Communication and induction integrated equipment, signal transmission method and storage medium

Abstract

The invention provides communication sensing integrated equipment, a signal transmission method and a storage medium, and relates to the technical field of communication sensing. The device comprises a radio frequency transmitting circuit used for determining a first transmitting direction of a to-be-transmitted communication signal in a communication mode, and transmitting the to-be-transmitted communication signal based on the first transmitting direction; or, in the sensing mode, determining a second transmitting direction of the to-be-transmitted sensing signal, and transmitting the to-be-transmitted sensing signal based on the second transmitting direction; the radio frequency receiving circuit is used for determining a receiving direction of a to-be-received communication signal in a communication mode, and receiving the to-be-received communication signal based on the receiving direction; and the sensing receiving module is used for receiving the to-be-received sensing signal in the sensing mode, so that a communication sensing function is realized.

Description

Technical Field

[0001] This application relates to the field of communication sensing technology, and in particular to an integrated sensing device, signal transmission method and storage medium. Background Technology

[0002] Communication and sensing integration, as a key technology in the 5G-Advanced stage of research and one of the core visions of the sixth generation (6G) communication, can be applied to a variety of scenarios, such as low-altitude security, smart transportation, smart home, public security, and smart healthcare.

[0003] Therefore, how to design an integrated sensing device to realize communication sensing functions is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0004] This application provides an integrated sensing device, a signal transmission method, and a storage medium. An integrated sensing device is designed to realize communication sensing functions.

[0005] In a first aspect, this application provides an integrated sensing device, comprising: a radio frequency transceiver switching module and a sensing receiving module, wherein the radio frequency transceiver switching module includes a radio frequency transmitting circuit and a radio frequency receiving circuit; The radio frequency transmitting circuit is configured to, in communication mode, determine a first transmission direction of a communication signal to be transmitted and transmit the communication signal to be transmitted based on the first transmission direction; or, in sensing mode, determine a second transmission direction of a sensing signal to be transmitted and transmit the sensing signal to be transmitted based on the second transmission direction. The radio frequency receiving circuit is used to determine the receiving direction of the communication signal to be received in the communication mode, and to receive the communication signal to be received based on the receiving direction. The sensing receiving module is used to receive the sensing signal to be received in sensing mode.

[0006] According to the present application, a sensor-integrated device further includes a digital signal processing circuit, a digital-to-analog-to-digital converter circuit, and a radio frequency transmission link; The digital signal processing circuit is used to digitally process the initial transmitted sensing signal and send the obtained digital sensing signal to the digital-to-analog and analog-to-digital converter circuit. The digital-to-analog and analog-to-digital conversion circuit is used to perform digital-to-analog conversion on the digital sensing signal to obtain the sensing signal to be transmitted, and to send the sensing signal to be transmitted to the radio frequency transmission circuit through the radio frequency transmission link.

[0007] According to the integrated sensing device provided in this application, the digital signal processing circuit is used to digitally process the initial transmitted communication signal and send the obtained digital communication signal to the digital-to-analog and analog-to-digital conversion circuit. The digital-to-analog converter circuit is used to perform digital-to-analog conversion on the digital communication signal to obtain the communication signal to be transmitted, and to send the communication signal to be transmitted to the radio frequency transmission circuit through the radio frequency transmission link.

[0008] According to the present application, a sensing integrated device further includes a sensing radio frequency receiving link and a sensing communication switching synthesis module; The sensing receiving module is also used to send the received sensing signal to be received to the sensing communication switching and synthesizing module through the sensing radio frequency receiving link; The sensing communication switching and synthesis module is used to switch the sensing communication switching and synthesis module to the sensing signal receiving state when the frequency of the sensing signal to be received is the same as that of the communication signal to be received, and to send the sensing signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the received sensing signal to obtain the processed received sensing signal, and send the processed received sensing signal to the digital signal processing circuit. The digital signal processing circuit is also used to perform digital processing on the processed received sensing signal.

[0009] According to the present application, a sensing integrated device further includes a radio frequency receiving link and a sensing communication switching synthesis module; The radio frequency receiving circuit is also used to transmit the received communication signal to be received to the sensing communication switching and synthesis module through the radio frequency receiving link; The sensing communication switching and synthesis module is used to switch the sensing communication switching and synthesis module to a communication signal receiving state when the frequency of the communication signal to be received is the same as that of the sensing signal to be received, and to send the communication signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the communication signal to be received to obtain a processed received communication signal, and send the processed received communication signal to the digital signal processing circuit. The digital signal processing circuit is also used to perform digital processing on the processed received communication signal.

[0010] According to the present application, a sensing integrated device further includes a sensing radio frequency receiving link, a radio frequency receiving link, and a sensing communication switching synthesis module; The sensing receiving module is also used to send the received sensing signal to be received to the sensing communication switching and synthesizing module through the sensing radio frequency receiving link; The radio frequency receiving circuit is also used to transmit the received communication signal to be received to the sensing communication switching and synthesis module through the radio frequency receiving link; The sensing and communication switching synthesis module is used to synthesize the sensing signal to be received and the communication signal to be received when their frequencies are different, and then send the synthesized signal to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the synthesized signal to obtain the processed synthesized signal, and send the processed synthesized signal to the digital signal processing circuit. The digital signal processing circuit is further configured to analyze the processed synthetic signal to obtain the receiving sensing signal and the receiving communication signal, and to perform digital processing on the receiving sensing signal and the receiving communication signal respectively; wherein the isolation between the sensing radio frequency receiving link and the radio frequency transmitting link is greater than a first isolation threshold.

[0011] According to the integrated sensing device provided in this application, the number of sensing communication switching synthesis modules is at least one.

[0012] According to the integrated sensing device provided in this application, the radio frequency transmitting circuit includes a radio frequency transceiver switching circuit and a communication transceiver and sensing transmitting antenna; The radio frequency transceiver switching circuit is used to determine the second transmission direction of the sensing signal to be transmitted; The communication transceiver and sensing transmitting antenna is used to transmit the sensing signal to be transmitted based on the second transmitting direction; or,

[0013] The radio frequency transceiver switching circuit is also used to determine the first transmission direction of the communication signal to be transmitted; The communication transceiver and sensing transmitting antenna is also used to transmit the communication signal to be transmitted based on the first transmitting direction.

[0014] According to the integrated sensing device provided in this application, the radio frequency transceiver switching circuit is further used to determine the receiving direction of the communication signal to be received; The communication transceiver and sensing transmitting antenna is also used to receive the communication signal to be received based on the receiving direction.

[0015] According to the integrated sensing device provided in this application, the sensing receiving module includes a sensing receiving antenna, which is disposed in two different roof areas with the communication transceiver and sensing transmitting antenna, and the isolation between the sensing receiving antenna and the communication transceiver and sensing transmitting antenna is greater than a second isolation threshold.

