significantly from its true position. After optimization through joint sensing, the estimated target position was almost identical to the true position. Experiments showed that when all angles were correctly estimated, the root mean square error (RMSE) of target localization decreased from 0.7367 to 0.4565, an improvement of approximately 38% in accuracy. When one angle was significantly misestimated, the RMS error of target localization decreased from 13.5759 to 0.4154, an improvement of approximately 96.9% in accuracy. This demonstrates that when the target is close to the UE, joint sensing can improve the localization accuracy of the target and can perceive the absolute velocity magnitude and direction of the target.

[0145] In summary, the method provided by this invention can fully utilize the angular resolution capability of the large-scale antenna array of the integrated communication and sensing base station. Through multi-antenna beamforming, interference from other scatterers can be significantly reduced. Joint sensing effectively solves the problem of limited sensing range of a single base station, thereby expanding the sensing range. Furthermore, it can correct errors in angle estimation from a single station, improving target positioning accuracy and precisely measuring target velocity direction that cannot be obtained under a single sensing mode. In this embodiment, unused idle resources of the base station can be allocated to the UE for auxiliary sensing, improving the effect of individual sensing while reducing resource overhead for various sensing modes, thus improving resource utilization efficiency. Furthermore, a new method for UE to report sensing results is defined, effectively saving sensing resources.

[0146] The above text combined Figures 1 to 11 The method embodiments of this application are described in detail below, in conjunction with... Figures 12 to 15 The present application provides a detailed description of the apparatus embodiments. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments; therefore, any parts not described in detail can be found in the foregoing method embodiments.

[0147] Figure 12 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Figure 12 The first node 1200 shown can be any of the calling or called terminals described above. The first node 1200 may include a first transceiver unit 1210.

[0148] In one possible embodiment, the first transceiver unit 1210 is configured to receive a sensing signal from a second node; receive a sensing instruction from the second node; in response to the sensing instruction, perform dual-station sensing based on the sensing signal to obtain a dual-station sensing result; and send the dual-station sensing result to the second node, wherein the dual-station sensing result is used to perform joint sensing to obtain a joint sensing result, wherein the joint sensing result is determined based on the dual-station sensing result and the single-station sensing result of the second node.

[0149] In one possible embodiment, the first transceiver unit 1210 is further configured to: receive joint sensing results from the second node; the joint sensing results are determined by the second node through data fusion based on the dual-station sensing results and the single-station sensing results of the second node.

[0150] In one possible embodiment, the first transceiver unit 1210 is further configured to: receive single-station sensing results from the second node; and perform data fusion based on the dual-station sensing results and the single-station sensing results of the second node to determine joint sensing results.

[0151] In one possible embodiment, the first transceiver unit 1210 is further configured to: send a service authorization request to the second node, the service authorization request including the perception capability information of the first node; and receive a service authorization notification from the second node.

[0152] In one possible embodiment, the sensing capability information includes at least one of the following:

[0153] The antenna type of the first node;

[0154] The number of antennas in the first node;

[0155] The antenna gain of the first node;

[0156] The signal processing capability of the first node includes at least one of signal sampling rate, processable signal bandwidth, frequency range, or intensity range of detectable signal.

[0157] The data processing capability of the first node;

[0158] The memory of the first node;

[0159] The range of signals that the first node can sense;

[0160] The time period during which the first node performs the perception task.

[0161] In one possible embodiment, the sensing instruction includes at least one of the following information:

[0162] Perceive the start time;

[0163] Users perceive and indicate the frequency and time resources used.

[0164] Perceived resolution;

[0165] False alarm probability;

[0166] Sensing signal carrier frequency f c ;

[0167] Sensing signal bandwidth B;

[0168] Sensing signal type;

[0169] Number of subcarriers N;

[0170] The number of signs, M;

[0171] Orthogonal Frequency Division Multiplexing Symbol Duration T OFDM .

[0172] In one possible embodiment, the monostation sensing result of the second node is that the second node estimates the distance, radial velocity and angle of the target relative to the second node based on the echo signal reflected by the target, using the time delay, Doppler frequency and angle of arrival of each path;

[0173] The dual-station sensing result is that the first node estimates the total distance between the second node, the target, and the first node, and the radial velocity of the target relative to the first node using the time delay and Doppler frequency of the received sensing signal.

[0174] In one possible embodiment, the sensing command is carried in Radio Resource Control (RRC) signaling, RRC reconfiguration information, or Downlink Control Information (DCI).

