Communication sensing method, network equipment, sensing sending node and sensing receiving node

Abstract

The invention relates to a communication sensing method, network equipment, a sensing sending node and a sensing receiving node. A network device determines GNSS satellite group configuration information, including at least one of the following items: a group identifier of at least one satellite group, group information of each satellite group, and time window information used for determining a local clock; therefore, the network equipment sends the satellite group configuration information to the sensing sending node and / or the sensing receiving node, so that the sensing sending node and / or the sensing receiving node determine the local clock by using the satellite group configuration information, and clock synchronization of the receiving and sending nodes is realized. Compared with clock synchronization realized by using an RTK technology at present, the method has the advantages that the sensing sending node and the sensing receiving node do not need to acquire and process the RTK information from the RTK quasi base station, so that the complexity of clock synchronization is reduced; service provided by the RTK quasi base station does not need to be used, so that the cost for realizing clock synchronization is reduced; and the method can be compatible with the receiving and transmitting node capability of the existing network, and is wider in applicability.

Description

Technical Field

[0001] This disclosure relates to the field of communication technology, specifically to a communication sensing method, network device, sensing sending node, and sensing receiving node. Background Technology

[0002] Integrated Sensing and Communication (ISAC) introduces wireless sensing capabilities into wireless mobile communication. The principle of wireless sensing is to transmit wireless signals to the environment to be sensed, while simultaneously collecting the reflected, scattered, or multipath-transmitted wireless signals at the receiving end. Because the collected wireless signals are influenced by the environment, environmental information can be obtained by processing these signals, thus achieving environmental sensing.

[0003] During the sensing process, it is necessary to calculate the sensing distance, which involves calculating the transmission delay between the sending and receiving of the sensing signal. At the sensing signal receiving end, the sending time T0 of the sensing signal needs to be obtained, and the receiving time T1 needs to be calculated. Thus, T1 - T0 is the inter-channel transmission delay. However, when the clocks of the sensing signal receiving end and the sensing signal sending end are not synchronized, the sensing signal receiving end cannot know the precise T0. Therefore, it is necessary for the clocks of the sensing signal receiving end and the sensing signal sending end to be synchronized, or in other words, the difference between the two clocks needs to be known.

[0004] Currently, real-time kinematic (RTK) technology is used to synchronize the clocks of sensing transmitting and receiving nodes. However, the following technical problems exist:

[0005] 1. Increases the complexity of clock synchronization, meaning that the transceiver node needs to obtain RTK information from the RTK base station and process the RTK information to achieve high-precision positioning and time synchronization.

[0006] 2. Relies on the presence of RTK base stations around the sensing sending and receiving nodes. If an RTK base station exists and its services are used, additional usage fees will apply. If no RTK base station exists, it needs to be built independently, further increasing costs.

[0007] 3. Difficulty in compatibility with the capabilities of existing network transceiver nodes (such as base stations or terminals), for example, existing transceiver nodes may not have the ability to process RTK information. Summary of the Invention

[0008] At least one embodiment of this disclosure provides a communication sensing method, network device, sensing transmitting node, and sensing receiving node, reducing the complexity and cost of implementing clock synchronization.

[0009] In a first aspect, embodiments of this disclosure propose a communication sensing method applied to a network device, the method comprising:

[0010] Send satellite constellation configuration information to the sensing transmitting node and / or sensing receiving node. The satellite constellation configuration information includes at least one of the following:

[0011] A group identifier for at least one satellite constellation;

[0012] Group information for each satellite constellation;

[0013] Used to determine the time window information of the local clock.

[0014] Secondly, this disclosure also proposes a communication sensing method applied to a network device, the method comprising:

[0015] Receive the first relevant information sent by the sensing and transmitting node to determine the local clock;

[0016] Receive the second relevant information and sensing measurement quantity sent by the sensing receiving node to determine the local clock;

[0017] Based on the first and second relevant information, the clock difference between the sensing transmitting node and the sensing receiving node is determined;

[0018] Adjust the sensing measurement based on clock difference.

[0019] Thirdly, this disclosure also proposes a communication sensing method, applied to a sensing sending node or a sensing receiving node, the method comprising:

[0020] Receive satellite constellation configuration information, which includes at least one of the following:

[0021] A group identifier for at least one satellite constellation;

[0022] Group information for each satellite constellation;

[0023] Used to determine the time window information of the local clock;

[0024] The local clock for the sensed signal is determined based on the satellite constellation configuration information.