[0016] Secondly, this application also provides a signal transmission method applied to the integrated sensing device described in any of the above claims, the method comprising: In communication mode, the radio frequency transmission circuit in the integrated sensing device determines a first transmission direction of the communication signal to be transmitted and transmits the communication signal to be transmitted based on the first transmission direction; or, in sensing mode, it determines a second transmission direction of the sensing signal to be transmitted and transmits the sensing signal to be transmitted based on the second transmission direction. In the communication mode, the radio frequency receiving circuit in the integrated sensing device determines the receiving direction of the communication signal to be received, and receives the communication signal to be received based on the receiving direction. The sensing receiving module in the integrated sensing device receives the sensing signal to be received in sensing mode.

[0017] According to a signal transmission method provided in this application, the signal transmission method further includes: The initial transmitted sensing signal is digitally processed by the digital signal processing circuit in the integrated sensing device, and the resulting digital sensing signal is sent to the digital-to-analog and analog-to-digital converter circuit in the integrated sensing device. The digital sensing signal is converted from digital to analog by the digital-to-analog converter circuit to obtain the sensing signal to be transmitted, and the sensing signal to be transmitted is sent to the radio frequency transmission circuit through the radio frequency transmission link.

[0018] According to a signal transmission method provided in this application, the signal transmission method further includes: The initial transmitted communication signal is digitally processed by the digital signal processing circuit, and the resulting digital communication signal is sent to the digital-to-analog and analog-to-digital converter circuit. The digital communication signal is converted from digital to analog by the digital-to-analog converter circuit to obtain the communication signal to be transmitted, and the communication signal to be transmitted is sent to the radio frequency transmission circuit through the radio frequency transmission link.

[0019] According to a signal transmission method provided in this application, the signal transmission method further includes: The received sensing signal is transmitted to the sensing communication switching and synthesis module in the integrated sensing device via the sensing radio frequency receiving link in the integrated sensing device through the sensing receiving module in the integrated sensing device. When the frequency of the sensing signal to be received is the same as that of the communication signal to be received, the sensing communication switching and synthesis module switches the sensing communication switching and synthesis module to the sensing signal receiving state, and sends the sensing signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit performs analog-to-digital conversion on the signal to be received to obtain a processed received signal, and then sends the processed received signal to the digital signal processing circuit. The received sensing signal is digitally processed by the digital signal processing circuit.

[0020] According to a signal transmission method provided in this application, the signal transmission method further includes: The received communication signal to be received is transmitted to the sensing communication switching and synthesis module in the integrated sensing device through the radio frequency receiving circuit in the integrated sensing device via the radio frequency receiving link in the integrated sensing device. When the frequency of the communication signal to be received is the same as that of the sensing signal to be received, the sensing communication switching and synthesis module switches the sensing communication switching and synthesis module to the communication signal receiving state, and sends the communication signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit performs analog-to-digital conversion on the communication signal to be received to obtain a processed received communication signal, and then sends the processed received communication signal to the digital signal processing circuit. The received communication signal is digitally processed by the digital signal processing circuit.

[0021] According to a signal transmission method provided in this application, the signal transmission method further includes: The received sensing signal is transmitted through the sensing receiving module to the sensing communication switching and synthesis module in the integrated sensing device via the sensing radio frequency receiving link in the integrated sensing device. The received communication signal to be received is transmitted to the sensing communication switching and synthesis module through the radio frequency receiving link via the radio frequency receiving circuit. When the frequencies of the sensing signal to be received and the communication signal to be received are different, the sensing signal to be received and the communication signal to be received are combined by the sensing and communication switching synthesis module, and the synthesized signal is sent to the digital-to-analog and analog-to-digital conversion circuit in the integrated sensing device. The synthesized signal is converted from analog to digital by the analog-to-digital converter circuit to obtain the processed synthesized signal, and the processed synthesized signal is sent to the digital signal processing circuit. The processed synthetic signal is analyzed by the digital signal processing circuit to obtain the receiving sensing signal and the receiving communication signal, and digital processing is performed on the receiving sensing signal and the receiving communication signal respectively; wherein, the isolation between the sensing radio frequency receiving link and the radio frequency transmitting link is greater than a first isolation threshold.

[0022] According to a signal transmission method provided in this application, determining a second transmission direction of a sensing signal to be transmitted, and transmitting the sensing signal based on the second transmission direction, includes: The second transmission direction of the sensing signal to be transmitted is determined by the radio frequency transceiver switching circuit in the radio frequency transmission circuit. The sensing signal to be transmitted is transmitted based on the second transmission direction through the communication transceiver and sensing transmitting antenna in the radio frequency transmitting circuit; Alternatively, determining a first transmission direction for the communication signal to be transmitted, and transmitting the communication signal based on the first transmission direction, includes: The first transmission direction of the communication signal to be transmitted is determined by the radio frequency transceiver switching circuit. The communication signal to be transmitted is transmitted via the communication transceiver and sensing transmitting antenna based on the first transmission direction.

[0023] According to a signal transmission method provided in this application, determining the receiving direction of a communication signal to be received, and receiving the communication signal to be received based on the receiving direction, includes: The receiving direction of the communication signal to be received is determined by the radio frequency transceiver switching circuit. The communication signal to be received is received by the communication transceiver and sensing transmitting antenna based on the receiving direction.

[0024] Thirdly, this application also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the signal transmission method as described above.

[0025] Fourthly, this application also provides a computer program product, including a computer program that, when executed by a processor, implements the signal transmission method as described above.

[0026] The integrated sensing device, signal transmission method, and storage medium provided in this application embodiment include an RF transmitting circuit used to determine a first transmission direction of a communication signal to be transmitted in communication mode and transmit the communication signal based on the first transmission direction; or, in sensing mode, to determine a second transmission direction of a sensing signal to be transmitted and transmit the sensing signal based on the second transmission direction. An RF receiving circuit is used to determine a receiving direction of a communication signal to be received in communication mode and receive the communication signal based on the receiving direction. A sensing receiving module is used to receive the sensing signal to be received in sensing mode. Thus, by using the RF transmitting circuit to achieve signal transmission in communication mode, and reusing the RF transmitting circuit for signal transmission in sensing mode, and by separately setting up a sensing receiving module, signal reception in sensing mode can be achieved, thereby effectively realizing communication sensing functions. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 This is a schematic diagram of the structure of an integrated sensing device provided in an embodiment of this application.

[0029] Figure 2 This is a schematic diagram of another integrated sensing device provided in an embodiment of this application.

[0030] Figure 3 This is a schematic diagram of the structure of another integrated sensing device provided in the embodiments of this application.