[0175] In one possible embodiment, the method for obtaining joint sensing results by data fusion based on the dual-station sensing results and the single-station sensing results of the second node includes:

[0176] Using the dual-station sensing results and the single-station sensing results of the second node, the initial estimated values ​​of the target parameters are determined;

[0177] Using the geometric relationship between the dual-station sensing results and the initial estimate as constraints, an objective function is established between the dual-station sensing results and the initial estimate. Multiple iterations are performed to minimize the sum of errors, and finally, the optimal estimate of the target parameters is obtained.

[0178] In one possible embodiment, the observed values ​​of the dual-station sensing results and the initial estimate The geometric relationship between them satisfies the following equation:

[0179]

[0180] Where e = [e l1 ,e l2 ,e l3 ,e l4 ,e l5 The symbol ] indicates the error caused by perceived resolution. This is the initial estimate of the target location. The initial estimate of the target velocity is given by the base station coordinate q. B UE coordinates q U , The initial estimate of the x-coordinate of the target position. Let q be the initial estimate of the y-coordinate of the target position. B (1) is the x-coordinate of the base station, q B (2) is the y-coordinate of the base station, q U (1) is the x-coordinate of UE, qU (2) is the y-coordinate of UE.

[0181] As one embodiment, the first transceiver unit 1210 may be, for example, a transceiver 1430. Alternatively, the first node 1200 may also include a processor 1410 and a memory 1420, see details below. Figure 14 As shown.

[0182] Figure 13 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application. Figure 13 The second node 1300 shown may include a second transceiver unit 1310.

[0183] In one possible embodiment, the second transceiver unit 1310 is configured to send a sensing signal to the first node; send a sensing instruction to the first node; the sensing instruction is configured to instruct the first node to perform dual-station sensing based on the sensing signal; receive dual-station sensing results from the first node, the dual-station sensing results being used to perform joint sensing to obtain a joint sensing result, the joint sensing result being determined based on the dual-station sensing results and the single-station sensing results of the second node.

[0184] In one possible embodiment, a second processing unit 1320 is further included; the second processing unit 1320 is used to perform data fusion based on the dual-station sensing result and the single-station sensing result of the second node to determine the joint sensing result; the second transceiver unit 1310 is also used to send the joint sensing result to the first node.

[0185] In one possible embodiment, the second transceiver unit 1310 is further configured to send a single-station sensing result to the first node, wherein the single-station sensing result is used by the first node to perform data fusion based on the dual-station sensing result and the single-station sensing result of the second node to determine a joint sensing result.

[0186] In one possible embodiment, the second transceiver unit 1310 is further configured to receive a service authorization request from the first node, the service authorization request including the first node's perception capability information; and send a service authorization notification to the first node.

[0187] The perception capability information includes at least one of the following:

[0188] The antenna type of the first node;

[0189] The number of antennas in the first node;

[0190] The antenna gain of the first node;

[0191] The signal processing capability of the first node includes at least one of signal sampling rate, processable signal bandwidth, frequency range, or intensity range of detectable signal.

[0192] The data processing capability of the first node;

[0193] The memory of the first node;

[0194] The range of signals that the first node can sense;

[0195] The time period during which the first node performs the perception task.

[0196] In one possible embodiment, the sensing instruction includes at least one of the following information:

[0197] Perceive the start time;

[0198] Users perceive and indicate the frequency and time resources used.

[0199] Perceived resolution;

[0200] False alarm probability;

[0201] Sensing signal carrier frequency f c ;

[0202] Sensing signal bandwidth B;

[0203] Sensing signal type;

[0204] Number of subcarriers N;

[0205] The number of signs, M;

[0206] Orthogonal Frequency Division Multiplexing Symbol Duration T OFDM .

[0207] In one possible embodiment, the monostation sensing result of the second node is that the second node estimates the distance, radial velocity and angle of the target relative to the second node based on the echo signal reflected by the target, using the time delay, Doppler frequency and angle of arrival of each path;

[0208] The dual-station sensing result is that the first node estimates the total distance between the second node, the target, and the first node, and the radial velocity of the target relative to the first node using the time delay and Doppler frequency of the received sensing signal.

[0209] In one possible embodiment, the sensing command is carried in Radio Resource Control (RRC) signaling, RRC reconfiguration information, or Downlink Control Information (DCI).

