Communication and perception integrated device with super-resolution and calibration method

Abstract

This application relates to a communication-sensing integrated device and calibration method with super-resolution, which can improve the angular resolution of antennas at low cost, thereby enhancing sensing capabilities. The communication-sensing integrated device includes: multiple beam channels for beamforming received signals during communication and sensing phases; first ends of the multiple beam channels are connected to multiple antennas, and second ends of the multiple beam channels are connected to a baseband; during the communication and sensing phases, the multiple antennas are time-division multiplexed for receiving the received signals; wherein the multiple antennas include multiple antenna subarrays; multiple first radio frequency circuits connected between the baseband and the multiple beam channels for down-converting the received signals; a combining module for combining the received signals; and a switching module configured to selectively route the received signals from the multiple beam channels to the combining module.

Description

TECHNICAL FIELD

[0001] The present application relates to a communication-sensing integrated device with super-resolution and a calibration method. BACKGROUND

[0002] Integrated sensing and communication (ISAC) can unify the design of communication and sensing functions, wherein the communication service is used to transmit data, such as voice data, between the user and the user; the sensing service is used for radar positioning, so that the wireless network realizes high-precision and fine-sensing functions while performing high-quality communication interaction, thereby improving the overall performance and service capability of the network.

[0003] In the ISAC system, it is expected to improve the angular resolution of the antenna, and the resolution is often limited by the physical size of the antenna array, and the increase of the physical size of the antenna array will significantly increase the cost of the system.

[0004] Therefore, there is an urgent need for a means to improve the angular resolution of the antenna in a low-cost manner, thereby improving the sensing function. SUMMARY

[0005] The purpose of the present application is to provide a communication-sensing integrated device with super-resolution and a calibration method, which can improve the angular resolution of the antenna in a low-cost manner, thereby improving the sensing function.

[0006] The present application discloses a communication-sensing integrated device with super-resolution, comprising: a plurality of beam channels for beamforming a received signal in a communication phase and a sensing phase; a first end of each of the plurality of beam channels is connected to a plurality of antennas, and a second end of each of the plurality of beam channels is connected to a baseband; in the communication phase and the sensing phase, the plurality of antennas are time-division multiplexed for receiving the received signal; wherein the plurality of antennas comprise a plurality of antenna subarrays; a plurality of first radio frequency circuits connected between the baseband and the plurality of beam channels, at least for down-converting the received signal in the sensing phase; a combining module for combining the received signal; a switching module configured to selectively route the received signal from the plurality of beam channels to the combining module; wherein when the received signal is routed from the plurality of beam channels to the combining module, the received signals of the plurality of antenna subarrays are combined by the combining module to form a first beam; when the received signal bypasses the combining module, the received signals of the plurality of antenna subarrays are used to form a plurality of second beams; the number of the second beams is greater than the number of the first beams.

[0007] In the present scheme, the communication stage and the perception stage share the beam channels and the antennas, and the receiving signals are selectively routed from the multiple beam channels to the combining module by the switching module, so that in the communication stage and the perception stage, the multiple antennas (including multiple antenna subarrays) can form different numbers of receiving beams, which can ensure the communication quality in the communication stage and form multiple perception beams in the perception stage to expand the virtual antenna aperture.

[0008] In the communication stage, the switching module routes the receiving signals from the multiple beam channels to the combining module for the combining module to combine the receiving signals from the multiple beam channels, so that the receiving signals received by the multiple antenna subarrays are combined by the combining module to form at least one first beam (for example, one first beam), which can ensure the communication quality in the communication stage.

[0009] In the perception stage, the switching module bypasses the combining module, the combining module is disconnected, and the receiving signals received by the multiple antenna subarrays are not combined by the combining module, and through the multiple input multiple output (MIMO) technology, multiple second beams (for example, four second beams) are formed to expand the virtual antenna aperture, significantly improve the angle resolution, and realize high-precision perception.

[0010] The present scheme flexibly adapts to different requirements of communication and perception on beam patterns through hardware multiplexing and dynamic path switching without increasing the physical number of antennas. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 A hardware architecture block diagram of a communication and perception integrated system according to an embodiment of the present application is shown;

[0012] Figure 2A and Figure 2B A structural schematic diagram of a communication and perception integrated device according to some embodiments of the present application is shown;

[0013] Figure 3A and Figure 3B A structural schematic diagram of a communication and perception integrated device according to a first embodiment of the present application is shown;

[0014] Figures 3C-3E Another structural schematic diagram of a communication and perception integrated device according to the first embodiment of the present application is shown;

[0015] Figures 4A-4C A structural schematic diagram of a communication and perception integrated device according to a second embodiment of the present application is shown;

[0016] Figures 5A-5CA structural schematic diagram of a communication and sensing integrated device according to a third embodiment of the present application is shown.

[0017] Figures 6A to 6C A virtual aperture schematic diagram of an antenna array in different states in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0018] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions of the embodiments of the present application will be described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments of the present application. Based on the described embodiments of the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort belong to the scope of protection of the present application.

[0019] First, the use scenario of the present application is described.

[0020] The ISAC can uniformly design the communication and sensing functions, wherein the communication service is used to transmit data, such as voice data, between the user and the ISAC, and the sensing service is used for radar positioning, so that the wireless network can realize high-precision and fine-sensing functions while performing high-quality communication interaction, thereby improving the overall performance and service capability of the network.

[0021] Both the sensing service and the communication service need multiple antennas to transmit and / or receive signals, wherein the signals on the multiple antennas can be combined coherently, so that the multiple antennas can transmit directional electromagnetic wave energy or receive directional electromagnetic wave energy. The way that the signals on the multiple antennas can be combined can be referred to as beamforming. Beamforming forms a strengthened signal in the desired direction and suppresses the signal in other directions by adjusting the amplitudes and / or phases of the multiple antennas. The directional electromagnetic wave energy transmitted or received by the multiple antennas can be referred to as a beam.

[0022] Figure 1 A hardware architecture block diagram of a communication and sensing integrated system according to an embodiment of the present application is shown. As shown in Figure 1 The communication and sensing integrated system includes a signal transmitter 210 and a signal receiver 220.