[0031] Figure 4 This is a schematic diagram of another integrated sensing device provided in an embodiment of this application.

[0032] Figure 5 This is a schematic diagram of the structure of an integrated sensing device provided in an embodiment of this application.

[0033] Figure 6 This is a flowchart illustrating a signal transmission method provided in an embodiment of this application. Detailed Implementation

[0034] In the embodiments of this application, the term "and / or" describes the relationship between associated objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following associated objects have an "or" relationship.

[0035] In the embodiments of this application, the term "multiple" refers to two or more, and other quantifiers are similar.

[0036] The technical solutions provided in this application can be applied to various systems, such as 5G systems.

[0037] The terminal involved in this application embodiment can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. The name of the terminal may differ in different systems; for example, in a 5G system, the terminal can be called a User Equipment (UE). Wireless terminal devices can communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, for example, portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the RAN. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device, but this application does not limit the terminology.

[0038] The network device involved in this application embodiment can be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, a base station may also be called an access point, or a device in an access network that communicates with a wireless terminal device through one or more sectors on the air interface, or other names. The network device can be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device can also coordinate the attribute management of the air interface. For example, the network equipment involved in the embodiments of this application can be a base transceiver station (BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA) system, a NodeB in a wide-band Code Division Multiple Access (WCDMA) system, an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in the embodiments of this application. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may also be geographically separated.

[0039] For example, in the embodiments of this application, the network device and the terminal device can each use one or more antennas to perform multiple input multiple output (MIMO) transmission. MIMO transmission can be single user MIMO (SU-MIMO) or multiple user MIMO (MU-MIMO). Depending on the shape and number of antenna combinations, MIMO transmission can be 2D-MIMO, 3D-MIMO, FD-MIMO, or massive-MIMO, or it can be diversity transmission, precoding transmission, or beamforming transmission, etc.

[0040] Communication and sensing integration, as a key technology in the 5G-Advanced stage of research and one of the core visions of sixth-generation communication, can be applied to various scenarios, such as low-altitude security, smart transportation, smart homes, public security, and smart healthcare. For example, the communication and sensing integration device can be one of the aforementioned network devices.

[0041] Currently, most integrated sensing and communication devices are designed based on Time Division Duplex (TDD) systems. As a combined communication and sensing solution, in the communication mode, the transmit and receive links employ a time-division switching scheme, and the transmit and receive signals use a shared antenna design. In the sensing mode, the state of the surrounding environment, the position, direction, height, speed, and distance of objects are detected by detecting and analyzing the reflected signals of the transmitted radio signals. This requires the integrated sensing and communication device to simultaneously transmit and receive the echo signals reflected from the detected target. The transmitted and received signals operate on the same frequency, and the signal strength of the transmit link is generally much greater than that of the receive link, causing strong co-channel interference to the receive link.

[0042] Therefore, how to design an integrated sensing device that can effectively realize communication sensing functions is a problem that urgently needs to be solved by those skilled in the art.

[0043] To better implement communication sensing functions, this application provides an integrated sensing device. The technical solutions in this application will be clearly and completely described below with reference to the embodiments and related drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0044] Figure 1This is a schematic diagram of the structure of an integrated sensing device provided in an embodiment of this application. The integrated sensing device may include: a radio frequency transceiver switching module and a sensing receiving module, wherein the radio frequency transceiver switching module includes a radio frequency transmitting circuit and a radio frequency receiving circuit.

[0045] The radio frequency transmitting circuit is used to determine a first transmission direction of the communication signal to be transmitted in the communication mode and transmit the communication signal to be transmitted based on the first transmission direction; or, in the sensing mode, determine a second transmission direction of the sensing signal to be transmitted and transmit the sensing signal to be transmitted based on the second transmission direction.

[0046] The radio frequency receiving circuit is used to determine the receiving direction of the communication signal to be received in communication mode, and to receive the communication signal to be received based on the receiving direction.

[0047] The sensing and receiving module is used to receive the sensing signal to be received in sensing mode.

[0048] For example, in an embodiment of this application, the sensing receiving module may include a sensing receiving antenna, that is, the sensing receiving antenna can be used to receive the sensing signal to be received.

[0049] Combination Figure 1 The integrated sensing device shown can determine the first transmission direction of the communication signal to be transmitted through the radio frequency transmitting circuit when the device is in communication mode, and transmit the communication signal to be transmitted based on the first transmission direction, thereby realizing signal transmission in communication mode; in addition, it can also determine the reception direction of the communication signal to be received through the radio frequency receiving circuit, and receive the communication signal to be received based on the reception direction, thereby realizing signal reception in communication mode.

[0050] When the device is in sensing mode, the second transmission direction of the sensing signal to be transmitted can be determined by the radio frequency transmitting circuit, and the sensing signal to be transmitted can be transmitted based on the second transmission direction, thereby realizing signal transmission in sensing mode; in addition, the sensing signal to be received can be received by the sensing receiving module, thereby realizing signal reception in sensing mode.

[0051] It is understood that in this embodiment, the signal transmission in sensing mode reuses the RF transmission circuit from the communication mode, i.e., sensing and communication transmission share the same antenna design. This allows the signal to operate in either communication or sensing mode, effectively reducing the complexity of hardware link design and thus saving equipment costs. Furthermore, for signal reception in sensing mode, a completely new sensing receiving module is designed separately. This increases the isolation between the sensing receiving module and the RF transmission circuit to a certain extent, thereby reducing RF self-interference and antenna self-interference.

[0052] As can be seen, the integrated sensing device provided in this application includes a radio frequency (RF) transmitting circuit used to determine a first transmission direction of the communication signal to be transmitted in communication mode and transmit the communication signal based on the first transmission direction; or, in sensing mode, to determine a second transmission direction of the sensing signal to be transmitted and transmit the sensing signal based on the second transmission direction; an RF receiving circuit used to determine the receiving direction of the communication signal to be received in communication mode and receive the communication signal based on the receiving direction; and a sensing receiving module used to receive the sensing signal to be received in sensing mode. Thus, by using the RF transmitting circuit to achieve signal transmission in communication mode, and reusing the RF transmitting circuit for signal transmission in sensing mode, and by separately setting up the sensing receiving module, signal reception in sensing mode can be achieved, thereby enabling better implementation of communication sensing functions.

[0053] Based on the above Figure 1 The illustrated embodiment, for example, in this application embodiment, the radio frequency transmitting circuit includes a radio frequency transceiver switching circuit and a communication transceiver and sensing transmitting antenna. For example, see [link to relevant documentation]. Figure 2 As shown, Figure 2 This is a schematic diagram of another integrated sensing device provided in an embodiment of this application.