[0210] In one possible embodiment, the method by which the second processing unit 1320 obtains joint sensing results by fusing data based on the dual-station sensing results and the single-station sensing results of the second node includes:

[0211] Using the dual-station sensing results and the single-station sensing results of the second node, the initial estimated values ​​of the target parameters are determined;

[0212] Using the geometric relationship between the dual-station sensing results and the initial estimate as constraints, an objective function is established between the dual-station sensing results and the initial estimate. Multiple iterations are performed to minimize the sum of errors, and finally, the optimal estimate of the target parameters is obtained.

[0213] In one possible embodiment, the observed values ​​of the dual-station sensing results and the initial estimate The geometric relationship between them satisfies the above equation.

[0214] As one embodiment, the second transceiver unit 1310 may be, for example, a transceiver 1430, and the second processing unit 1320 may be a processor 1410. Additionally, optionally, the second node 1300 may also include a memory 1420, see details below. Figure 14 As shown.

[0215] Figure 14 This is a schematic structural diagram of a communication device according to an embodiment of this application. Figure 14 The dashed lines indicate that the unit or module is optional. The device 1400 can be used to implement the methods described in the above method embodiments. The device 1400 can be a chip, user equipment, or a second node.

[0216] Apparatus 1400 may include one or more processors 1410. The processor 1410 may support apparatus 1400 in implementing the methods described in the preceding method embodiments. The processor 1410 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0217] The apparatus 1400 may further include one or more memories 1420. The memories 1420 store a program that can be executed by the processor 1410, causing the processor 1410 to perform the methods described in the preceding method embodiments. The memories 1420 may be independent of the processor 1410 or integrated within the processor 1410.

[0218] The device 1400 may also include a transceiver 1430. The processor 1410 can communicate with other devices or chips via the transceiver 1430. For example, the processor 1410 can send and receive data with other devices or chips via the transceiver 1430.

[0219] Figure 15 This is a schematic diagram of the hardware module of the communication device provided in an embodiment of this application. Specifically, Figure 15 A block diagram is shown of a first communication device 1550 and a second communication device 1510 communicating with each other in an access network.

[0220] The first communication device 1550 includes a controller / processor 1559, a memory 1560, a data source 1567, a transmitting processor 1568, a receiving processor 1556, a multi-antenna transmitting processor 1557, a multi-antenna receiving processor 1558, a transmitter / receiver 1554, and an antenna 1552.

[0221] The second communication device 1510 includes a controller / processor 1575, a memory 1576, a data source 1577, a receiver processor 1570, a transmitter processor 1516, a multi-antenna receiver processor 1572, a multi-antenna transmitter processor 1571, a transmitter / receiver 1518, and an antenna 1520.

[0222] In the transmission from the second communication device 1510 to the first communication device 1550, at the second communication device 1510, upper-layer data packets from the core network or from the data source 1577 are provided to the controller / processor 1575. The core network and data source 1577 represent all protocol layers above the L2 layer. The controller / processor 1575 implements the functionality of the L2 layer. In the transmission from the second communication device 1510 to the first communication device 1550, the controller / processor 1575 provides header compression, encryption, packet segmentation and reordering, multiplexing between logical and transport channels, and radio resource allocation for the first communication device 1550 based on various priority metrics. The controller / processor 1575 is also responsible for retransmitting lost packets and signaling to the first communication device 1550. The transmit processor 1516 and the multi-antenna transmit processor 1571 implement various signal processing functions for the L1 layer (i.e., the physical layer). Transmit processor 1516 performs encoding and interleaving to facilitate forward error correction at the second communication device 1510, and mapping of signal clusters based on various modulation schemes (e.g., binary phase shift keying, quadrature phase shift keying, M-phase shift keying, M-quadrature amplitude modulation). Multi-antenna transmit processor 1571 performs digital spatial precoding on the encoded and modulated symbols, including codebook-based precoding and non-codebook-based precoding, and beamforming processing, generating one or more spatial streams. Transmit processor 1516 then maps each spatial stream to subcarriers, multiplexes it with a reference signal (e.g., a pilot) in the time and / or frequency domains, and subsequently uses inverse fast Fourier transform to generate a physical channel carrying the time-domain multicarrier symbol stream. Multi-antenna transmit processor 1571 then performs transmit analog precoding / beamforming operations on the time-domain multicarrier symbol stream. Each transmitter 1518 converts the baseband multicarrier symbol stream provided by the multi-antenna transmit processor 1571 into an radio frequency stream, which is then provided to different antennas 1520.