[0025] Fourthly, embodiments of this disclosure also propose a communication sensing method, applied to a sensing transmitting node or a sensing receiving node, the method comprising:

[0026] Send relevant information to network devices to determine the local clock;

[0027] Based on the local clock and network device configuration information of the sensing resources, send or receive sensing signals.

[0028] Fifthly, embodiments of this disclosure also provide a communication sensing device applied to a network device, the device comprising:

[0029] The transmitting unit is used to transmit satellite constellation configuration information to the sensing transmitting node and / or sensing receiving node. The satellite constellation configuration information includes at least one of the following:

[0030] A group identifier for at least one satellite constellation;

[0031] Group information for each satellite constellation;

[0032] Used to determine the time window information of the local clock.

[0033] Sixthly, embodiments of this disclosure also provide a communication sensing device applied to a network device, the device comprising:

[0034] The first receiving unit is used to receive the first relevant information sent by the sensing and transmitting node for determining the local clock;

[0035] The second receiving unit is used to receive the second relevant information and sensing measurement quantity sent by the sensing receiving node for determining the local clock;

[0036] The determining unit is used to determine the clock difference between the sensing transmitting node and the sensing receiving node based on the first relevant information and the second relevant information;

[0037] An adjustment unit is used to adjust the sensed measurement based on the clock difference.

[0038] In a seventh aspect, embodiments of this disclosure also provide a communication sensing device applied to a sensing transmitting node or a sensing receiving node, the device comprising:

[0039] The receiving unit is used to receive satellite constellation configuration information, which includes at least one of the following:

[0040] A group identifier for at least one satellite constellation;

[0041] Group information for each satellite constellation;

[0042] Used to determine the time window information of the local clock;

[0043] The determination unit is used to determine the local clock of the sensing signal based on the satellite constellation configuration information.

[0044] Eighthly, embodiments of this disclosure also provide a communication sensing device applied to a sensing transmitting node or a sensing receiving node, the device comprising:

[0045] The transmitting unit is used to send relevant information for determining the local clock to the network device;

[0046] The transceiver unit is used to send or receive sensing signals based on the sensing resource information configured by the local clock and network devices.

[0047] In a ninth aspect, embodiments of this disclosure also provide a network device, wherein the network device includes a memory, a transceiver, and a processor;

[0048] Memory is used to store computer programs; a transceiver is used to send and receive data under the control of the processor; the processor is used to read computer programs from memory; the transceiver is used for:

[0049] Send satellite constellation configuration information to the sensing transmitting node and / or sensing receiving node. The satellite constellation configuration information includes at least one of the following:

[0050] A group identifier for at least one satellite constellation;

[0051] Group information for each satellite constellation;

[0052] Used to determine the time window information of the local clock.

[0053] In a tenth aspect, embodiments of this disclosure also provide a network device, wherein the network device includes a memory, a transceiver, and a processor;

[0054] Memory is used to store computer programs; transceiver is used to send and receive data under the control of the processor; processor is used to read the computer program from memory and execute it.

[0055] Receive the first relevant information sent by the sensing and transmitting node to determine the local clock;

[0056] Receive the second relevant information and sensing measurement quantity sent by the sensing receiving node to determine the local clock;

[0057] Based on the first and second relevant information, the clock difference between the sensing transmitting node and the sensing receiving node is determined;

[0058] Adjust the sensing measurement based on clock difference.

[0059] Eleventhly, embodiments of this disclosure also provide a sensing transmitting node or a sensing receiving node, wherein the sensing transmitting node or the sensing receiving node includes a memory, a transceiver, and a processor;

[0060] Memory is used to store computer programs; transceiver is used to send and receive data under the control of the processor; processor is used to read the computer program from memory and execute it.

[0061] Receive satellite constellation configuration information, which includes at least one of the following:

[0062] A group identifier for at least one satellite constellation;

[0063] Group information for each satellite constellation;

[0064] Used to determine the time window information of the local clock;

[0065] The local clock for the sensed signal is determined based on the satellite constellation configuration information.

[0066] In a twelfth aspect, embodiments of this disclosure also provide a sensing transmitting node or a sensing receiving node, wherein the sensing transmitting node or the sensing receiving node includes a memory, a transceiver, and a processor;

[0067] Memory is used to store computer programs; transceiver is used to send and receive data under the control of the processor; processor is used to read the computer program from memory and execute it.