[0023] The signal transmitter 210 includes: a channel encoder 212, used to receive a signal stream and encode the signal to increase anti-interference and error correction capabilities, wherein the signal stream includes a communication stream and a sensing reference, the sensing reference serving as a positioning reference signal; a modulator 213, which receives the signal encoded by the channel encoder 212 and modulates the signal, including amplitude modulation and frequency modulation; a pre-encoder 214, which receives the signal modulated by the modulator 213 and pre-encodes it before transmission to optimize the signal's transmission quality, efficiency, and anti-interference capabilities; a D / A converter 215, which receives the digital signal pre-encoded by the pre-encoder 214 and converts it into an analog signal for subsequent processing; and an RF front-end 216, which receives the analog signal output from the D / A converter 215 and amplifies, filters, mixes, combines / splitters, phase-shifts, or otherwise processes the analog signal. One or more of the following processing methods: beamforming; antenna 211, used to transmit communication and sensing signals, that is, to transmit the signal processed by radio frequency front-end 216; wherein, the transmission of communication signals and sensing signals can be time-division multiplexed. In the communication phase, the signal stream passes sequentially through channel encoder 212, modulator 213, pre-encoder 214, D / A converter 215, and radio frequency front-end 216, and then the communication signal is transmitted by antenna 211; in the sensing phase, the sensing reference passes sequentially through channel encoder 212, modulator 213, pre-encoder 214, D / A converter 215, and radio frequency front-end 216, and then the sensing signal is transmitted by antenna 211.

[0024] The signal receiver 220 includes an antenna 221 for receiving communication signals and sensing signals; and a radio frequency front-end 222 for performing one or more of the following processing on the signals received by the antenna 221: amplification, filtering, combining / splitting, phase shifting, or beamforming. In this embodiment, during the communication phase, the radio frequency front-end 222 performs one or more of the following processing on the received communication signals: amplification, filtering, combining / splitting, phase shifting, or beamforming. During the sensing phase, the radio frequency front-end 222 also performs sum and difference calculations on the received sensing signals to facilitate the location of the device to be detected.

[0025] The signal receiver 220 also includes an A / D converter 223, which receives the analog signal processed by the RF front-end 222 and converts the received analog signal into a digital signal. The analog signal may include analog communication signals and analog sensing signals. A clock frequency offset 224 receives the digital signal output from the A / D converter 223 and corrects the frequency offset of the received signal to ensure signal synchronization. A channel estimation 225 receives the signal corrected by the clock frequency offset 224 during the communication phase and estimates channel characteristics for signal recovery and decoding. A MIMO equalizer 226 receives the signal processed by the channel estimation 225 during the communication phase. Used in multiple-input multiple-output (MIMO) systems to equalize signals to reduce interference and multipath effects; demodulation 227 receives the signal processed by MIMO equalizer 226 during the communication phase, and uses it to restore the received modulated signal to the original digital signal, restoring the original communication stream, and facilitating the transmission of communication information; matched filter 228 receives the signal corrected by clock frequency offset 224 during the sensing phase, filters the signal, and improves the sensitivity and accuracy of signal detection; moving target detector 229 receives the signal filtered by matched filter 228 during the sensing phase, and uses it to detect the presence and position of moving targets; CFAR Detector 230 receives signals from moving target detector 229 during the perception phase and is used to detect targets in a noisy background; DoA estimator 231 receives signals from CFAR detector 230 during the perception phase and estimates the direction of signal arrival; clustering 232 receives signals from DoA estimator 231 during the perception phase and is used to perform cluster analysis on detected targets to identify and classify different targets; object detection 233 receives signals from clustering 232 during the perception phase and is used to detect and identify target objects; target tracking 234 receives signals from object detection 233 during the perception phase and is used to track the trajectory of the target.

[0026] In this ISAC system, the pre-encoder 214, modulator 213, channel encoder 212, channel estimator 225, MIMO equalizer 226, and demodulator 227 are used for communication functions to parse information such as voice data carried in communication signals (or communication streams); the matched filter 228, moving target detector 229, CFAR detector 230, DoA estimator 231, clustering 232, object detection 233, and target tracking 234 are used for sensing functions to obtain the location or trajectory information of the device under test from the sensing signal (or communication reference). The antenna 211, RF front-end 216, antenna 221, RF front-end 222, and clock frequency offset 224 all play the same role when the system performs sensing and communication functions, and therefore can be multiplexed. For example, if the sensing and communication functions are performed in a time-sharing manner (described in detail below), then the antenna 211, RF front-end 216, antenna 221, RF front-end 222, and clock frequency offset 224 can be multiplexed in different operating periods. In some embodiments, the antenna of the signal transmitter 210 can be time-division multiplexed with the antenna of the signal receiver 220, and the radio frequency front-end of the signal transmitter 210 can be time-division multiplexed with the radio frequency front-end of the signal receiver 220.

[0027] In an ISAC system, it is desirable to improve the angular resolution of the antenna. The minimum resolvable angle of the antenna is proportional to the physical size of the antenna array. Increasing the physical size of the antenna array will significantly increase the cost of the system.

[0028] MIMO (Multiple-Input Multiple-Output) technology refers to the technique of simultaneously using multiple beams to transmit and receive signals using both transmit and receive antenna arrays. Multiple transmit beams emit orthogonal signals, and multiple receive beams simultaneously receive the echoes reflected from the target. MIMO technology allows the physical transmit and receive antenna arrays to be represented as a much larger virtual antenna array, or virtual aperture. The size of this virtual aperture directly determines the angular resolution of the system.

[0029] Angular resolution is a key performance indicator for measuring the ability of a sensing system to distinguish between two nearby targets in space. It is defined as the minimum angular interval between two equidistant targets that the system can distinguish. Angular resolution is inversely proportional to the aperture of the antenna (including the virtual aperture); the larger the virtual aperture, the higher the angular resolution, meaning a stronger ability to distinguish between nearby targets.

[0030] Figure 2A A schematic diagram of the structure of a communication sensing integrated device according to some embodiments of this application in one state is shown, and Figure 2B A schematic diagram of the integrated communication sensing device according to some embodiments of this application is shown in another state. For example... Figure 2AAs shown, the integrated communication and sensing device includes multiple beam channels 100 for beamforming the received signals during the communication and sensing phases. The received signals include communication received signals and sensing received signals. The communication and sensing signals are transmitted and received in a time-division multiplexing manner. The communication signals carry information data, such as voice data, while the sensing signals have waveform characteristics for detection and do not include information data; they are used for target detection and localization.

[0031] Beamchannel 100 includes at least one amplitude / phase unit. As an example, the amplitude / phase unit is a phase shifter 100a and / or an amplitude modulator 100b. The phase shifter 100a is used to adjust the phase of the corresponding service signal (i.e., communication signal and sensing signal) based on a phase-shift code, and the amplitude modulator 100b is used to adjust the amplitude of the corresponding service signal based on an amplitude code. The amplitude modulator 100b includes components such as an attenuator or a variable gain amplifier. In one example, beamchannel 100 includes a phase shifter and an amplitude modulator connected in series, thereby enabling both phase and amplitude adjustment of the corresponding service signal.

