Laser communication sensing integration method based on non-orthogonal multiple access

Abstract

The invention provides a laser communication sensing integration method based on non-orthogonal multiple access, which comprises the following steps: acquiring a multi-user communication data stream to perform serial-to-parallel conversion, and performing descending sort according to channel gains; calculating a power distribution coefficient corresponding to each user by adopting a gradient descent method according to a sorting result, and performing power distribution; acquiring a radar detection signal, superposing the multi-user communication data stream and the radar detection signal according to a power distribution coefficient, and modulating and loading the superposed signal to a laser carrier to generate a composite optical signal; a recursive least square algorithm is adopted to calculate a beam weight vector according to the target direction so as to generate a communication sensing integrated waveform, and the composite optical signal is sent according to the communication sensing integrated waveform; receiving the echo signal, and separating the echo signal to obtain a radar echo signal; performing parameter estimation on the radar echo signal to obtain target point cloud data; therefore, collaborative optimization of high-speed communication and high-precision perception is realized.

Description

Technical Field

[0001] This invention relates to the field of optical communication technology, and in particular to a laser communication and sensing integration method based on non-orthogonal multiple access, as well as a computer-readable storage medium and a computer device, which are suitable for real-time data transmission and target tracking in UAV swarm collaboration, complex terrain detection and high-speed moving scenarios. Background Technology

[0002] In related technologies, laser communication and radar (LiDAR) sensing systems operate independently, leading to hardware redundancy and wasted spectrum resources. For example, (1) spectrum-hardware dual redundancy: existing systems independently design communication and sensing functions, resulting in wasted optical signal resources and spectrum utilization of less than 50%. For example, traditional solutions use time-division multiplexing mechanisms, requiring communication and sensing to switch working modes (communication 1550nm + sensing 905nm), resulting in limited real-time performance and reduced system efficiency. (2) Limited multi-user service capability: current visible light communication mostly uses wavelength division multiplexing (WDM) or space division multiplexing (SDM), and user capacity is limited by the number of LED light sources and beam coverage. Actual measurements show that the strong user rate of traditional NOMA is 35% lower than the theoretical value. Although non-orthogonal multiple access (NOMA) technology can improve communication capacity, it has not yet been effectively coordinated with sensing functions. (3) Joint performance optimization dilemma: communication systems focus on transmission rate and bit error rate, while sensing systems focus on positioning accuracy. There is a conflict between the two in beamforming design. Existing solutions are difficult to achieve centimeter-level positioning accuracy while ensuring Gbps-level communication rates. (4) Insufficient adaptability to dynamic environments: Laser signals are susceptible to atmospheric turbulence and moving obstructions, resulting in Doppler frequency shift errors of up to ±15cm. Traditional beam control algorithms struggle to achieve a dynamic balance between communication quality and sensing accuracy. Therefore, there is an urgent need for an integrated laser communication and sensing solution that can simultaneously improve multi-user capacity, sensing resolution, and environmental adaptability. Summary of the Invention

[0003] The present invention aims to at least partially solve one of the technical problems in the aforementioned technologies. To this end, one objective of the present invention is to propose an integrated laser communication and sensing method based on non-orthogonal multiple access, which achieves synergistic optimization of high-speed communication and high-precision sensing through power domain multiplexing of non-orthogonal multiple access.

[0004] A second objective of this invention is to provide a computer-readable storage medium.

[0005] The third objective of this invention is to provide a computer device.

[0006] To achieve the above objectives, a first aspect of the present invention proposes a laser communication sensing integration method based on non-orthogonal multiple access. This method includes the following steps: acquiring a multi-user communication data stream; performing serial-to-parallel conversion on the multi-user communication data stream and arranging it in descending order according to channel gain; calculating the power allocation coefficient corresponding to each user using the gradient descent method based on the sorting result, and performing power allocation; acquiring a radar detection signal, superimposing the multi-user communication data stream and the radar detection signal according to the power allocation coefficient to obtain a superimposed signal; and modulating and loading the superimposed signal onto the laser communication sensor using orthogonal carrier modulation. An optical carrier is used to generate a composite optical signal; a recursive least squares algorithm is used to calculate the beam weight vector according to the target direction to generate an integrated communication and sensing waveform; the composite optical signal is transmitted according to the integrated communication and sensing waveform; the echo signal is received, and continuous interference cancellation is used for layer-by-layer stripping for communication decoding; and cross-correlation of pilot sequences is used to achieve blind separation of communication and sensing signals to obtain radar echo signals; the radar echo signals are parameter estimated to obtain target point cloud data; thus, through non-orthogonal multiple access power domain multiplexing, high-speed communication and high-precision sensing are synergistically optimized.