[0223] In the transmission from the second communication device 1510 to the first communication device 1550, at the first communication device 1550, each receiver 1554 receives a signal through its corresponding antenna 1552. Each receiver 1554 recovers the information modulated onto the radio frequency carrier and converts the radio frequency stream into a baseband multicarrier symbol stream, which is then provided to the receiver processor 1556. The receiver processor 1556 and the multi-antenna receiver processor 1558 implement various signal processing functions of Layer 1. The multi-antenna receiver processor 1558 performs receive analog precoding / beamforming operations on the baseband multicarrier symbol stream from the receiver 1554. The receiver processor 1556 uses a fast Fourier transform to convert the baseband multicarrier symbol stream after the receive analog precoding / beamforming operations from the time domain to the frequency domain. In the frequency domain, the physical layer data signal and the reference signal are demultiplexed by the receiver processor 1556, where the reference signal is used for channel estimation, and the data signal is recovered in the multi-antenna receiver processor 1558 after multi-antenna detection to recover any spatial stream destined for the first communication device 1550. Symbols on each spatial stream are demodulated and recovered in the receive processor 1556, generating soft decisions. The receive processor 1556 then decodes and deinterleaves the soft decisions to recover the upper-layer data and control signals transmitted by the second communication device 1510 over the physical channel. The upper-layer data and control signals are then provided to the controller / processor 1559. The controller / processor 1559 implements the functions of Layer 2. The controller / processor 1559 may be associated with a memory 1560 storing program code and data. The memory 1560 may be referred to as computer-readable media. In the transmission from the second communication device 1510 to the first communication device 1550, the controller / processor 1559 provides multiplexing, packet reassembly, decryption, header decompression, and control signal processing between the transmission and logical channels to recover the upper-layer data packets from the second communication device 1510. The upper-layer data packets are then provided to all protocol layers above Layer 2. Various control signals may also be provided to Layer 3 for Layer 3 processing.

[0224] In the transmission from the first communication device 1550 to the second communication device 1510, at the first communication device 1550, upper-layer data packets are provided to the controller / processor 1559 using a data source 1567. The data source 1567 represents all protocol layers above the L2 layer. Similar to the transmission functions at the second communication device 1510 described in the transmission from the second communication device 1510 to the first communication device 1550, the controller / processor 1559 implements header compression, encryption, packet segmentation and reordering, and multiplexing between logic and transport channels, implementing L2 layer functions for the user plane and control plane. The controller / processor 1559 is also responsible for retransmitting lost packets and signaling to the second communication device 1510. Transmit processor 1568 performs modulation mapping and channel coding processing, while multi-antenna transmit processor 1557 performs digital multi-antenna spatial precoding, including codebook-based and non-codebook-based precoding, and beamforming processing. Subsequently, transmit processor 1568 modulates the generated spatial stream into a multi-carrier / single-carrier symbol stream. After analog precoding / beamforming operations in multi-antenna transmit processor 1557, the stream is provided to different antennas 1552 via transmitter 1554. Each transmitter 1554 first converts the baseband symbol stream provided by multi-antenna transmit processor 1557 into a radio frequency symbol stream before providing it to antenna 1552.

[0225] In the transmission from the first communication device 1550 to the second communication device 1510, the function at the second communication device 1510 is similar to the receiving function at the first communication device 1550 described in the transmission from the second communication device 1510 to the first communication device 1550. Each receiver 1518 receives radio frequency signals through its corresponding antenna 1520, converts the received radio frequency signals into baseband signals, and provides the baseband signals to the multi-antenna receiving processor 1572 and the receiving processor 1570. The receiving processor 1570 and the multi-antenna receiving processor 1572 jointly implement the L1 layer function. The controller / processor 1575 implements the L2 layer function. The controller / processor 1575 may be associated with a memory 1576 storing program code and data. The memory 1576 may be referred to as computer-readable media. In the transmission from the first communication device 1550 to the second communication device 1510, the controller / processor 1575 provides multiplexing, packet reassembly, decryption, header decompression, and control signal processing between the transmission and logical channels to recover the upper-layer data packets from the first communication device 1550. The upper-layer data packets from the controller / processor 1575 can be provided to the core network or all protocol layers above Layer 2, and various control signals can also be provided to the core network or Layer 3 for Layer 3 processing.