[0032] As an example, Figure 2A With 64 beam channels 1001-100 64 For example, to illustrate, and in order to show clearly, Figure 2A Only beam channels 1001-1004 and 100 are shown in detail. 13 -100 16 Specific details are omitted for brevity; details of other beam channels are omitted. Each beam channel 100 has its first end connected to antenna 200 and its second end connected to baseband 300.

[0033] Antenna 200 is located at the rear end of the integrated communication and sensing device, and can transmit communication reception signals and sensing reception signals to the integrated communication and sensing device. Figure 2A In the diagram, each antenna 200 is indicated by an "X" symbol because there are a total of 64 beam channels. Accordingly, the 64 beam channels correspond to 64 antennas 2001-200. 64 During the communication and sensing phases, multiple antennas are time-multiplexed in a 200-fold manner to receive the received signal.

[0034] Multiple antennas 200 are arranged in an antenna array, for example in Figure 2A In this configuration, the antenna array is an 8×8 array, which includes multiple antenna subarrays 201, for example in... Figure 2A The system comprises four antenna subarrays 2011-2014, each of which is a 4×4 array. This subarray division provides the hardware foundation for subsequent implementation of different beamforming methods in the communication and sensing stages (such as combining to form a single beam or processing independently to form multiple beams).

[0035] The integrated communication and sensing device may also include a baseband 300, which is located at the front end of the integrated communication and sensing device and can transmit communication transmission signals and sensing transmission signals to the integrated communication and sensing device.

[0036] Continue as Figure 2A As shown, the integrated communication and sensing device also includes multiple first radio frequency (RF) circuits 400 connected between the baseband 300 and multiple beam channels 100, which down-convert the received signal at least during the sensing phase. The RF circuits typically include mixers and local oscillators, used to convert high-frequency RF signals into intermediate frequency (IF) or baseband signals for processing by the baseband 300. Figure 2A In this circuit, the communication receiving signal and the sensing receiving signal share the first radio frequency circuit 400, thereby realizing hardware multiplexing of the radio frequency front end.

[0037] As an example, Figure 2A The output signals of the 16 beam channels 100 (corresponding to a 4×4 antenna subarray 201) are combined into one path and connected to a first RF circuit 400. Since the entire antenna array is divided into four antenna subarrays 2011-2014, a total of four first RF circuits 4001-4004 are configured. Here, "combined into one path" means that before entering the RF downconversion stage, the signals of multiple beam channels corresponding to the same subarray are first combined into one signal by the power divider 110, so that the signals received by the same subarray are combined into a single directional beam.

[0038] Furthermore, the integrated communication and sensing device also includes a combiner module 500 for combining received signals, connecting them in the receiving path between the multiple beam channels 100 and the baseband 300. For ease of explanation, Figure 2A Only the combiner module 500 is shown connected in the receiving path between the multiple beam channels 100 and the baseband 300, and located between the first RF circuit 400 and the baseband 300. However, it should be understood that the combiner module 500 may also be located in other locations, such as between the beam channels 100 and the first RF circuit 400, or within the baseband 300, etc., which will be further described in subsequent embodiments.

[0039] Continue as Figure 2A As shown, the integrated communication and sensing device also includes a switching module 600, which is configured to route the received signal from the beam channel 100 to the combining module 500, for example in... Figure 2A In this process, the switching module 600 selectively turns the combining module 500 on or off in the receiving path between multiple beam channels 100 and the baseband 300, dynamically switching the working modes of communication and sensing.

[0040] Figure 2B This illustrates the flow of received communication signals during the communication phase. For example... Figure 2B As shown, when the received signal travels from multiple beam channels 100 to the combining module 500, the combining module 500 is activated in the receiving path between the multiple beam channels 100 and the baseband 300. The received signals from the multiple antenna subarrays 201 are independently down-converted by their respective first RF circuits 400 and then combined by the combining module 500 to form at least one first beam (e.g., a communication beam). This mode is suitable for the communication phase, where the received signal is a communication signal, and the multiple antenna subarrays 201 as a whole form a communication beam to ensure communication quality.

[0041] like Figure 1 The diagram shows the direction of the received sensing signal during the sensing phase. (Example:) First embodiment As shown, when the received signal bypasses the combining module 500, and when the combining module 500 is not conducting in the receiving path between the multiple beam channels 100 and the baseband 300 (i.e., the combining module 500 is disconnected), the received signal flows through multiple first radio frequency circuits 400 and is then transmitted to the baseband 300. In other words, the received signals of each antenna subarray 201 are no longer combined, but are independently down-converted by their respective first radio frequency circuits 400 and then sent to the baseband 300. The received signals of the multiple antenna subarrays 201 are used to form multiple second beams (e.g., four independent sensing beams). Because the received signals are not combined, the number of second beams is greater than the number of first beams. This mode is suitable for the sensing stage, where the received signal is the sensing received signal. The multiple antenna subarrays 201 form multiple sensing beams through MIMO technology, expanding the virtual antenna aperture, significantly improving angular resolution, and achieving high-precision sensing.

[0042] Therefore, this application dynamically controls the access state of the combining module 500 through the switching module 600. Based on the reuse of the first RF circuit 400 and the antenna array, it achieves two working modes: communication and sensing. Without increasing the physical size of the antenna array, this application can guarantee communication quality in the communication phase and improve the angular resolution in the sensing phase, thereby improving sensing accuracy. The number of antennas used in the communication and sensing phases can be the same; the number of antennas used in the sensing phase does not decrease due to mode switching, thus improving antenna utilization.

[0043] In some embodiments, the beam channel 100 and the first radio frequency circuit 400 (and other radio frequency circuits described below) may belong to Figure 3A In a transceiver system, the RF front-end 216 or RF front-end 222 can share some hardware resources for receiving and transmitting. In this case, the RF front-end 216 and RF front-end 222 can be integrated or merged into a unified transceiver shared RF front-end module.

[0044] Figure 2A

[0045] In the first embodiment, the combining module 500 is located between the first radio frequency circuit 400 and the baseband 300.

[0046] Figure 2B A schematic diagram of the structure of a communication sensing integrated device according to a first embodiment of this application is shown. Compared to Figure 3A and Figure 3A ,exist Figure 3A The intermediate combiner module 500 includes a first combiner 501, which is connected between multiple first radio frequency circuits 400 and baseband 300 for combining received signals.