[0068] Send relevant information to network devices to determine the local clock;

[0069] Based on the local clock and network device configuration information of the sensing resources, send or receive sensing signals.

[0070] In a thirteenth aspect, embodiments of this disclosure also provide a processor-readable storage medium, wherein the processor-readable storage medium stores a program for causing the processor to execute a communication sensing method as described in any embodiment of the first aspect, or a communication sensing method as described in any embodiment of the second aspect, or a communication sensing method as described in any embodiment of the third aspect, or a communication sensing method as described in any embodiment of the fourth aspect.

[0071] In a fourteenth aspect, embodiments of this disclosure also provide a chip, which includes a processor coupled to a memory for executing a computer program or instructions stored in the memory. When the processor executes the computer program or instructions, it executes a communication sensing method as described in any embodiment of the first aspect, or a communication sensing method as described in any embodiment of the second aspect, or a communication sensing method as described in any embodiment of the third aspect, or a communication sensing method as described in any embodiment of the fourth aspect.

[0072] In at least one embodiment of this disclosure, the network device determines GNSS satellite constellation configuration information, which includes at least one of the following: a constellation identifier for at least one satellite constellation, constellation information for each satellite constellation, and time window information for determining the local clock. The network device then sends the satellite constellation configuration information to the sensing transmitting node and / or sensing receiving node, enabling the sensing transmitting node and / or sensing receiving node to use the satellite constellation configuration information to determine their local clock, thereby achieving clock synchronization between the sensing transmitting node and the sensing receiving node. Compared to current clock synchronization methods using RTK technology, this embodiment eliminates the need for the sensing transmitting node and sensing receiving node to obtain and process RTK information from RTK quasi-base stations, reducing the complexity of clock synchronization; it also eliminates the need to use services provided by RTK quasi-base stations, reducing the cost of clock synchronization; and it is compatible with the capabilities of existing network transceiver nodes, making it more widely applicable. Attached Figure Description

[0073] To more clearly illustrate the technical solutions of the embodiments of this disclosure, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings.

[0074] Figure 1 A flowchart illustrating a communication sensing method provided in an embodiment of this disclosure;

[0075] Figure 2 A schematic diagram illustrating an embodiment of this disclosure for determining that a local clock time window is a single time window;

[0076] Figure 3 A schematic diagram illustrating an embodiment of this disclosure for determining whether a local clock time window is a periodic time window;

[0077] Figure 4 This is a schematic diagram illustrating the association between a local clock time window and sensing resources, provided as an embodiment of the present disclosure.

[0078] Figure 5 A flowchart illustrating another communication sensing method provided in an embodiment of this disclosure;

[0079] Figure 6 A flowchart illustrating yet another communication sensing method provided in this disclosure embodiment;

[0080] Figure 7 A flowchart illustrating yet another communication sensing method provided in this disclosure embodiment;

[0081] Figure 8This disclosure provides an embodiment of a scenario in which a sensing transmitting node and a sensing receiving node use the same satellite constellation to determine their local clock.

[0082] Figure 9 This disclosure provides a schematic diagram of a process for a sensing transmitting node and a sensing receiving node to determine their local clock using the same satellite constellation.

[0083] Figure 10 A schematic diagram illustrating the adjustment of the transmission clock of a communication signal according to an embodiment of this disclosure;

[0084] Figure 11 A schematic diagram illustrating the adjustment of the transmission clock of a sensing signal according to an embodiment of this disclosure;

[0085] Figure 12 This disclosure provides a schematic diagram of a scenario where a sensing server adjusts a clock difference, causing sensing errors.

[0086] Figure 13 This disclosure provides a schematic flowchart of a sensing server adjusting for sensing errors caused by clock differences.

[0087] Figure 14 A schematic diagram of a communication sensing device provided in an embodiment of this disclosure;

[0088] Figure 15 A schematic diagram of another communication sensing device provided in an embodiment of this disclosure;

[0089] Figure 16 A schematic diagram of yet another communication sensing device provided in an embodiment of this disclosure;

[0090] Figure 17 A schematic diagram of yet another communication sensing device provided in an embodiment of this disclosure;

[0091] Figure 18 A schematic diagram of a network device provided in an embodiment of this disclosure;

[0092] Figure 19 A schematic diagram of another network device provided in an embodiment of this disclosure;

[0093] Figure 20 A schematic diagram of a sensing transmitting node or a sensing receiving node provided in an embodiment of this disclosure;

[0094] Figure 21 A schematic diagram of another sensing transmitting node or sensing receiving node provided in an embodiment of this disclosure;

[0095] Figure 22 This is a schematic diagram of a chip system provided in an embodiment of the present disclosure. Detailed Implementation

[0096] In this disclosure, the term "and / or" describes the relationship between related 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 related objects have an "or" relationship.