[0007] In addition, the laser communication sensing integration method based on non-orthogonal multiple access proposed in the above embodiments of the present invention may also have the following additional technical features:

[0008] Optionally, it also includes: performing dynamic resource allocation based on the state vector of the echo signal; increasing the communication power weight if the communication rate in the state vector drops below a first threshold; and initiating beam reconfiguration if the positioning error distance in the state vector is greater than a second threshold and the duration exceeds a third threshold.

[0009] Alternatively, the power of each user can be obtained according to the following formula:

[0010]

[0011] Where α is the power allocation coefficient, optimized using the gradient descent method, P k For the power of the k-th user, P total For total power, It is the cumulative product of the unallocated power of the first k-1 users.

[0012] Optionally, the beam weight vector is calculated according to the following formula:

[0013] w=(R+δI) -1 ·r

[0014] Where w is the beamforming weight vector, R is the autocorrelation matrix of the input signal, δ is the regularization factor, I is the identity matrix, and r is the cross-correlation vector between the desired signal and the received signal, which is updated through a sliding window.

[0015] Optionally, the received echo signal is stripped layer by layer using continuous interference cancellation for communication decoding, including: using an APD array to perform photoelectric conversion on the received echo signal to obtain a sampled signal; and decoding the sampled signal according to the channel gain from strong to weak using continuous interference cancellation to obtain a residual signal, wherein the residual signal includes radar echo signal and noise.

[0016] Optionally, cross-correlation of pilot sequences is used to achieve blind separation of communication-sensing signals to obtain radar echo signals, including: cross-correlation of the residual signal with the radar detection signal in the superimposed signal to obtain a clean radar echo signal.

[0017] Optionally, parameter estimation is performed on the radar echo signal to obtain target point cloud data, including: using dual-frequency CW ranging to obtain distance, using Doppler frequency shift estimation to obtain velocity, and using Kalman filtering to eliminate turbulence disturbances, and inputting the radar echo data after eliminating turbulence disturbances into density-based spatial clustering to obtain target point cloud data.

[0018] To achieve the above objectives, a second aspect of the present invention provides a computer-readable storage medium storing a laser communication sensing integration program based on non-orthogonal multiple access, which, when executed by a processor, implements the laser communication sensing integration method based on non-orthogonal multiple access as described above.

[0019] To achieve the above objectives, a third aspect of the present invention provides a computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the laser communication sensing integration method based on non-orthogonal multiple access as described above. Attached Figure Description

[0020] Figure 1 This is a flowchart illustrating the laser communication sensing integration method based on non-orthogonal multiple access according to an embodiment of the present invention. Detailed Implementation

[0021] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0022] To better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present invention are shown in the drawings, it should be understood that the present invention can be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present invention and to fully convey the scope of the invention to those skilled in the art.

[0023] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0024] refer to Figure 1 As shown, the laser communication sensing integration method based on non-orthogonal multiple access in this embodiment of the invention includes the following steps:

[0025] S101, acquire multi-user communication data stream.

[0026] It should be noted that data to be transmitted by, for example, a sensor terminal can be obtained via Ethernet, preprocessed to obtain K communication data streams, each corresponding to one user.

[0027] S102 performs serial-to-parallel conversion on the multi-user communication data stream and sorts it in descending order according to channel gain.

[0028] It should be noted that |h1| is obtained by sorting in descending order by channel gain. 2 ≥|h2| 2 ≥…≥|h k | 2 , where h k This represents the channel gain for the k-th user.

[0029] S103. Based on the sorting results, the gradient descent method is used to calculate the power allocation coefficient for each user and then the power is allocated.