[0047] In this case, the switching module 600 is configured to connect the first combiner 501 and the first radio frequency circuit 400 in the receiving path between the beam channel 100 and the baseband 300, or to connect multiple first radio frequency circuits 400 in the receiving path between the beam channel 100 and the baseband 300.

[0048] Continue as Figure 3A As shown, the switching module 600 includes a plurality of first switching switches 601. As an example, Figure 3A One first radio frequency circuit 400 is connected to one first switching switch 601, so there are a total of four first switching switches 6011-6014.

[0049] The first switch 601 includes a first terminal to a third terminal. The first terminal of the first switch 601 is connected to the baseband 300, the second terminal of the first switch 601 is connected to the first combiner 501, and the third terminal of the first switch 601 is connected to the first radio frequency circuit 400. The first switch 601 is configured to connect the first terminal of the first switch 601 to the third terminal of the first switch 601, or to connect the second terminal of the first switch 601 to the third terminal of the first switch 601.

[0050] When the first terminal of the first switching switch 601 is switched to the third terminal, the first switching switch 601 connects the four first radio frequency circuits 400 in the receiving path between the beam channel 100 and the baseband 300. When the second terminal of the first switching switch 601 is switched to the third terminal, the first switching switch 601 connects the first combiner 501 and the four first radio frequency circuits 400 in the receiving path between the beam channel 100 and the baseband 300.

[0051] Figure 3B This illustrates the flow of received communication signals during the communication phase. For example... Figure 3BAs shown, during the communication reception phase, the switching module 600 connects the first combiner 501 and the first radio frequency circuit 400 in the reception path between the beam channel 100 and the baseband 300. The received signals of the four antenna subarrays 201 flow through the four first radio frequency circuits 400 and are combined by the first combiner 501 and transmitted to the baseband 300. The baseband 300 receives one communication reception signal, forming one first beam.

[0052] like Figure 3C The diagram shows the direction of the received sensing signal during the sensing phase. (Example:) Figure 3A As shown, during the sensing and receiving phase, the switching module 600 connects multiple first radio frequency circuits 400 in the receiving path between the beam channel 100 and the baseband 300. The first combiner 501 is not connected. The received signals of the four antenna subarrays 201 are transmitted to the baseband 300 after passing through the four first radio frequency circuits 400. The baseband 300 receives the four sensing and receiving signals, forming four second beams.

[0053] Figure 3C Another structural schematic diagram of the communication sensing integrated device according to the first embodiment of this application is shown. Compared to Figure 3C ,exist Figure 3C The integrated communication and sensing device also includes a second radio frequency circuit 700, connected between the multiple beam channels 100 and the baseband 300, for up-converting the transmitted signal. The multiple beam channels 100 are also used for beamforming the transmitted signal during the communication and sensing phases.

[0054] The baseband 300 transmits communication transmission signals and sensing transmission signals to the second radio frequency circuit 700, and the first radio frequency circuit 400 transmits communication reception signals and sensing reception signals to the baseband 300. The reception signals and transmission signals do not share the same radio frequency circuit.

[0055] Continue as Figure 3C As shown, the integrated communication and sensing device also includes a first splitter 800, connected between the second radio frequency circuit 700 and multiple beam channels 100, for splitting the transmitted signal. Due to the use of the first splitter 800, in... Figure 3C Only one second RF circuit 700 is needed.

[0056] Continue as Figure 3C As shown, the integrated communication and sensing device also includes multiple second switching switches 900. As an example, Figure 3C The 16 beam channels 100 are connected to one second switching switch 900, so there are a total of 4 second switching switches 9001-9004.

[0057] The second switch 900 includes a first terminal to a third terminal. The first terminal of the second switch 900 is connected to the first radio frequency circuit 400, the second terminal of the second switch 900 is connected to the first splitter 501, and the third terminal of the second switch 900 is connected to the beam channel 100. The second switch 900 is configured to either connect the first terminal of the second switch 900 to the third terminal of the second switch 900, or connect the second terminal of the second switch 900 to the third terminal of the second switch 900.

[0058] like Figure 3C As shown, the integrated communication sensing device also includes a driver 1000 connected between the first radio frequency circuit 400 and the second radio frequency circuit 700 and the beam channel 100. The driver 1000 includes a receive amplifier 1001 and a transmit amplifier 1002, used to amplify the received signal or the transmitted signal, respectively. As an example, Figure 3D The diagram illustrates four drivers 10001-10004, and 16 beam channels 100 connected to one receive amplifier 1001 and one transmit amplifier 1002, resulting in a total of four receive amplifiers 10011-10014 and four transmit amplifiers 10021-10024. The receive amplifiers are connected between the first terminal of the corresponding second switch and the first RF circuit. For illustration, receive amplifier 10011 is connected between the first terminal of the second switch 9001 and the first RF circuit 4001. The transmit amplifiers are connected between the second terminal of the corresponding second switch and the first splitter. For illustration, transmit amplifier 10021 is connected between the second terminal of the second switch 9001 and the first splitter 8001.

[0059] Figure 3E The flow of the received communication signal during the communication phase is shown. During the communication reception phase, the first terminal of the second switching switch 900 is switched to the third terminal of the second switching switch 900, and the second terminal of the first switching switch 601 is switched to the third terminal of the first switching switch 601. The received communication signal, beamformed by the beam channel 100, flows through four first radio frequency circuits 400 and is then combined into one path by the first combiner 501 and transmitted to the baseband 300.

[0060] Second embodiment The flow of the sensing and receiving signal during the sensing phase is shown. During the sensing and receiving phase, the first terminal of the second switching switch 900 is turned on to the third terminal of the second switching switch 900, and the path between the first radio frequency circuit 400 and the beam channel 100 is connected. At this time, when the first terminal of the first switching switch 601 is turned on to the third terminal of the first switching switch 601, the sensing and receiving signal, which is beamformed by the beam channel 100, flows through the four first radio frequency circuits 400 and is then transmitted to the baseband 300.

[0061] Figure 4AThe flow of communication and sensing transmission signals is shown. During the transmission phase, which includes both communication and sensing transmission phases, the second terminal of the second switching switch 900 is switched to the third terminal, connecting the path between the second RF circuit 700 and the beam channel 100. At this time, the transmission signal (communication or sensing transmission signal) from the baseband 300 flows through the second RF circuit 700 and is then split into four paths by the first splitter 800 and transmitted to the beam channel 100 for beamforming.

[0062] Figure 2A

[0063] In the second embodiment, the combining module is located between the beam channel 100 and the first radio frequency circuit 400, and the combining module includes a second combiner 800'.