[0054] The radio frequency transceiver switching circuit is used to determine the second transmission direction of the sensing signal to be transmitted; the communication transceiver and sensing transmitting antenna is used to transmit the sensing signal to be transmitted based on the second transmission direction. or,

[0055] The radio frequency transceiver switching circuit is also used to determine the first transmission direction of the communication signal to be transmitted; the communication transceiver and sensing transmitting antenna is also used to transmit the communication signal to be transmitted based on the first transmission direction.

[0056] Thus, when the device is in sensing mode, the second transmission direction of the sensing signal to be transmitted can be determined by the radio frequency transceiver switching circuit, so that the communication transceiver and sensing transmitting antennas can transmit the sensing signal to be transmitted based on the second transmission direction, thereby realizing signal transmission in sensing mode; or, when the device is in communication mode, the first transmission direction of the communication signal to be transmitted can be determined by the radio frequency transceiver switching circuit, so that the communication transceiver and sensing transmitting antennas can transmit the communication signal to be transmitted based on the first transmission direction, thereby realizing signal transmission in communication mode.

[0057] For example, in the embodiments of this application, when the device is in communication mode, the radio frequency transceiver switching circuit is further used to determine the receiving direction of the communication signal to be received; the communication transceiver and sensing transmitting antenna is further used to receive the communication signal to be received based on the receiving direction, thereby realizing signal reception in communication mode.

[0058] In the design of integrated sensing devices, to reduce the impact of sensing transmission on sensing reception and thus achieve full-duplex operation, the sensing receiving module used for sensing reception needs to be separated from the communication transceiver and sensing transmitting antennas used for sensing transmission, and a certain distance needs to be increased. For example, in the embodiments of this application, the sensing receiving module includes a sensing receiving antenna, which can be set in two different antenna regions. The isolation between the sensing receiving antenna and the communication transceiver and sensing transmitting antennas is greater than a second isolation threshold, thereby ensuring the isolation between the antennas and reducing antenna self-interference. In this way, by increasing the isolation of the RF front end, RF self-interference is reduced. The reduction of antenna self-interference and RF self-interference also reduces the difficulty of digital self-interference elimination.

[0059] The value of the second isolation threshold can be set according to actual needs. Here, the specific value of the second isolation threshold is not further limited in this embodiment.

[0060] Based on any of the above embodiments, Figure 2 The illustrated embodiment is an example. For instance, in this embodiment of the application, the integrated sensing device further includes a digital signal processing circuit, a digital-to-analog-to-digital converter circuit, and a radio frequency transmission link. For example, see [link to relevant documentation]. Figure 3 As shown, Figure 3 This is a schematic diagram of the structure of another integrated sensing device provided in the embodiments of this application.

[0061] The digital signal processing circuit is used to digitally process the initial transmitted sensing signal and send the resulting digital sensing signal to the digital-to-analog and analog-to-digital converter circuit.

[0062] The digital-to-analog and analog-to-digital conversion circuit is used to convert digital sensing signals into analog signals to obtain the sensing signals to be transmitted, and then transmits the sensing signals to be transmitted to the radio frequency transmission circuit through the radio frequency transmission link.

[0063] In this way, when the device is in sensing mode, the initial transmitted sensing signal can be digitally processed by the digital signal processing circuit, and the resulting digital sensing signal can be sent to the digital-to-analog and analog-to-digital conversion circuit. The digital sensing signal can then be converted from digital to analog to obtain the sensing signal to be transmitted. This signal can then be sent to the radio frequency transceiver switching circuit in the radio frequency transmission circuit via the radio frequency transmission link. The radio frequency transceiver switching circuit can then determine the second transmission direction of the sensing signal to be transmitted, so that the communication transceiver and sensing transmitting antennas can transmit the sensing signal to be transmitted based on the second transmission direction, thereby realizing signal transmission in sensing mode.

[0064] For example, in an embodiment of this application, a digital signal processing circuit is used to digitally process the initial transmitted communication signal and send the resulting digital communication signal to a digital-to-analog-to-digital converter circuit.

[0065] The digital-to-analog and analog-to-digital converter circuit is used to convert digital communication signals into analog signals to obtain the communication signal to be transmitted, and then transmit the communication signal to be transmitted to the radio frequency transmission circuit through the radio frequency transmission link.

[0066] In this way, when the device is in communication mode, the initial transmitted communication signal can be digitally processed by the digital signal processing circuit, and the resulting digital sensing signal can be sent to the digital-to-analog and analog-to-digital conversion circuit. The digital sensing signal can then be converted from digital to analog to obtain the communication signal to be transmitted. This communication signal can then be sent to the radio frequency transceiver switching circuit in the radio frequency transmission circuit via the radio frequency transmission link. The radio frequency transceiver switching circuit can then determine the first transmission direction of the communication signal to be transmitted, so that the communication transceiver and sensing transmitting antennas can transmit the sensing signal to be transmitted based on the first transmission direction, thereby realizing signal transmission in communication mode.

[0067] Based on any of the above embodiments, for example, in this application embodiment, the integrated sensing device may further include a sensing radio frequency receiving link and a sensing communication switching and combining module. For example, see [link to relevant documentation]. Figure 4 As shown, Figure 4 This is a schematic diagram of another integrated sensing device provided in an embodiment of this application. When receiving signals using the sensing-communication switching and synthesis module, it is considered that the frequencies of the received sensing signal and the received communication signal may be the same or different. When the frequencies of the two sensing signals are the same but the reception times are different, the sensing-communication switching and synthesis module can adopt a switching mode; when the frequencies of the two sensing signals are different but the reception times are the same, the sensing-communication switching and synthesis module can adopt a different-frequency synthesis mode. Therefore, the sensing-communication switching and synthesis module can include at least three possible implementations: In one possible implementation, the sensing receiving module is also used to send the received sensing signal to be received to the sensing communication switching and synthesis module through the sensing radio frequency receiving link.

[0068] The sensing communication switching and synthesis module is used to switch the sensing communication switching and synthesis module to the sensing signal receiving state when the frequency of the sensing signal to be received and the communication signal to be received are the same, and to send the sensing signal to be received to the digital-to-analog and analog-to-digital conversion circuit.

[0069] The analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the received sensing signal to obtain the processed received sensing signal, and then send the processed received sensing signal to the digital signal processing circuit.

[0070] Digital signal processing circuits are also used to perform digital processing on the received and sensed signals.

[0071] In this way, when the device is in sensing mode, the sensing communication switching synthesis module can switch to sensing signal receiving mode when the frequency of the sensing signal to be received and the communication signal to be received are the same, and send the sensing signal to be received to the digital-to-analog and analog-to-digital converter circuit. The digital-to-analog and analog-to-digital converter circuit performs analog-to-digital conversion on the sensing signal to be received, obtains the processed receiving sensing signal, and sends the processed receiving sensing signal to the digital signal processing circuit. The digital signal processing circuit then performs digital processing on the processed receiving sensing signal, thereby realizing signal reception in sensing mode.