[0226] As one embodiment, the first communication device 1550 includes: at least one processor and at least one memory, the at least one memory including computer program code; the at least one memory and the computer program code are configured to be used with the at least one processor, and the first communication device 1550 at least: receives a sensing signal from a second node; receives a sensing instruction from the second node; in response to the sensing instruction, performs dual-station sensing based on the sensing signal to obtain a dual-station sensing result; and sends the dual-station sensing result to the second node, the dual-station sensing result being used for joint sensing to obtain a joint sensing result, the joint sensing result being determined based on the dual-station sensing result and the single-station sensing result of the second node.

[0227] As an example, the first communication device 1550 corresponds to the terminal in this application.

[0228] As an example, the second communication device 1510 corresponds to the network-side network element in this application.

[0229] As an example, the first communication device 1550 is an NCR.

[0230] As an example, the first communication device 1550 is a wireless repeater.

[0231] As an example, the first communication device 1550 is a relay.

[0232] As an example, the first communication device 1550 is a user equipment that can act as a relay node.

[0233] As an example, the first communication device 1550 is a V2X-enabled user equipment that can act as a relay node.

[0234] As an example, the first communication device 1550 is a D2D-enabled user equipment that can act as a relay node.

[0235] As one embodiment, the second communication device 1510 is a base station.

[0236] As one embodiment, the antenna 1552, the receiver 1554, the multi-antenna receiving processor 1558, the receiving processor 1556, and the controller / processor 1559 are used to receive sensing signals, sensing instructions, or sensing results in this application.

[0237] As one embodiment, the antenna 1520, the transmitter 1518, the multi-antenna transmitter processor 1571, the transmitter processor 1516, and the controller / processor 1575 are used to process the sensing results.

[0238] This application also provides a computer-readable storage medium for storing a program. This computer-readable storage medium can be applied to a terminal or second node provided in this application embodiment, and the program causes the computer to execute the methods performed by the terminal or second node in various embodiments of this application.

[0239] This application also provides a computer program product. The computer program product includes a program. The computer program product can be applied to a terminal or second node provided in this application embodiment, and the program causes the computer to execute the methods performed by the terminal or second node in various embodiments of this application.

[0240] This application also provides a computer program. This computer program can be applied to a terminal or second node provided in this application embodiment, and the computer program causes the computer to execute the methods performed by the terminal or second node in various embodiments of this application.

[0241] It should be understood that the terms "system" and "network" in this application can be used interchangeably. Furthermore, the terminology used in this application is only for explaining specific embodiments of the application and is not intended to limit the application. The terms "first," "second," "third," and "fourth," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. In addition, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion.

[0242] In the embodiments of this application, the term "instruction" can be a direct instruction, an indirect instruction, or an indication of a relationship. For example, A instructing B can mean that A directly instructs B, such as B being able to obtain information through A; it can also mean that A indirectly instructs B, such as A instructing C, so B can obtain information through C; or it can mean that there is a relationship between A and B.

[0243] In the embodiments of this application, "B corresponding to A" means that B is associated with A, and B can be determined based on A. However, it should also be understood that determining B based on A does not mean that B is determined solely based on A; B can also be determined based on A and / or other information.

[0244] In the embodiments of this application, the term "correspondence" can indicate a direct or indirect correspondence between two things, or an association between two things, or a relationship such as instruction and being instructed, configuration and being configured.

[0245] In this application embodiment, "predefined" or "preconfigured" can be implemented by pre-storing corresponding codes, tables, or other means that can be used to indicate relevant information in the device (e.g., including user equipment and second nodes). This application does not limit the specific implementation method. For example, predefined can refer to what is defined in the protocol.

[0246] In this application embodiment, the "protocol" may refer to a standard protocol in the field of communication, such as the LTE protocol, the NR protocol, and related protocols applied to future communication systems. This application does not limit this.

[0247] In the embodiments of this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, or B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0248] In the various embodiments of this application, the order of the above-mentioned processes does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0249] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0250] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0251] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0252] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can read or a data storage device such as a server or data center that integrates one or more available media. The available media may be magnetic media (e.g., floppy disks, hard disks, magnetic tapes), optical media (e.g., digital video discs, DVDs) or semiconductor media (e.g., solid-state disks, SSDs), etc.