[0064] Figure 2B A schematic diagram of the integrated communication sensing device according to a second embodiment of this application is shown. Compared to Figure 4A and Figure 4A ,exist Figure 4A The integrated communication and sensing device also includes a third radio frequency circuit 1100, connected between multiple beam channels 100 and the baseband 300, used for down-conversion of the received signal during the communication phase. Figure 4A In this circuit, the communication receiving signal and the sensing receiving signal do not share the same radio frequency circuit. The communication receiving signal flows through the third radio frequency circuit 1100, and the sensing receiving signal flows through the first radio frequency circuit 400.

[0065] Continue as Figure 4A As shown, the second combiner 800' is connected between the third radio frequency circuit 1100 and the plurality of beam channels 100 for combining received signals, and more specifically, for combining communication received signals.

[0066] In this configuration, the switching module is configured to connect the second combiner 800' and the third RF circuit 1100 in the receiving path between the beam channel 100 and the baseband 300, or to connect multiple first RF circuits 400 in the receiving path between the beam channel 100 and the baseband 300.

[0067] Continue as Figure 4A As shown, the switching module includes multiple third switching switches 900. As an example, Figure 4A The 16 beam channels 100 are connected to one third switch 900, so there are a total of 4 third switches 9001-9004.

[0068] The third switch 900 includes a first terminal to a third terminal. The first terminal of the third switch 900 is connected to the first radio frequency circuit 400, the second terminal of the third switch 900 is connected to the third radio frequency circuit 1100, and the third terminal of the third switch 900 is connected to the beam channel 100. The third switch 900 is configured to connect the first terminal of the third switch 900 to the third terminal of the third switch 900, or to connect the second terminal of the third switch 900 to the third terminal of the third switch 900.

[0069] exist Figure 4B In addition to down-converting the received communication signal, the third radio frequency circuit 1100 can also be used to up-convert the transmitted signal during the communication phase. Multiple beam channels 100 are also used for beamforming the transmitted signal during the communication and sensing phases. At this time, the second combiner 800' also functions as a splitter to branch the transmitted signal.

[0070] The baseband 300 transmits communication transmission signals and sensing transmission signals to the third radio frequency circuit 1100, and the third radio frequency circuit 1100 transmits communication reception signals to the baseband 300. The communication reception signals and transmission signals share the third radio frequency circuit 1100.

[0071] like Figure 4A As shown, the driver 1000 of the integrated communication sensing device is connected between the first radio frequency circuit 400 and the beam channel 100, and also connected between the third radio frequency circuit 1100 and the beam channel 100. The driver 1000 includes a receive amplifier 1001 and a transmit amplifier 1002, used to amplify the received signal or the transmitted signal, respectively. As an example, Figure 4A The 16 beam channels 100 are connected to one receiver amplifier 1001 and one transmitter amplifier 1002, so there are a total of 4 receiver amplifiers 10011-10014 and 4 transmitter amplifiers 10021-10024.

[0072] exist Figure 4A In this configuration, the first terminal of the third switch 900 is connected to the input terminal of the receiving amplifier 1001, the second terminal of the third switch 900 is connected to the output terminal of the transmitting amplifier 1002, and the third terminal of the third switch 900 is connected to the beam channel 100. The third switch 900 is configured to either connect the first terminal of the third switch 900 to the third terminal of the third switch 900, or connect the second terminal of the third switch 900 to the third terminal of the third switch 900.

[0073] Continue as Figure 4A As shown, the switching module also includes multiple fourth switching switches 1200. As an example, Figure 4BIn the middle section, the receiving amplifier 1001 and the transmitting amplifier 1002 share one fourth switching switch 1200, so there are a total of 4 fourth switching switches 12001-12004.

[0074] The fourth switch 1200 includes a first terminal to a third terminal. The first terminal of the fourth switch 1200 is connected to the output terminal of the receiving amplifier 1001, the second terminal of the fourth switch 1200 is connected to the input terminal of the transmitting amplifier 1002, and the third terminal of the fourth switch 1200 is connected to the third radio frequency circuit 1100. The fourth switch 1200 is configured to either connect the first terminal of the fourth switch 1200 to the third terminal, or connect the second terminal of the fourth switch 1200 to the third terminal.

[0075] Figure 4C The diagram illustrates the flow of the received communication signal during the communication phase. During the communication reception phase, the second terminal of the third switch 900 is connected to the third terminal of the third switch 900, and the first terminal of the fourth switch 1200 is connected to the third terminal of the fourth switch 1200. The second combiner 800' and the third radio frequency circuit 1100 are connected in the receiving path between the beam channel 100 and the baseband 300. The received communication signal, beamformed by the beam channel 100, is amplified by the receiving amplifier 1001 and combined into one path by the second combiner 800'. This single received communication signal flows through the third radio frequency circuit 1100 and is then transmitted to the baseband 300.

[0076] Figure 4A The flow of the sensing and receiving signals during the sensing phase is shown. During the sensing and receiving phase, the first terminal of the third switching switch 900 is connected to the third terminal of the third switching switch 900, and the second terminal of the fourth switching switch 1200 is connected to the third terminal of the fourth switching switch 1200. Multiple first radio frequency circuits 400 are connected in the receiving path between the beam channel 100 and the baseband 300. The sensing and receiving signals, beamformed by the beam channel 100, are amplified by the receiving amplifier 1001 and flow through the first radio frequency circuits. These four sensing and receiving signals are then transmitted to the baseband 300.

[0077] Third embodiment The flow of communication transmission signals and sensing transmission signals is shown. During the transmission phase, the second terminal of the third switch 900 is connected to the third terminal of the third switch 900, and the first terminal of the fourth switch 1200 is connected to the third terminal of the fourth switch 1200. The second combiner 800' and the third radio frequency circuit 1100 are connected in the receiving path between the beam channel 100 and the baseband 300. The transmission signal from the baseband 300 flows through the third radio frequency circuit 1100 and is split into four paths by the second combiner 800'. It is then amplified by the transmit amplifier 1002 and transmitted to the beam channel 100 for beamforming.

[0078] exist Figure 5A In this configuration, the switching module can be located within the driver. In other words, the third switching switch 900 and the fourth switching switch 1200 can be located within a single module along with the receiving amplifier 1001 and the transmitting amplifier 1002.

[0079] Figure 5A

[0080] In the third embodiment, the combining module 500 is located within the baseband 300.

[0081] Figure 5A A schematic diagram of the structure of a communication sensing integrated device according to a third embodiment of this application is shown. Figure 5A The baseband 300 includes a communication processing module 301 and a sensing processing module 302. The communication processing module 301 is used to perform communication-related processing such as demodulation and decoding on the received signal during the communication phase. The sensing processing module 302 is used to perform sensing-related processing such as target detection and parameter estimation on the received signal during the sensing phase.