[0072] In another possible implementation, the radio frequency receiving circuit is also used to send the received communication signal to be received to the sensing communication switching synthesis module through the radio frequency receiving link.

[0073] The sensing communication switching synthesis module is used to switch the sensing communication switching synthesis module to the communication signal receiving state when the frequency of the communication signal to be received is the same as that of the sensing signal to be received, and to send the communication signal to be received to the digital-to-analog and analog-to-digital conversion circuit.

[0074] The analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the received communication signal to obtain the processed received communication signal, and then send the processed received communication signal to the digital signal processing circuit.

[0075] Digital signal processing circuits are also used to perform digital processing on the received communication signals after processing.

[0076] In this way, when the device is in communication mode, the sensing communication switching synthesis module can switch to the communication signal receiving state when the frequency of the sensing signal to be received is the same as that of the communication signal to be received, and send the communication signal to be received to the digital-to-analog and analog-to-digital converter circuit. The digital-to-analog and analog-to-digital converter circuit performs analog-to-digital conversion on the communication signal to be received, obtains the processed received communication signal, and sends the processed received communication signal to the digital signal processing circuit. The digital signal processing circuit then performs digital processing on the processed received communication signal, thereby realizing signal reception in communication mode.

[0077] In another possible implementation, the sensing receiving module is also used to send the received sensing signal to be received to the sensing communication switching and synthesis module through the sensing radio frequency receiving link; the radio frequency receiving circuit is also used to send the received communication signal to be received to the sensing communication switching and synthesis module through the radio frequency receiving link.

[0078] The sensing and communication switching synthesis module is used to synthesize the sensing signal to be received and the communication signal to be received when their frequencies are different, and then send the synthesized signal to the digital-to-analog and analog-to-digital conversion circuit.

[0079] The digital-to-analog and analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the synthesized signal to obtain the processed synthesized signal, and then send the processed synthesized signal to the digital signal processing circuit.

[0080] The digital signal processing circuit is also used to analyze the processed synthetic signal to obtain the receiving sensing signal and the receiving communication signal, and to perform digital processing on the receiving sensing signal and the receiving communication signal respectively; wherein, the isolation between the sensing RF receiving link and the RF transmitting link is greater than the first isolation threshold. The value of the first isolation threshold can be set according to actual needs, which can increase the isolation between the sensing RF receiving link and the RF transmitting link to a certain extent and reduce the link design complexity.

[0081] In this way, regardless of whether the device is in communication mode or sensing mode, if the frequencies of the sensing signal to be received and the communication signal to be received are different, the sensing-communication switching synthesis module can synthesize the sensing signal to be received and the communication signal to be received, and send the synthesized signal to the digital-to-analog and analog-to-digital conversion circuit. Correspondingly, the digital-to-analog and analog-to-digital conversion circuit can perform analog-to-digital conversion on the synthesized signal to obtain the processed synthesized signal, and send the processed synthesized signal to the digital signal processing circuit. The digital signal processing circuit is also used to analyze the processed synthesized signal to obtain the sensing signal to be received and the communication signal to be received, and perform digital processing on the received sensing signal and the received communication signal respectively, thereby realizing signal reception in both communication mode and sensing mode.

[0082] As can be seen, in the embodiments of this application, partial multiplexing of the sensing radio frequency receiving link and the radio frequency receiving circuit can be realized. The link before switching / combining of the sensing communication switching and combining module realizes differentiated design of functions and performance. The link after switching / combining is time-division or frequency-division multiplexed. Under the premise of ensuring performance, the hardware link design is greatly simplified and the equipment cost is reduced.

[0083] Based on the above description, in this embodiment of the application, when the device is in communication mode and transmitting a communication signal to be transmitted, such as a downlink time-slot baseband signal, the downlink time-slot baseband signal can first be processed by a digital signal processing circuit to perform baseband and digital intermediate frequency processing, and then the processed downlink time-slot baseband signal is sent to a digital-to-analog (DAC) circuit. The DAC circuit converts the processed downlink time-slot baseband signal into an analog radio frequency (RF) signal, which is then sent to an RF transceiver switching circuit via an RF transmission link. The RF transceiver switching circuit determines the transmission direction of the RF analog signal, and the communication transceiver and sensing transmission antennas transmit the RF analog signal into space to communicate with the terminal based on this transmission direction, thereby realizing signal transmission in communication mode.

[0084] When the device is in communication mode, when receiving a communication signal to be received, such as an uplink time-slot baseband signal, the RF transceiver switching circuit can determine the receiving direction of the uplink time-slot baseband signal. This allows the communication transceiver and sensing transmitting antennas to receive the uplink time-slot baseband signal transmitted by the terminal in the space based on this receiving direction. The signal then enters the RF receiving circuit, passes through the sensing communication switching synthesis module, and is then converted into a digital signal with appropriate amplitude by the digital-to-analog and analog-to-digital conversion circuit. Finally, the signal enters the digital signal processing circuit to realize communication reception and analysis, thereby achieving signal reception in communication mode.

[0085] When the device is in sensing mode, before transmitting a sensing signal, such as a baseband signal, the digital signal processing circuit first performs baseband and digital intermediate frequency processing on the baseband signal. The processed baseband signal is then sent to a digital-to-analog (DAC) circuit, which converts the processed baseband signal into an analog radio frequency (RF) signal. This RF signal is then sent to an RF transceiver switching circuit via an RF transmission link. The RF transceiver switching circuit determines the transmission direction of the RF analog signal. Based on this transmission direction, the communication transceiver and sensing antennas transmit the RF analog signal into space for target sensing, thus realizing signal transmission in sensing mode.

[0086] When the device is in sensing mode, it receives the sensing signal to be received. The sensing communication switching and synthesis module determines the sensing direction. The sensing receiving antenna receives the sensing transmitted radio frequency signal reflected by the sensing target in the space. The signal enters the sensing radio frequency receiving link for a series of radio frequency signal processing. After passing through the sensing communication switching and synthesis module, the signal is adjusted by the digital-to-analog and analog-to-digital conversion circuit and converted into a digital signal with appropriate amplitude. The signal then enters the digital signal processing module to realize the interpretation of the sensing received signal, thus realizing the signal reception in sensing mode.

[0087] It should be noted that, in the embodiments of this application, the sensing RF receiving link and RF receiving circuit can be designed separately according to the needs of the application scenario. For example, RF indicators such as RF gain and maximum power handling can be adjusted, and chips with different levels of integration can be used as needed. The sensing receiving antenna differs from the communication transceiver and sensing transmitting antennas. Since it is only used for sensing receiving services, the corresponding out-of-band rejection and power handling requirements can be set according to the actual situation.