[0030] As an example, the power of each user is obtained according to the following formula:

[0031]

[0032] Where α is the power allocation coefficient, optimized using the gradient descent method, P k For the power of the k-th user, P total For total power, It is the cumulative product of the unallocated power of the first k-1 users.

[0033] The objective function is:

[0034]

[0035] in, SINR is the total communication capacity. k Let λ be the signal-to-interference-plus-noise ratio for the k-th user, λ be the weighting factor for communication and sensing, and det(F) be the determinant of the Fisher information matrix (representing sensing accuracy; the larger det(F) is, the more accurate the positioning).

[0036] S104: Acquire radar detection signal, and superimpose multi-user communication data stream and radar detection signal according to power allocation coefficient to obtain superimposed signal.

[0037] It should be noted that the radar detection signal is a linear frequency modulated pulse (chirp) signal, which is based on a pre-stored reference signal.

[0038] S105 uses orthogonal carrier modulation to modulate and load the superimposed signal onto the laser carrier to generate a composite optical signal.

[0039] In other words, the chirp signal and the power of k-channel user data are superimposed by the NOMA modulation unit and then modulated onto a 1550nm laser for emission.

[0040] S106 uses a recursive least squares algorithm to calculate the beam weight vector based on the target direction to generate an integrated communication and sensing waveform, and then transmits the composite optical signal based on the integrated communication and sensing waveform.

[0041] As an example, the beam weight vector is calculated according to the following formula:

[0042] w=(R+δI) -1 ·r

[0043] Where w is the beamforming weight vector, R is the autocorrelation matrix of the input signal, δ is the regularization factor, I is the identity matrix, and r is the cross-correlation vector between the desired signal and the received signal, which is updated through a sliding window.

[0044] It should be noted that the beam pointing control is as follows: for the communication beam, the main lobe width is ≤2° and the sidelobe suppression is >20dB; for the sensing beam, a cross-scanning mode is used with a scanning speed of 20 points / second.

[0045] S107 receives the echo signal, performs layer-by-layer stripping using continuous interference cancellation for communication decoding, and uses the cross-correlation of pilot sequences to achieve blind separation of communication-sensing signals to obtain the radar echo signal.

[0046] In other words, when processing sensing signals together, the echo signals are first separated. By utilizing the cross-correlation of pilot sequences, blind separation of communication and sensing signals is achieved, with a separation degree SIR ≥ 15dB.

[0047] As one embodiment, receiving the echo signal and performing layer-by-layer stripping using continuous interference cancellation for communication decoding includes: using an APD array to perform photoelectric conversion on the received echo signal to obtain a sampled signal; and decoding the sampled signal according to the channel gain from strong to weak using continuous interference cancellation to obtain a residual signal, wherein the residual signal includes radar echo signal and noise.

[0048] As an example, the cross-correlation of pilot sequences is used to achieve blind separation of communication-sensing signals to obtain radar echo signals, including: cross-correlation of residual signals with radar detection signals in superimposed signals to obtain clean radar echo signals.

[0049] In other words, after SIC strips out all k user signals, what remains is the residual signal (theoretically, only radar echo + noise). This residual signal is used as the input for pilot cross-correlation. By cross-correling the residual signal with the locally stored radar pilot sequence, the echoes can be synchronized and aligned, ultimately extracting a clean radar echo signal for subsequent range / velocity estimation and point cloud generation.

[0050] S108 performs parameter estimation on the radar echo signal to obtain target point cloud data.

[0051] As an example, pulse compression (matched filter) and FFT (Fast Fourier Transform) analysis are used to estimate the parameters of the radar echo signal to obtain target point cloud data. This includes: using dual-frequency CW ranging to obtain the distance, using Doppler frequency shift estimation to obtain the velocity, and using Kalman filtering to eliminate turbulence disturbances. The radar echo data after eliminating turbulence disturbances is then input into density-based spatial clustering to obtain target point cloud data.

[0052] Specifically, parameter estimation: distance is based on dual-frequency CW ranging, with the following accuracy formula:

[0053]

[0054] Where c is the speed of light, Δf = 2GHz (dual-frequency carrier frequency difference), SNR = 20dB (signal-to-noise ratio), and theoretical accuracy: Δd = ±1.5cm.