[0082] The combiner module 500 is located within the communication processing module 301 and is configured to combine received signals, and more specifically, to combine communication received signals. For example, the combiner module 500 can be a combining algorithm that combines multiple signals into one signal by adding and summing them, thereby forming a high-gain communication beam.

[0083] The switching module 600 is configured to selectively connect the communication processing module 301 or the sensing processing module 302 to the four first radio frequency circuits 400. In some embodiments, the analog received signals from the four first radio frequency circuits 400 first enter the baseband 300, are converted into digital signals by the analog-to-digital converter (ADC), and then the switching module 600 in the baseband 300 dynamically selects to route the digital signal to the combining module 500 or the sensing processing module 302 according to the current working stage (communication or sensing).

[0084] This embodiment achieves flexible scheduling of communication and sensing by embedding the combining function into the communication processing module 301 in the form of an algorithm and utilizing the switching mechanism of the digital domain within the baseband 300, thus saving hardware resources.

[0085] like Figure 5AAs shown, the integrated communication and sensing device also includes a second radio frequency circuit 700 connected between the multiple beam channels 100 and the baseband 300, used for up-conversion of the transmitted signal. The multiple beam channels 100 are also used for beamforming the transmitted signal during the communication and sensing phases. The baseband 300 is also used for generating the transmitted signal during the communication and sensing phases. As an example, the communication processing module 301 is used to generate a communication transmitted signal during the communication phase, and the sensing processing module 302 is used to generate a sensing transmitted signal during the sensing phase.

[0086] The communication processing module 301 and the sensing processing module 302 transmit communication transmission signals and sensing transmission signals to the second radio frequency circuit 700. The first radio frequency circuit 400 transmits communication reception signals and sensing reception signals to the communication processing module 301 and the sensing processing module 302 of the baseband 300. The reception signals and transmission signals do not share the same radio frequency circuit.

[0087] Continue as Figure 5A As shown, the integrated communication and sensing device also includes a first splitter 800 and multiple second switching switches 900.

[0088] The first splitter 800 is connected between the second radio frequency circuit 700 and the multiple beam channels 100 to split the transmitted signal. Through the first splitter 800, the communication transmission signal and the sensing transmission signal are split into four paths after flowing through the second radio frequency circuit 700, and then transmitted to the beam channels 100 for beamforming, thereby reducing the number of second radio frequency circuits 700 used.

[0089] Multiple second switches 900 include a first terminal to a third terminal. The first terminal of a second switch 900 is connected to a first radio frequency circuit 400, the second terminal of a second switch 900 is connected to a first splitter 800, and the third terminal of a second switch 900 is connected to a beam channel 100. A second switch 900 is configured to either connect its first terminal to its third terminal, or connect its second terminal to its third terminal.

[0090] like Figure 5A As shown, the driver 1000 of the integrated communication sensing device is connected between the first radio frequency circuit 400, the second radio frequency circuit 700, and the beam channel 100. The driver 1000 includes a receive amplifier 1001 and a transmit amplifier 1002, used to amplify the received signal or the transmitted signal, respectively. As an example, Figure 5BThe 16 beam channels 100 are connected to one receive amplifier 1001 and one transmit amplifier 1002, resulting in a total of four receive amplifiers 10011-10014 and four transmit amplifiers 10021-10024. The receive amplifiers are connected between the first terminal of the corresponding second switch and the first RF circuit. For illustration, receive amplifier 10011 is connected between the first terminal of the second switch 9001 and the first RF circuit 4001. The transmit amplifiers are connected between the second terminal of the corresponding second switch and the first splitter. For illustration, receive amplifier 10021 is connected between the first terminal of the second switch 9001 and the first splitter 8001.

[0091] Figure 5C The diagram illustrates the flow of received communication signals during the communication phase. During the communication reception phase, the second terminal of the second switching switch 900 is switched to the third terminal of the second switching switch 900. The switching module 600 connects the communication processing module 301 to four first radio frequency circuits 400. The received communication signals from the four antenna subarrays 201 flow through the corresponding receiving amplifiers 1001 and the first radio frequency circuits 400. These four received communication signals are routed to the combining module 500 and combined by the combining module 500 to form a first beam for processing by the communication processing module 301.

[0092] Figures 6A to 6C The flow of the received sensing signal during the sensing phase is shown. During the sensing and receiving phase, the received signal bypasses the combining module 500, and the first terminal of the second switching switch 900 is connected to the third terminal of the second switching switch 900. The switching module 600 connects the sensing processing module 302 to four first radio frequency circuits 400. The received sensing signals received by the four antenna subarrays 201 flow through the corresponding receiving amplifiers 1001 and the first radio frequency circuits 400. These four received sensing signals are used to form four second beams for processing by the sensing processing module 302.

[0093] Figures 2A to 5C The flow of communication transmission signals and sensing transmission signals is shown. During the transmission phase, the second terminal of the second switching switch 900 is switched to the third terminal of the second switching switch 900. The communication processing module 301 transmits the communication transmission signal to the second radio frequency circuit 700. After flowing through the second radio frequency circuit 700, the communication transmission signal is split into four paths by the first splitter 800, amplified by the transmitting amplifier 1002, and transmitted to the beam channel 100 for beamforming. Alternatively, the sensing processing module 302 transmits the sensing transmission signal to the second radio frequency circuit 700. After flowing through the second radio frequency circuit 700, the sensing transmission signal is split into four paths by the first splitter 800, amplified by the transmitting amplifier 1002, and transmitted to the beam channel 100 for beamforming.

[0094] Figure 6AA schematic diagram of the virtual aperture of the antenna array in different states in an embodiment of this application is shown.

[0095] although Figure 6B This application uses an 8×8 antenna array as an example, but it is also applicable to other sizes, such as larger arrays like 16×16. Figure 6A and Figure 6A As shown, a 16×16 antenna array can be considered as consisting of four 8×8 subarrays, and each subarray can independently switch its operating mode through the aforementioned combining module and switching unit.

[0096] like Figure 6B As shown, when a 16×16 antenna array transmits sensing signals, each 8×8 antenna subarray forms a transmission beam. The effective radiation center of this transmission beam in space, i.e., its transmission aperture, physically corresponds to the geometric center of that subarray. (As shown in...) Figure 6B In the 16×16 array, a total of 4 emission apertures are formed. The center position of these 4 emission apertures is marked with "O". The 4 emission apertures are numbered φT1 to φT4 respectively.