[0088] It is readily apparent that the integrated sensing device provided in this application, while maintaining the TDD transceiver link and antenna design, only adds a portion of the RF receiving link and sensing receiving antenna to achieve sensing reception functionality, and fully reuses the TDD transmitting link to achieve sensing transmission functionality, thereby realizing full-duplex functionality for sensing services. Furthermore, with minimal addition of RF components, high isolation is achieved between the sensing RF receiving link and the RF transmitting link, and between the sensing receiving antenna and the communication transceiver and sensing transmitting antennas. This reduces RF self-interference and antenna self-interference, lowers the complexity of hardware design, reduces device size and power consumption, and saves equipment costs.

[0089] It is understood that the integrated sensing device provided in this application embodiment is also applicable to the integrated sensing design under the Frequency Division Duplexing (FDD) standard. The signal transmission in the sensing scenario fully reuses the signal transmission in the communication scenario, and the sensing transmission and communication transmission share the same antenna. The sensing RF receiving link operates in the FDD base station transmission frequency band, uses a separate sensing receiving antenna, reuses part of the communication receiving link, and switches through the sensing communication switching and combining module or achieves signal combining through a combiner. The frequency conversion module inside the RF converter needs to implement different frequency conversion point processing according to different functions.

[0090] Based on any of the above embodiments, for example, in this embodiment of the application, the number of sensing communication switching synthesis modules is at least one. Assuming the number of sensing communication switching synthesis modules is n, correspondingly, the number of sensing RF receiving links, the number of RF receiving circuits, the number of RF transmitting links, and the number of sensing RF receiving links are also all n. For example, see [link to relevant documentation]. Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of an integrated sensing device provided in an embodiment of this application, and its specific implementation is the same as described above. Figure 4 The implementation of the integrated sensing device shown is similar; please refer to the above. Figure 4 The description of the integrated sensing device shown is not repeated here in the embodiments of this application.

[0091] Figure 6This is a flowchart illustrating a signal transmission method provided in an embodiment of this application. It can be applied to the integrated sensing device shown in any of the above embodiments. For example, see [link to example]. Figure 6 As shown, the signal transmission method may include: S601. In communication mode, the radio frequency transmitting circuit in the integrated sensing device determines a first transmission direction of the communication signal to be transmitted and transmits the communication signal to be transmitted based on the first transmission direction; or, in sensing mode, determines a second transmission direction of the sensing signal to be transmitted and transmits the sensing signal to be transmitted based on the second transmission direction.

[0092] S602. In the communication mode, the radio frequency receiving circuit in the integrated sensing device determines the receiving direction of the communication signal to be received, and receives the communication signal to be received based on the receiving direction.

[0093] S603. The sensing receiving module in the integrated sensing device receives the sensing signal to be received in sensing mode.

[0094] For example, in an embodiment of this application, the signal transmission method further includes: The initial transmitted sensing signal is digitally processed by the digital signal processing circuit in the integrated sensing device, and the resulting digital sensing signal is sent to the digital-to-analog and analog-to-digital converter circuit in the integrated sensing device. The digital sensing signal is converted from digital to analog by the digital-to-analog converter circuit to obtain the sensing signal to be transmitted, and the sensing signal to be transmitted is sent to the radio frequency transmission circuit through the radio frequency transmission link.

[0095] For example, in an embodiment of this application, the signal transmission method further includes: The initial transmitted communication signal is digitally processed by the digital signal processing circuit, and the resulting digital communication signal is sent to the digital-to-analog and analog-to-digital converter circuit. The digital communication signal is converted from digital to analog by the digital-to-analog converter circuit to obtain the communication signal to be transmitted, and the communication signal to be transmitted is sent to the radio frequency transmission circuit through the radio frequency transmission link.

[0096] For example, in an embodiment of this application, the signal transmission method further includes: The received sensing signal is transmitted to the sensing communication switching and synthesis module in the integrated sensing device via the sensing radio frequency receiving link in the integrated sensing device through the sensing receiving module in the integrated sensing device. When the frequency of the sensing signal to be received is the same as that of the communication signal to be received, the sensing communication switching and synthesis module switches the sensing communication switching and synthesis module to the sensing signal receiving state, and sends the sensing signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit performs analog-to-digital conversion on the signal to be received to obtain a processed received signal, and then sends the processed received signal to the digital signal processing circuit. The received sensing signal is digitally processed by the digital signal processing circuit.

[0097] For example, in an embodiment of this application, the signal transmission method further includes: The received communication signal to be received is transmitted to the sensing communication switching and synthesis module in the integrated sensing device through the radio frequency receiving circuit in the integrated sensing device via the radio frequency receiving link in the integrated sensing device. When the frequency of the communication signal to be received is the same as that of the sensing signal to be received, the sensing communication switching and synthesis module switches the sensing communication switching and synthesis module to the communication signal receiving state, and sends the communication signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit performs analog-to-digital conversion on the communication signal to be received to obtain a processed received communication signal, and then sends the processed received communication signal to the digital signal processing circuit. The received communication signal is digitally processed by the digital signal processing circuit.

[0098] For example, in an embodiment of this application, the signal transmission method further includes: The received sensing signal is transmitted through the sensing receiving module to the sensing communication switching and synthesis module in the integrated sensing device via the sensing radio frequency receiving link in the integrated sensing device. The received communication signal to be received is transmitted to the sensing communication switching and synthesis module through the radio frequency receiving link via the radio frequency receiving circuit. When the frequencies of the sensing signal to be received and the communication signal to be received are different, the sensing signal to be received and the communication signal to be received are combined by the sensing and communication switching synthesis module, and the synthesized signal is sent to the digital-to-analog and analog-to-digital conversion circuit in the integrated sensing device. The synthesized signal is converted from analog to digital by the analog-to-digital converter circuit to obtain the processed synthesized signal, and the processed synthesized signal is sent to the digital signal processing circuit. The processed synthetic signal is analyzed by the digital signal processing circuit to obtain the receiving sensing signal and the receiving communication signal, and digital processing is performed on the receiving sensing signal and the receiving communication signal respectively; wherein, the isolation between the sensing radio frequency receiving link and the radio frequency transmitting link is greater than a first isolation threshold.