[0055] Velocity is estimated using Doppler frequency shift:

[0056]

[0057] Where v is the target velocity, θ is the angle between the target's motion direction and the beam, λ is the laser wavelength, and Δf turbulence This is a frequency shift disturbance caused by atmospheric turbulence.

[0058] Turbulent disturbances Δf can be eliminated using Kalman filtering (an optimal estimation algorithm based on a state-space model). turbulence .

[0059] Finally, point cloud generation is performed, and the echo data is input into the improved DBSCAN (density-based spatial clustering) clustering algorithm to achieve sub-pixel level target edge extraction.

[0060] In addition, the laser communication sensing integration method based on non-orthogonal multiple access also includes dynamic resource allocation based on the state vector of the echo signal. If the communication rate in the state vector drops below a first threshold, the communication power weight is increased. If the positioning error distance in the state vector is greater than a second threshold and the duration exceeds a third threshold, beam reconfiguration is initiated.

[0061] Specifically, dynamic resource allocation establishes a communication-awareness utility function:

[0062] U = β·C + (1-β)·P

[0063] in, R k R is the communication rate of the k-th user. max d represents the maximum speed supported by the system, and RMSE represents the root mean square error of the sensing and localization. threshold =5cm is the perception error tolerance threshold.

[0064] When C drops by more than 15%, the communication power weight is increased. When the positioning error RMSE > 5cm for 200ms, beam reconfiguration is initiated.

[0065] In summary, the laser communication and sensing integration method based on non-orthogonal multiple access according to embodiments of the present invention employs a sparse laser array to construct a virtual aperture, synchronously superimposing the power domain NOMA encoding of communication users and the phase encoding of radar targets in the optical domain; achieving polarization orthogonal separation of communication signals and radar signals through joint precoding, enabling a single-wavelength laser to simultaneously carry multi-user communication data streams and multi-target detection signals; designing a dual-mode joint encoding scheme for communication and sensing, establishing a multi-objective optimization function for rate, delay, and positioning accuracy; and using a deep reinforcement learning algorithm to synchronously optimize at a 5ms time granularity: a) clustering and power allocation of communication users, b) duty cycle of radar detection waveform, and c) beam scanning path planning; thereby, through NOMA power domain multiplexing, joint waveform design, and dynamic beam control, achieving synergistic optimization of high-speed communication and high-precision sensing.

[0066] In addition, the hardware layer of the non-orthogonal multiple access-based laser communication and sensing integrated system includes: a multi-wavelength laser array: composed of four groups of tunable distributed feedback lasers (DFBs) (output power 0-1W), covering the 1530-1565nm C-band, each wavelength can be independently modulated; an adaptive optics module: containing a 256-element MEMS (micromirror array), with a response time <5ms, ensuring 20 beam updates within a 100ms control cycle, and a beam deflection accuracy of ±0.1mrad; and a dual-function transceiver: integrating an APD photodetector (sensitivity -28dBm) and a frequency modulated continuous wave lidar (FMCWLiDAR) module (bandwidth 2GHz).

[0067] The signal processing layer includes: a NOMA encoder supporting dynamic power allocation with an adjustable power ratio α ∈ [0.2, 0.8], employing a SiC receiver; and a joint waveform generator generating integrated communication-sensing waveforms, where the communication frames use PAM-4 modulation at a symbol rate of 10 GBaud, and the sensing pilots are inserted with a Zadoff-Chu (a complex exponential sequence with ideal autocorrelation characteristics) duty cycle of 5% and peak-to-average power ratio control of <3 dB.

[0068] The intelligent control layer includes: an environmental perception module that collects channel state information (CSI) in real time, including atmospheric turbulence intensity Cn. 2 The speed of the obstruction (0-30m / s) and the variance of the received signal strength fluctuation. Dynamic optimization engine: Based on the Lyapunov optimization framework (a stochastic network optimization theory), it performs a joint parameter update every 100ms.

[0069] In addition, the present invention also proposes a computer-readable storage medium storing a laser communication sensing integration program based on non-orthogonal multiple access, which, when executed by a processor, implements the laser communication sensing integration method based on non-orthogonal multiple access as described above.

[0070] In addition, this invention also proposes a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the laser communication and sensing integration method based on non-orthogonal multiple access as described above.