[0097] like Figure 6C As shown, the 16×16 antenna array changes the number of beams by switching operating modes when receiving sensing signals. In this case, every 4×4 antennas form a receiving beam (the second beam). The effective receiving center of each receiving beam, i.e., its receiving aperture, also corresponds to the geometric center of its subarray. Figure 6C In the array, there are also 16 receiving apertures. The center position of these 16 receiving apertures is marked with "O". The 16 receiving apertures are numbered from φR1 to φR16.

[0098] According to the MIMO principle, a combination of a transmitter aperture and a receiver aperture can be equivalent to a virtual aperture in space, the position of which is determined by the positions of the transmitter and receiver apertures. Performing this synthesis operation on all transmitter and receiver apertures yields a virtual receiver antenna array, i.e., an equivalent virtual aperture.

[0099] In this application, four transmitting apertures (φT1~φT4) and 16 receiving apertures (φR1~φR16) are paired to form a total of 4×16=64 transmit-receive channel pairs. Through MIMO synthesis algorithm processing, and considering the positional relationship between the transmitting and receiving apertures, these 64 channel pairs are spatially equivalent to 6×6 virtual apertures, namely φT1R1, φT1R2...φT4R16, as follows... Figure 6CAs shown, the center of the equivalent virtual aperture is located at position "O". Here, φT1R1 represents the equivalent virtual aperture formed by the transmitting virtual aperture of φT1 and the receiving virtual aperture of φR1, φT1R2 represents the equivalent virtual aperture formed by the transmitting virtual aperture of φT1 and the receiving virtual aperture of φR2, and so on.

[0100] In the synthesized equivalent virtual aperture, there are multiple apertures that coincide in location, namely "coincident apertures". ​ The positions of φT1R3 and φT2R1 coincide, as do the positions of φT1R11, φT2R9, φT3R3 and φT4R1, and so on.

[0101] In this scheme, the four transmitting apertures and 16 receiving apertures are equivalent to a 6×6 virtual aperture. The increased number of apertures improves the angular resolution.

[0102] Ideally, since the spacing between the feed points of the transmitting antenna is smaller than the overall size of the receiving antenna, the middle two rows and two columns of virtual apertures in the 6×6 receiving virtual apertures should coincide, and the amplitude and phase of the coinciding apertures should also be equal. However, the actual size and spacing of the antenna may deviate from the design, and the position, amplitude, and phase of the coinciding apertures may be mismatched. Therefore, the coinciding virtual apertures can be used to calibrate the deviations in the actual size. As an example, if the signal amplitude and / or phase received by virtual apertures φT1R11, φT2R9, φT3R3, and φT4R1 are not equal, it indicates that the antenna has a deviation and needs calibration.

[0103] This system can calibrate antenna deviation based on whether the overlapping apertures coincide. The calibration method involves the following steps:

[0104] Step 1: In the sensing phase, a sensing signal is transmitted through a 16×16 antenna array, and the sensing signal reflected from external objects is received through the same 16×16 antenna array; raw measurement data for all transmitting and receiving apertures are obtained, including:

[0105] The amplitude, phase, and position parameters corresponding to the four emission apertures are denoted as Tx (where x = 1, 2, 3, 4).

[0106] The amplitude, phase, and position parameters corresponding to the 16 receiving apertures are denoted as Ry (where y=1,2,3,…,16).

[0107] The raw measurement data constitute a 4×16 channel matrix Yraw, where the element Yraw(Tm,Rn) represents the parameters of the channel formed by the combination of the m-th transmitting aperture and the n-th receiving aperture.

[0108] Step 2: Based on the original measurement data, construct the constraints for the equivalent virtual aperture;

[0109] For example, in ​ In the first row and second column, including the overlapping apertures φT1R3 and φT2R1, the signals received by the overlapping apertures φT1R3 and φT2R1 are as follows:

[0110] Yraw1=T1×R3, Yraw2=T2×R1;

[0111] Set T1=1, R1=1 (all transmit and receive channels are in the standard state with T1 and R1 as references).

[0112] Ideally, the following constraints should be met:

[0113] Equation 1: T2*Yraw1=R3*Yraw2;

[0114] Similarly, using all the coincident aperture pairs (such as φT1R8=φT2R6; φT1R9=φT3R1, etc.), a system of equations consisting of 27 constraints can be established, which includes 20 mismatch coefficients (i.e., the relative amplitude and phase of each Tx and Rx).

[0115] Step 3: Determine the mismatch coefficients based on the system of equations formed by the above constraints;

[0116] Since the equations are in complex form and may be nonlinear, optimization algorithms such as the least squares method are usually used to solve them.

[0117] All mismatch coefficients Tx and Rx are obtained by minimizing the error function between the predicted and measured values.

[0118] Step 4: Calibrate the received signal (the received sensing signal) according to the mismatch coefficients Tx and Rx.

[0119] For any subsequent measurement data Y_raw(Tm, Rn), calibration can be performed:

[0120] Y_cal(Tm, Rn)=Y_raw(Tm, Rn) / (Tm×Rn)

[0121] Where T0=1, R0=1, Y_cal are the calibrated amplitude and phase, and Tm and Rn are the mismatch coefficients of the m-th transmit virtual aperture and the n-th receive virtual aperture obtained in step 3, respectively.

[0122] The calibration of this application does not require an additional antenna for calibration and can be performed in real time.

[0123] It should be noted that in the claims and specification of this patent, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one" does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0124] Although this application has been illustrated and described with reference to certain preferred embodiments thereof, those skilled in the art should understand that various changes in form and detail may be made thereto without departing from the spirit and scope of this application.

Claims

1. A communication and sensing integrated device with super-resolution, characterized in that, The device includes: Multiple beam channels are used for beamforming the received signal during the communication and sensing phases; the first ends of the multiple beam channels are connected to multiple antennas, and the second ends of the multiple beam channels are connected to a baseband; during the communication and sensing phases, the multiple antennas are time-division multiplexed to receive the received signal; wherein the multiple antennas include multiple antenna subarrays. Multiple first radio frequency circuits are connected between the baseband and the multiple beam channels, and are used at least for down-converting the received signal during the sensing phase; A combiner module is used to combine the received signals; The switching module is configured to selectively route the received signal from the plurality of beam channels to the combining module; wherein, When the received signal is routed from the plurality of beam channels to the combining module, the received signals of the plurality of antenna subarrays are combined by the combining module to form a first beam; When the received signal bypasses the combining module, the received signals of the multiple antenna subarrays are used to form multiple second beams; the number of second beams is greater than the number of first beams.