[0253] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A method for a first node in wireless communication, characterized in that, include: Receive sensing signals from the second node; Receive sensing instructions from the second node; In response to the sensing command, dual-station sensing is performed based on the sensing signal to obtain dual-station sensing results; The dual-station sensing results are used to perform joint sensing to obtain joint sensing results. The joint sensing results are determined based on the dual-station sensing results and the single-station sensing results. The single-station sensing results come from either the first node or the second node.

2. The method according to claim 1, characterized in that, Also includes: Send the dual-station sensing results to the second node; Receive the joint sensing results from the second node; The joint sensing result is determined by data fusion based on the dual-station sensing result and the single-station sensing result.

3. The method according to claim 1, characterized in that, Also includes: Receive single-station sensing results from the second node; The joint sensing result is determined by fusing data based on the dual-station sensing results and the single-station sensing results of the second node.

4. The method according to any one of claims 1 to 3, characterized in that, Send a service authorization request to the second node, the service authorization request including the perception capability information of the first node; Receive service authorization notification from the second node.

5. The method according to any one of claims 1 to 3, characterized in that, The perception capability information includes at least one of the following: The antenna type of the first node; The number of antennas in the first node; The antenna gain of the first node; The signal processing capability of the first node includes at least one of signal sampling rate, processable signal bandwidth, frequency range, or intensity range of detectable signal. The data processing capability of the first node; The memory of the first node; The range of signals that the first node can sense; The time period during which the first node performs the perception task.

6. The method according to any one of claims 1 to 3, characterized in that, The sensing instruction includes at least one of the following information: Perceive the start time; Users perceive and indicate the frequency and time resources used. Perceived resolution; False alarm probability; Sensing signal carrier frequency f c ; The perceived signal bandwidth is B; Sensing signal type; Number of subcarriers N; The number of signs, M; Orthogonal Frequency Division Multiplexing Symbol Duration T OFDM .

7. The method according to any one of claims 1 to 3, characterized in that, The dual-station sensing result is that the first node estimates the total distance between the second node, the target, and the first node, and the radial velocity of the target relative to the first node using the time delay and Doppler frequency of the received sensing signal.

8. The method according to any one of claims 1 to 3, characterized in that, The sensing instructions are carried in Radio Resource Control (RRC) signaling, RRC reconfiguration information, or Downlink Control Information (DCI).

9. The method according to any one of claims 1 to 3, characterized in that, The method for obtaining joint sensing results by data fusion based on the dual-station sensing results and the single-station sensing results of the second node includes: Using the dual-station sensing results and the single-station sensing results of the second node, the initial estimated values ​​of the target parameters are determined; Using the geometric relationship between the dual-station sensing results and the initial estimate as a constraint, an objective function is established between the dual-station sensing results and the initial estimate. Multiple iterations are performed to minimize the sum of errors, and finally, the optimal estimate of the target parameters is obtained.

10. The method according to claim 9, characterized in that, The observed values ​​of the dual-station sensing results and the initial estimate The geometric relationship between them satisfies the following equation: Where e = [e l1 ,e l2 ,e l3 ,e l4 ,e l5 The symbol ] indicates the error caused by perceived resolution. This is the initial estimate of the target location. The initial estimate of the target velocity is given by base station coordinate q. B UE coordinates q U , The initial estimate of the x-coordinate of the target position. Let q be the initial estimate of the y-coordinate of the target position. B (1) is the x-coordinate of the base station, q B (2) is the y-coordinate of the base station, q U (1) is the x-coordinate of UE, q U (2) is the y-coordinate of UE.

11. A method for a second node in wireless communication, characterized in that, include: Send a sensing signal to the first node; Send a sensing command to the first node; the sensing command is used to instruct the first node to perform dual-station sensing based on the sensing signal. The system receives dual-station sensing results from the first node, which are used for joint sensing to obtain a joint sensing result. The joint sensing result is determined based on the dual-station sensing results and the single-station sensing results from the second node.

12. The method according to claim 11, characterized in that, Also includes: The joint sensing result is determined by data fusion based on the dual-station sensing result and the single-station sensing result of the second node; Send the joint sensing results to the first node.

13. The method according to claim 11, characterized in that, Also includes: A single-station perception result is sent to the first node, and the single-station perception result is used by the first node to perform data fusion based on the dual-station perception result and the single-station perception result of the second node to determine the joint perception result.

14. The method according to any one of claims 11 to 13, characterized in that, Receive a service authorization request from a first node, the service authorization request including the first node's perception capability information; Send a service authorization notification to the first node.