[0071] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0072] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0073] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0074] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0075] It should be noted that any reference signs placed between parentheses in the claims should not be construed as limiting the claims. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The invention can be implemented by means of hardware comprising several different components and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names.

[0076] Although preferred embodiments of the invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including both the preferred embodiments and all changes and modifications falling within the scope of the invention.

[0077] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

[0078] In the description of this invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0079] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0080] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0081] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0082] Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those skilled in the art can make changes, modifications, substitutions and variations to the above embodiments within the scope of the present invention.

Claims

1. A method for integrated sensing and communication based on non-orthogonal multiple access laser communication, characterized in that, The method comprises the following steps: obtaining a multi-user communication data stream; performing serial-parallel conversion on the multi-user communication data stream and arranging it in descending order according to channel gain; calculating the power allocation coefficient of each user according to the sorting result using the gradient descent method, and performing power allocation; obtaining a radar detection signal, superimposing the multi-user communication data stream and the radar detection signal according to the power allocation coefficient to obtain a superimposed signal; modulating and loading the superimposed signal to a laser carrier using orthogonal carrier modulation to generate a composite optical signal; calculating the beam weight vector according to the target direction using the recursive least squares algorithm to generate a communication-sensing integrated waveform, and transmitting the composite optical signal according to the communication-sensing integrated waveform; receiving a return signal, performing layer-by-layer stripping using successive interference cancellation for communication decoding, and realizing communication-sensing signal blind separation using the cross-correlation of the pilot sequence to obtain a radar return signal; performing parameter estimation on the radar return signal to obtain target point cloud data. 2.The non-orthogonal multiple access based laser communication and perception integrated method of claim 1, wherein, Further comprising: dynamically allocating resources according to the state vector of the return signal, increasing the communication power weight when the communication rate in the state vector drops by more than a first threshold, and starting beam reconfiguration when the positioning error distance in the state vector is greater than a second threshold and the duration exceeds a third threshold. 3.The non-orthogonal multiple access based laser communication and perception integrated method of claim 1, wherein, The power of each user is obtained according to the following formula: wherein a is a power allocation factor, optimized by gradient descent method, P k is the power for the kth user, P total is the total power, is the power cumulative product for the first k-1 users not allocated. 4.The non-orthogonal multiple access based laser communication and perception integrated method of claim 1, wherein, The beam weight vector is calculated according to the following formula: w = (R + δI) -1 • r where w is the beam forming weight vector, R is the autocorrelation matrix of the input signal, δ is the regularization factor, I is the unit matrix, and r is the cross-correlation vector of the expected signal and the received signal, which is updated by a sliding window. 5.The non-orthogonal multiple access based laser communication and perception integrated method of claim 1, wherein, Receiving a return signal, performing layer-by-layer stripping using successive interference cancellation for communication decoding, including: performing photoelectric conversion on the received return signal using an APD array to obtain a sampling signal; decoding the sampling signal using successive interference cancellation according to channel gain from strong to weak to obtain a residual signal, wherein the residual signal includes a radar return signal and noise. 6.The non-orthogonal multiple access based laser communication and perception integrated method according to claim 5, wherein, Realizing communication-sensing signal blind separation using the cross-correlation of the pilot sequence to obtain a radar return signal, including: correlating the residual signal with the radar detection signal in the superimposed signal to obtain a pure radar return signal. 7.The non-orthogonal multiple access based laser communication and sensing integrated method of claim 1, wherein, Performing parameter estimation on the radar return signal to obtain target point cloud data, including: using dual-frequency CW ranging to obtain distance, using Doppler shift estimation to obtain velocity, and using Kalman filtering to eliminate turbulence disturbance, and inputting the radar return data after eliminating turbulence disturbance into density-based spatial clustering to obtain target point cloud data.

8. A computer-readable storage medium, characterized in that, A laser communication-sensing integrated program based on non-orthogonal multiple access is stored thereon, and the laser communication-sensing integrated program based on non-orthogonal multiple access is executed by a processor to implement the laser communication-sensing integrated method based on non-orthogonal multiple access in any one of claims 1-7.

9. A computer device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor executes the computer program to implement the laser communication-sensing integrated method based on non-orthogonal multiple access in any one of claims 1-7.

Images