2. The integrated communication and sensing device as described in claim 1, characterized in that, The combining module is connected in the receiving path between the plurality of beam channels and the baseband; The switching module is configured to selectively connect the combining module to the receiving path between the plurality of beam channels and the baseband; wherein... When the received signal is routed from the plurality of beam channels to the combining module, the combining module is activated in the receiving path between the plurality of beam channels and the baseband; When the received signal bypasses the combining module, the combining module is disconnected, and the received signal flows through the plurality of first radio frequency circuits before being transmitted to the baseband.

3. The integrated communication and sensing device as described in claim 1, characterized in that, The combining module includes a first combiner, which is connected between the plurality of first radio frequency circuits and the baseband. The switching module is configured to: connect the first combiner and the first radio frequency circuit in the receiving path between the beam channel and the baseband, or connect the plurality of first radio frequency circuits in the receiving path between the beam channel and the baseband.

4. The integrated communication and sensing device as described in claim 3, characterized in that, The switching module includes a plurality of first switching switches, each first switching switch having a first end to a third end. The first end of the first switching switch is connected to the baseband, the second end of the first switching switch is connected to the first combiner, and the third end of the first switching switch is connected to the corresponding first radio frequency circuit. The first switching switch is configured to either connect the first end of the first switching switch to the third end of the first switching switch, or connect the second end of the first switching switch to the third end of the first switching switch.

5. The integrated communication and sensing device as described in claim 1, characterized in that, Also includes: The baseband includes a communication processing module and a sensing processing module. The communication processing module is used to process the received signal during the communication phase, and the sensing processing module is used to process the received signal during the sensing phase.

6. The integrated communication and sensing device as described in claim 5, characterized in that, Both the combining module and the switching module are located within the communication processing module; The switching module is configured to selectively connect the communication processing module or the sensing processing module to the plurality of first radio frequency circuits; wherein, When the received signal is routed from the plurality of beam channels to the combining module, the switching module connects the communication processing module to the plurality of first radio frequency circuits; When the received signal bypasses the combining module, the switching module connects the sensing processing module to the plurality of first radio frequency circuits.

7. The integrated communication and sensing device as described in any one of claims 1 to 6, characterized in that, The device also includes: The second radio frequency circuit is connected between the plurality of beam channels and the baseband, and is used to upconvert the transmitted signal. The plurality of beam channels are also used to beamform the transmitted signal during the communication phase and the sensing phase.

8. The integrated communication and sensing device as described in claim 7, characterized in that, The device also includes: A first splitter is connected between the second radio frequency circuit and the plurality of beam channels for splitting the transmitted signal; A plurality of second switching switches, each second switching switch having a first end to a third end, the first end of the second switching switch being connected to the first radio frequency circuit, the second end of the second switching switch being connected to the first splitter, and the third end of the second switching switch being connected to the beam channel; the second switching switch is configured to: connect the first end of the second switching switch to the third end of the second switching switch, or connect the second end of the second switching switch to the third end of the second switching switch.

9. The integrated communication and sensing device as described in claim 8, characterized in that, The device also includes: Multiple drivers are connected between the first radio frequency circuit and the second radio frequency circuit and the beam channel; each driver includes a receive amplifier and a transmit amplifier, which are used to amplify the received signal or the transmitted signal, respectively. The receiving amplifier is connected between the first terminal of the corresponding second switching switch and the first radio frequency circuit; The transmitting amplifier is connected between the second terminal of the corresponding second switching switch and the first splitter.

10. The integrated communication and sensing device as described in claim 7, characterized in that, The first radio frequency circuit is also used to down-convert the received signal during the communication phase.

11. The integrated communication and sensing device as described in claim 2, characterized in that, The device also includes: A third radio frequency circuit, connected between the plurality of beam channels and the baseband, is used to down-convert the received signal during the communication phase; The combining module includes a second combiner, which is connected between the third radio frequency circuit and the plurality of beam channels for combining the received signals. The switching module is configured to: connect the second combiner and the third radio frequency circuit in the receiving path between the beam channel and the baseband, or connect the plurality of first radio frequency circuits in the receiving path between the beam channel and the baseband.

12. The integrated communication and sensing device as described in claim 11, characterized in that, The switching module includes multiple third switching switches, each third switching switch having a first end to a third end. The first end of the third switching switch is connected to the first radio frequency circuit, the second end of the first switching switch is connected to the third radio frequency circuit, and the third end of the first switching switch is connected to the beam channel. The third switching switch is configured to either connect the first end of the third switching switch to the third end of the third switching switch, or connect the second end of the third switching switch to the third end of the third switching switch.

13. The integrated communication and sensing device as described in claim 12, characterized in that, The third radio frequency circuit is also used to upconvert the transmitted signal; The plurality of beam channels are also used to beamform the transmitted signal during the communication phase and the sensing phase. The second combiner is also used to split the transmitted signal.

14. The integrated communication and sensing device as described in claim 13, characterized in that, The device also includes: A driver is connected between the first radio frequency circuit and the beam channel, and between the third radio frequency circuit and the beam channel; the driver includes a receive amplifier and a transmit amplifier, which are used to amplify the received signal or the transmitted signal, respectively. The first end of the third switch is connected to the input end of the receiving amplifier, the second end of the third switch is connected to the output end of the transmitting amplifier, and the third end of the third switch is connected to the beam channel; the third switch is configured to either connect the first end of the third switch to the third end of the third switch, or connect the second end of the third switch to the third end of the third switch. The switching module further includes multiple fourth switching switches, each fourth switching switch having a first terminal to a third terminal. The first terminal of the fourth switching switch is connected to the output terminal of the receiving amplifier, the second terminal of the fourth switching switch is connected to the input terminal of the transmitting amplifier, and the third terminal of the fourth switching switch is connected to the third radio frequency circuit. The fourth switching switch is configured to either connect the first terminal of the fourth switching switch to the third terminal of the fourth switching switch, or connect the second terminal of the fourth switching switch to the third terminal of the fourth switching switch.

15. The integrated communication and sensing device as described in claim 14, characterized in that, The third and fourth switching switches are located within the driver.

16. A calibration method, characterized in that, The method for calibrating the received signal of the device according to any one of claims 1 to 13 during the sensing phase includes: Obtain the raw measurement data of the transmitting aperture and receiving aperture: Based on the original measurement data, construct the constraint conditions for the equivalent virtual aperture; Based on the system of equations formed by the aforementioned constraints, the mismatch coefficient is determined; The received signal is calibrated according to the mismatch coefficient.

Images