[0099] For example, in an embodiment of this application, determining a second transmission direction of the sensing signal to be transmitted, and transmitting the sensing signal based on the second transmission direction, includes: The second transmission direction of the sensing signal to be transmitted is determined by the radio frequency transceiver switching circuit in the radio frequency transmission circuit. The sensing signal to be transmitted is transmitted based on the second transmission direction through the communication transceiver and sensing transmitting antenna in the radio frequency transmitting circuit; Alternatively, determining a first transmission direction for the communication signal to be transmitted, and transmitting the communication signal based on the first transmission direction, includes: The first transmission direction of the communication signal to be transmitted is determined by the radio frequency transceiver switching circuit. The communication signal to be transmitted is transmitted via the communication transceiver and sensing transmitting antenna based on the first transmission direction.

[0100] For example, in an embodiment of this application, determining the receiving direction of the communication signal to be received and receiving the communication signal to be received based on the receiving direction includes: The receiving direction of the communication signal to be received is determined by the radio frequency transceiver switching circuit. The communication signal to be received is received by the communication transceiver and sensing transmitting antenna based on the receiving direction.

[0101] It should be noted that the signal transmission method provided in this application embodiment is implemented in the same way as the integrated sensing device shown in the above embodiment, and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0102] On the other hand, embodiments of this application also provide a processor-readable storage medium storing a computer program for causing the processor to execute the signal transmission method provided in the above embodiments. The method includes: determining a first transmission direction of a communication signal to be transmitted in a communication mode via a radio frequency transmitting circuit in the integrated sensing device, and transmitting the communication signal to be transmitted based on the first transmission direction; or, determining a second transmission direction of a sensing signal to be transmitted in a sensing mode, and transmitting the sensing signal to be transmitted based on the second transmission direction; determining a receiving direction of a communication signal to be received in the communication mode via a radio frequency receiving circuit in the integrated sensing device, and receiving the communication signal to be received based on the receiving direction; and receiving the sensing signal to be received in the sensing mode via a sensing receiving module in the integrated sensing device.

[0103] The processor-readable storage medium can be any available medium or data storage device that the processor can access, including but not limited to magnetic memory (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO)), optical memory (e.g., CD, DVD, BD, HVD), and semiconductor memory (e.g., ROM, EPROM, EEPROM, non-volatile memory (NAND FLASH), solid-state drive (SSD)).

[0104] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product implemented on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0105] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. 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-executable instructions. These computer-executable 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... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0106] These processor-executable instructions may also be stored in a processor-readable memory that can direct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory 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.

[0107] These processors can execute instructions that can also be loaded onto a computer or other programmable data processing device, causing a series of operational steps to be performed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable device 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.

[0108] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A sensor-integrated device, characterized in that, include: The radio frequency transceiver switching module and the sensing receiving module are provided, wherein the radio frequency transceiver switching module includes a radio frequency transmitting circuit and a radio frequency receiving circuit; The radio frequency transmitting circuit is configured to, in communication mode, determine a first transmission direction of a communication signal to be transmitted and transmit the communication signal to be transmitted based on the first transmission direction; or, in sensing mode, determine a second transmission direction of a sensing signal to be transmitted and transmit the sensing signal to be transmitted based on the second transmission direction. The radio frequency receiving circuit is used to determine the receiving direction of the communication signal to be received in the communication mode, and to receive the communication signal to be received based on the receiving direction. The sensing receiving module is used to receive the sensing signal to be received in sensing mode.

2. The integrated sensing device according to claim 1, characterized in that, The integrated sensing device also includes a digital signal processing circuit, a digital-to-analog-to-digital converter circuit, and a radio frequency transmission link; The digital signal processing circuit is used to digitally process the initial transmitted sensing signal and send the obtained digital sensing signal to the digital-to-analog and analog-to-digital converter circuit. The digital-to-analog and analog-to-digital conversion circuit is used to perform digital-to-analog conversion on the digital sensing signal to obtain the sensing signal to be transmitted, and to send the sensing signal to be transmitted to the radio frequency transmission circuit through the radio frequency transmission link.

3. The integrated sensing device according to claim 2, characterized in that, The digital signal processing circuit is used to perform digital processing on the initial transmitted communication signal and send the obtained digital communication signal to the digital-to-analog and analog-to-digital converter circuit. The digital-to-analog converter circuit is used to perform digital-to-analog conversion on the digital communication signal to obtain the communication signal to be transmitted, and to send the communication signal to be transmitted to the radio frequency transmission circuit through the radio frequency transmission link.

4. The integrated sensing device according to claim 2 or 3, characterized in that, The integrated sensing device also includes a sensing radio frequency receiving link and a sensing communication switching and synthesis module; The sensing receiving module is also used to send the received sensing signal to be received to the sensing communication switching and synthesizing module through the sensing radio frequency receiving link; The sensing communication switching and synthesis module is used to switch the sensing communication switching and synthesis module to the sensing signal receiving state when the frequency of the sensing signal to be received is the same as that of the communication signal to be received, and to send the sensing signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the received sensing signal to obtain the processed received sensing signal, and send the processed received sensing signal to the digital signal processing circuit. The digital signal processing circuit is also used to perform digital processing on the processed received sensing signal.

5. The integrated sensing device according to claim 2 or 3, characterized in that, The integrated sensing device also includes a radio frequency receiving link and a sensing communication switching and synthesis module; The radio frequency receiving circuit is also used to transmit the received communication signal to be received to the sensing communication switching and synthesis module through the radio frequency receiving link; The sensing communication switching and synthesis module is used to switch the sensing communication switching and synthesis module to a communication signal receiving state when the frequency of the communication signal to be received is the same as that of the sensing signal to be received, and to send the communication signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the communication signal to be received to obtain a processed received communication signal, and send the processed received communication signal to the digital signal processing circuit. The digital signal processing circuit is also used to perform digital processing on the processed received communication signal.

6. The integrated sensing device according to claim 2 or 3, characterized in that, The integrated sensing device also includes a sensing radio frequency receiving link, a radio frequency receiving link, and a sensing communication switching and synthesis module; The sensing receiving module is also used to send the received sensing signal to be received to the sensing communication switching and synthesizing module through the sensing radio frequency receiving link; The radio frequency receiving circuit is also used to transmit the received communication signal to be received to the sensing communication switching and synthesis module through the radio frequency receiving link; The sensing and communication switching synthesis module is used to synthesize the sensing signal to be received and the communication signal to be received when their frequencies are different, and then send the synthesized signal to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit is also used to perform analog-to-digital conversion on the synthesized signal to obtain the processed synthesized signal, and send the processed synthesized signal to the digital signal processing circuit. The digital signal processing circuit is further configured to analyze the processed synthetic signal to obtain the receiving sensing signal and the receiving communication signal, and to perform digital processing on the receiving sensing signal and the receiving communication signal respectively; wherein the isolation between the sensing radio frequency receiving link and the radio frequency transmitting link is greater than a first isolation threshold.

7. The integrated sensing device according to claim 4, characterized in that, The number of the sensing communication switching synthesis modules is at least one.