[0097] In this disclosure, the term "multiple" refers to two or more, and other quantifiers are similar.

[0098] To better understand the above-described objectives, features, and advantages of this disclosure, the present disclosure will be further described in detail below with reference to the accompanying drawings and embodiments. It is to be understood that the described embodiments are only some, not all, of the embodiments of this disclosure. The specific embodiments described herein are merely for explaining this disclosure and are not intended to limit it. All other embodiments obtained by those skilled in the art based on the described embodiments of this disclosure are within the scope of protection of this disclosure.

[0099] It should be noted that in this article, relational terms such as “first” and “second” are used only 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.

[0100] Wireless sensing is generally divided into: single-base sensing and dual-base sensing.

[0101] Single-base sensing refers to a single node transmitting a sensing signal and receiving the echo. Single-base sensing includes single-base station sensing or single-terminal sensing. Single-base station sensing involves the base station transmitting a sensing signal, which is then reflected and / or scattered by the sensing object, and the base station receiving the reflected and / or scattered sensing signal. Single-terminal sensing involves the terminal transmitting a sensing signal, which is then reflected and / or scattered by the sensing object, and the terminal receiving the reflected and / or scattered sensing signal.

[0102] Dual-base sensing refers to a situation where one node transmits a sensing signal and another node receives it. Dual-base sensing includes dual-base station sensing, dual-terminal sensing, base station-terminal sensing, or terminal-base station sensing. Dual-base station sensing involves one base station transmitting a sensing signal, which is then reflected and / or scattered by the sensing object, and received by another base station. Dual-terminal sensing involves one terminal transmitting a sensing signal, which is then reflected and / or scattered by the sensing object, and received by another terminal. Base station-terminal sensing involves a base station transmitting a sensing signal, which is then reflected and / or scattered by the sensing object, and received by a terminal. Terminal-base station sensing involves a terminal transmitting a sensing signal, which is then reflected and / or scattered by the sensing object, and received by a base station.

[0103] For two-base sensing, the transmission delay between transmitting and receiving sensing signals needs to be calculated. At the sensing signal receiver, the transmission time T0 of the sensing signal needs to be obtained, and the reception time T1 needs to be calculated. Thus, T1 - T0 is the inter-satellite transmission delay. However, when the clocks of the sensing signal receiver and the sensing signal transmitter are not synchronized, the receiver cannot know the precise T0. In other words, a prerequisite for two-base distance sensing is that the clocks of the sensing signal receiver and the sensing signal transmitter need to be synchronized, or in other words, the difference between the two clocks needs to be known. It should be noted that only the clocks of the transmitting and receiving nodes need to be synchronized, not necessarily strictly synchronized with the satellite's time.

[0104] Figure 1 This is a flowchart illustrating a communication sensing method provided in an embodiment of this disclosure, which is applied to a network device. The network device is a configuration node for configuring satellite constellation information, and can be a base station, a terminal (or a specific terminal), or a Sensing Function (SF) network element. The SF network element can be a sensing server, an independent functional network element, or a network element integrated into existing network elements. For example... Figure 1 As shown, the communication sensing method includes, but is not limited to, step 101:

[0105] In step 101, satellite constellation configuration information is sent to the sensing transmitting node and / or sensing receiving node. The satellite constellation configuration information includes at least one of the following (1) to (3):

[0106] (1) At least one group identifier (e.g., groupID) for a satellite constellation.

[0107] The group identifier can be a Global Navigation Satellite System ID (GNSS-ID), used to distinguish different satellite systems. Global Navigation Satellite Systems include: Global Positioning System (GPS), GLONASS, BeiDou Navigation Satellite System (BDS), and Satellite-Based Augmentation System (SBAS). Therefore, the group identifier includes any of the following:

[0108] Global Positioning System ID (GPS-ID);

[0109] Global Navigation Satellite System ID (GLONASS-ID);

[0110] BeiDou Navigation Satellite System Number (BDS-ID);

[0111] Satellite-based Augmentation System ID (SBAS-ID).