15. The method according to any one of claims 11 to 13, characterized in that, The perception capability information includes at least one of the following: The antenna type of the first node; The number of antennas in the first node; The antenna gain of the first node; The signal processing capability of the first node includes at least one of signal sampling rate, processable signal bandwidth, frequency range, or intensity range of detectable signal. The data processing capability of the first node; The memory of the first node; The range of signals that the first node can sense; The time period during which the first node performs the perception task.

16. The method according to any one of claims 11 to 13, characterized in that, The sensing instruction includes at least one of the following information: Perceive the start time; Users perceive and indicate the frequency and time resources used. Perceived resolution; False alarm probability; Sensing signal carrier frequency f c ; The perceived signal bandwidth is B; Sensing signal type; Number of subcarriers N; The number of signs, M; Orthogonal Frequency Division Multiplexing Symbol Duration T OFDM .

17. The method according to any one of claims 11 to 13, characterized in that, The single-station sensing result of the second node is that the second node estimates the distance, radial velocity and angle of the target relative to the second node based on the echo signal reflected by the target, using the time delay, Doppler frequency and angle of arrival of each path; The dual-station sensing result is that the first node estimates the total distance between the second node, the target, and the first node, and the radial velocity of the target relative to the first node using the time delay and Doppler frequency of the received sensing signal.

18. The method according to any one of claims 11 to 13, characterized in that, The sensing instructions are carried in Radio Resource Control (RRC) signaling, RRC reconfiguration information, or Downlink Control Information (DCI).

19. The method according to any one of claims 11 to 13, characterized in that, The method for obtaining joint sensing results by data fusion based on the dual-station sensing results and the single-station sensing results of the second node includes: Using the dual-station sensing results and the single-station sensing results of the second node, the initial estimated values ​​of the target parameters are determined; Using the geometric relationship between the dual-station sensing results and the initial estimate as a constraint, an objective function is established between the dual-station sensing results and the initial estimate. Multiple iterations are performed to minimize the sum of errors, and finally, the optimal estimate of the target parameters is obtained.

20. The method according to claim 19, characterized in that, The observed values ​​of the dual-station sensing results and the initial estimate The geometric relationship between them satisfies the following equation: Where e = [e l1 ,e l2 ,e l3 ,e l4 ,e l5 The symbol ] indicates the error caused by perceived resolution. This is the initial estimate of the target location. The initial estimate of the target velocity is given by base station coordinate q. B UE coordinates q U , The initial estimate of the x-coordinate of the target position. Let q be the initial estimate of the y-coordinate of the target position. B (1) is the x-coordinate of the base station, q B (2) is the y-coordinate of the base station, q U (1) is the x-coordinate of UE, q U (2) is the y-coordinate of UE.

21. A communication device, characterized in that, It includes a unit for performing the method as described in any one of claims 1-20, or a module for performing the method as described in any one of claims 21-40.

22. A first node used for wireless communication, characterized in that, The device includes a transceiver, a memory, and a processor. The memory is used to store a program, and the processor is used to invoke the program in the memory and control the transceiver to receive or send signals so that the first node performs the method as described in any one of claims 1-10.

23. A second node used for wireless communication, characterized in that, It includes a transceiver, a memory, and a processor, wherein the memory is used to store a program, the processor is used to invoke the program in the memory, and to control the transceiver to receive or send signals so that the second node performs the method as described in any one of claims 11-20.

24. A communication device, characterized in that, Includes at least one processor; and One or more non-transitory computer-readable storage media, said one or more non-transitory computer-readable storage media coupled to said at least one processor and storing programming instructions executable by said at least one processor, said programming instructions, when executed, cause said at least one processor to perform the method of any one of claims 1-10, or the method of any one of claims 11-20.

25. A chip, characterized in that, Includes a processor for calling a program from memory, causing a device on which the chip is mounted to perform the method as claimed in any one of claims 1-10, or the method as claimed in any one of claims 11-20.

26. A computer-readable storage medium, characterized in that, It contains a program that causes a computer to perform the method as described in any one of claims 1-10, or the method as described in any one of claims 11-20.

27. A computer program product, characterized in that, Includes a program that causes a computer to perform the method as claimed in any one of claims 1-10, or the method as claimed in any one of claims 11-20.

28. A computer program, characterized in that, The computer program causes the computer to perform the method as described in any one of claims 1-10, or the method as described in any one of claims 11-20.

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