8. The integrated sensing device according to any one of claims 1-3, characterized in that, The radio frequency transmission circuit includes a radio frequency transceiver switching circuit and a communication transceiver and sensing transmission antenna. The radio frequency transceiver switching circuit is used to determine the second transmission direction of the sensing signal to be transmitted; The communication transceiver and sensing transmitting antenna is used to transmit the sensing signal to be transmitted based on the second transmitting direction; or, The radio frequency transceiver switching circuit is also used to determine the first transmission direction of the communication signal to be transmitted; The communication transceiver and sensing transmitting antenna is also used to transmit the communication signal to be transmitted based on the first transmitting direction.

9. The integrated sensing device according to claim 8, characterized in that, The radio frequency transceiver switching circuit is also used to determine the receiving direction of the communication signal to be received; The communication transceiver and sensing transmitting antenna is also used to receive the communication signal to be received based on the receiving direction.

10. The integrated sensing device according to claim 8, characterized in that, The sensing and receiving module includes a sensing and receiving antenna, which is disposed in two different roof areas with the communication transceiver and sensing transmitting antenna, and the isolation between the sensing and receiving antenna and the communication transceiver and sensing transmitting antenna is greater than a second isolation threshold.

11. A signal transmission method, characterized in that, The method, applied to the integrated sensing device according to any one of claims 1-10, comprises: In communication mode, the radio frequency transmission circuit in the integrated sensing device determines a first transmission direction of the communication signal to be transmitted and transmits the communication signal to be transmitted based on the first transmission direction; or, in sensing mode, it determines a second transmission direction of the sensing signal to be transmitted and transmits the sensing signal to be transmitted based on the second transmission direction. In the communication mode, the radio frequency receiving circuit in the integrated sensing device determines the receiving direction of the communication signal to be received, and receives the communication signal to be received based on the receiving direction. The sensing receiving module in the integrated sensing device receives the sensing signal to be received in sensing mode.

12. The signal transmission method according to claim 11, characterized in that, The method further includes: The initial transmitted sensing signal is digitally processed by the digital signal processing circuit in the integrated sensing device, and the resulting digital sensing signal is sent to the digital-to-analog and analog-to-digital converter circuit in the integrated sensing device. The digital sensing signal is converted from digital to analog by the digital-to-analog converter circuit to obtain the sensing signal to be transmitted, and then the sensing signal to be transmitted is sent to the radio frequency transmission circuit through the radio frequency transmission link.

13. The signal transmission method according to claim 12, characterized in that, The method further includes: The initial transmitted communication signal is digitally processed by the digital signal processing circuit, and the resulting digital communication signal is sent to the digital-to-analog and analog-to-digital converter circuit. The digital communication signal is converted from digital to analog by the digital-to-analog converter circuit to obtain the communication signal to be transmitted, and the communication signal to be transmitted is sent to the radio frequency transmission circuit through the radio frequency transmission link.

14. The signal transmission method according to claim 12 or 13, characterized in that, The method further includes: The received sensing signal is transmitted to the sensing communication switching and synthesis module in the integrated sensing device via the sensing radio frequency receiving link in the integrated sensing device through the sensing receiving module in the integrated sensing device. When the frequency of the sensing signal to be received is the same as that of the communication signal to be received, the sensing communication switching and synthesis module switches the sensing communication switching and synthesis module to the sensing signal receiving state, and sends the sensing signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit performs analog-to-digital conversion on the signal to be received to obtain a processed received signal, and then sends the processed received signal to the digital signal processing circuit. The received sensing signal is digitally processed by the digital signal processing circuit.

15. The signal transmission method according to claim 12 or 13, characterized in that, The method further includes: The received communication signal to be received is transmitted to the sensing communication switching and synthesis module in the integrated sensing device through the radio frequency receiving circuit in the integrated sensing device via the radio frequency receiving link in the integrated sensing device. When the frequency of the communication signal to be received is the same as that of the sensing signal to be received, the sensing communication switching and synthesis module switches the sensing communication switching and synthesis module to the communication signal receiving state, and sends the communication signal to be received to the digital-to-analog and analog-to-digital conversion circuit. The analog-to-digital converter circuit performs analog-to-digital conversion on the communication signal to be received to obtain a processed received communication signal, and then sends the processed received communication signal to the digital signal processing circuit. The received communication signal is digitally processed by the digital signal processing circuit.

16. The signal transmission method according to claim 12 or 13, characterized in that, The method further includes: The received sensing signal is transmitted through the sensing receiving module to the sensing communication switching and synthesis module in the integrated sensing device via the sensing radio frequency receiving link in the integrated sensing device. The received communication signal to be received is transmitted to the sensing communication switching and synthesis module through the radio frequency receiving link via the radio frequency receiving circuit. When the frequencies of the sensing signal to be received and the communication signal to be received are different, the sensing signal to be received and the communication signal to be received are combined by the sensing and communication switching synthesis module, and the synthesized signal is sent to the digital-to-analog and analog-to-digital conversion circuit in the integrated sensing device. The synthesized signal is converted from analog to digital by the analog-to-digital converter circuit to obtain the processed synthesized signal, and the processed synthesized signal is sent to the digital signal processing circuit. The processed synthetic signal is analyzed by the digital signal processing circuit to obtain the receiving sensing signal and the receiving communication signal, and digital processing is performed on the receiving sensing signal and the receiving communication signal respectively; wherein, the isolation between the sensing radio frequency receiving link and the radio frequency transmitting link is greater than a first isolation threshold.

17. The signal transmission method according to any one of claims 11-13, characterized in that, Determining a second transmission direction for the sensing signal to be transmitted, and transmitting the sensing signal based on the second transmission direction, includes: The second transmission direction of the sensing signal to be transmitted is determined by the radio frequency transceiver switching circuit in the radio frequency transmission circuit. The sensing signal to be transmitted is transmitted based on the second transmission direction through the communication transceiver and sensing transmitting antenna in the radio frequency transmitting circuit; Alternatively, determining a first transmission direction for the communication signal to be transmitted, and transmitting the communication signal based on the first transmission direction, includes: The first transmission direction of the communication signal to be transmitted is determined by the radio frequency transceiver switching circuit. The communication signal to be transmitted is transmitted via the communication transceiver and sensing transmitting antenna based on the first transmission direction.

18. The signal transmission method according to claim 17, characterized in that, Determining the receiving direction of the communication signal to be received, and receiving the communication signal to be received based on the receiving direction, includes: The receiving direction of the communication signal to be received is determined by the radio frequency transceiver switching circuit. The communication signal to be received is received by the communication transceiver and sensing transmitting antenna based on the receiving direction.

19. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the signal transmission method as described in any one of claims 11 to 18.

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