[0112] (2) Group information for each satellite group.

[0113] (3) Used to determine the local clock time window information.

[0114] Network devices expect the sensing transmitting node and / or sensing receiving node to determine their local clock within the ClockWindow in order to reduce the relative difference between the transmitting and receiving clocks.

[0115] The group information for each satellite constellation includes at least one of the following (2.1) to (2.3):

[0116] (2.1) Satellite identifier of at least one satellite.

[0117] For example, a satellite identifier is a satellite ID, which is an index number for a Global Navigation Satellite System (GNSS) satellite. A satellite identifier can have two fields:

[0118] Information field 1: GNSS-ID, which represents the Global Navigation Satellite System number and is used to distinguish different satellite systems.

[0119] Information field 2: SV-ID, representing the satellite number under a specific satellite navigation system. The SV-ID number range is, for example, from 1 to 64.

[0120] In some embodiments, the satellite identifier may have only one information field: satellite number (i.e., SV-ID).

[0121] It should be noted that when the group identifier uses the Global Navigation Satellite System Number (GNSS-ID), only one information field (satellite number (i.e., SV-ID)) needs to be used in the satellite identifier. When the group identifier and the Global Navigation Satellite System Number (GNSS-ID) are unrelated, the satellite identifier may include two information fields: GNSS-ID and SV-ID.

[0122] (2.2) Satellite orbit model parameters.

[0123] For example, a satellite orbit model is a Global Navigation Satellite System (GNSS) orbit model, which is a mathematical model describing the trajectory of a satellite in space. Using satellite orbit parameters, the satellite orbit model can predict the satellite's three-dimensional coordinate position, velocity, and attitude at any given time. Satellite orbit model parameters can be configured in group information or in individual configuration information corresponding to the satellite's ID.

[0124] (2.3) Satellite ionospheric model parameters.

[0125] The satellite ionospheric model, or Global Navigation Satellite System Ionospheric Model, is a mathematical model that describes the influence of the ionosphere on the propagation of radio signals. It is used to provide satellite ionospheric model parameters to model the propagation delay of GNSS signals through the ionosphere, thereby improving the positioning accuracy and reliability of the Global Navigation Satellite System (GNSS).

[0126] Using satellite ionospheric model parameters allows single-frequency GNSS receivers to remove a portion of the ionospheric delay (non-linear portion) from pseudorange measurements. These parameters can be configured in the group information or in separate configuration information corresponding to the satellite ID.

[0127] In this embodiment, the network device configures at least one satellite constellation (each satellite constellation includes multiple satellites, such as at least four GNSS satellites) to obtain satellite constellation configuration information. This satellite constellation configuration information is used by sensing transmitting nodes or sensing receiving nodes to determine their local clocks. Sensing transmitting nodes are the nodes that transmit sensing signals (e.g., base stations or terminals), and sensing receiving nodes are the nodes that receive sensing signals (e.g., base stations or terminals).

[0128] In some embodiments, the network device may also send indication information to the sensing transmitting node and / or sensing receiving node. The indication information is used to indicate whether satellite ionospheric model parameters are used as additional information to determine the local clock. The indication information may be an indication flag. In other embodiments, the network device may not send indication information, and the use of satellite ionospheric model parameters to determine the local clock may be agreed upon by a protocol.

[0129] For example, after determining the satellite constellation configuration information, the network device sends this information to both the sensing transmitting node and the sensing receiving node. Upon receiving the satellite constellation configuration information, the sensing transmitting node uses it to determine its local clock. Similarly, upon receiving the satellite constellation configuration information, the sensing receiving node uses it to determine its local clock. In other words, in this embodiment, both the sensing transmitting node and the sensing receiving node use the same satellite constellation to determine their local clocks.

[0130] For example, a network device is configured with satellite constellation information, which includes four satellites: Satellite 1, Satellite 2, Satellite 3, and Satellite 4. After receiving the satellite constellation configuration information, the sensing transmitting node uses Satellite 1, Satellite 2, Satellite 3, and Satellite 4 to determine its local clock. Similarly, after receiving the satellite constellation configuration information, the sensing receiving node uses Satellite 1, Satellite 2, Satellite 3, and Satellite 4 to determine its local clock.

[0131] In some embodiments, before performing step 101, the method further includes: determining satellite constellation configuration information.

[0132] As can be seen, in this embodiment, the network device determines GNSS satellite constellation configuration information, which includes at least one of the following: a constellation identifier for at least one satellite constellation, constellation information for each satellite constellation, and time window information for determining the local clock. The network device then sends this satellite constellation configuration information to the sensing transmitting node and / or sensing receiving node, enabling the sensing transmitting node and / or sensing receiving node to use the satellite constellation configuration information to determine their local clock, thus achieving clock synchronization between the sensing transmitting node and the sensing receiving node. Compared to current clock synchronization methods using RTK technology, this embodiment eliminates the need for the sensing transmitting node and sensing receiving node to obtain and process RTK information from RTK quasi-base stations, reducing the complexity of clock synchronization; it also eliminates the need to use services provided by RTK quasi-base stations, reducing the cost of clock synchronization; and it is compatible with the capabilities of existing network transceiver nodes, making it more widely applicable.

[0133] In some embodiments, the time window information for determining the local clock is either information for a single time window or information for a periodic time window.

[0134] If the clock window is a single time window, the sensing transmitting node and / or sensing receiving node perform a clock determination once. If the clock window is a periodic time window, the sensing transmitting node and / or sensing receiving node update their clocks periodically.

[0135] Figure 2 This is a schematic diagram illustrating an embodiment of the present disclosure for determining that a local clock time window is a single time window. Figure 2 In this context, the time window used to determine the local clock is a single time window: ClockWindow, with a window length denoted as T and a start time denoted as S. The sensing transmitting node and / or sensing receiving node perform a clock determination once within this ClockWindow.

[0136] Figure 3 This is a schematic diagram illustrating an embodiment of the present disclosure for determining whether a local clock's time window is a periodic time window. Figure 3 In this context, the time window used to determine the local clock is a periodic time window: ClockWindow1. That is, any two adjacent ClockWindow1 windows have the same window interval. The window length of each ClockWindow1 is denoted as T, and the start time is denoted as S. The start time S of each ClockWindow1 has a different value. The sensing transmitting node and / or sensing receiving node can perform clock determination once within each ClockWindow1.

[0137] In some embodiments, time window information of the local clock is associated with sensing resources.

[0138] For example, the end time of the time window (ClockWindow) corresponding to the time window information is before the time of sending or receiving the sensing signal corresponding to the sensing resource. That is, the sensing transmitting node completes the determination of its local clock before sending the sensing signal; the sensing receiving node completes the determination of its local clock before receiving the sensing signal.

[0139] The time difference between the end time of the clock window and the time of sending or receiving the sensing signal is configured in the clock window information or in the configuration information of the sensing resource.

[0140] Figure 4 This is a schematic diagram illustrating the association between a local clock's time window information and sensing resources, provided as an embodiment of this disclosure. Figure 4 In this context, the time window used to determine the local clock is a periodic time window: ClockWindow1. The window length of ClockWindow1 is denoted as T, and the end time is denoted as E. It should be noted that... Figure 4The ClockWindow1 shown is the last time window in the periodic time window. The end time E of ClockWindow1 is before the time of transmission or reception of the sensing signal, and the time difference between the end time E of ClockWindow1 and the time of transmission or reception of the sensing signal is denoted as X, in milliseconds (ms). X can be configured in the time window information or in the configuration information of the sensing resource.

[0141] It should be noted that the above satellite constellation information can be sent to the receiving / transmitting nodes via broadcast mode, or via dedicated messages to both the receiving and transmitting nodes. However, regardless of the method used, the GNSS satellite constellation configuration information received by the receiving / transmitting nodes must be the same.

[0142] In some embodiments, the network device may also receive a timing difference transmitted by the sensing transmitting node, the timing difference being the difference between the transmission clock of the sensing signal and the clock determined according to the satellite constellation. The network device can determine the transmission delay of the sensing signal based on the timing difference.

[0143] Figure 5 This is a flowchart illustrating another communication sensing method provided in an embodiment of this disclosure, which is applied to a network device. The network device can be a base station, a terminal (or a specific terminal), or a Sensing Function (SF) network element. The SF network element can be a sensing server, a standalone functional network element, or a network element integrated into an existing network element. For example... Figure 5 As shown, the method includes, but is not limited to, steps 501 to 504:

[0144] In step 501, the first relevant information for determining the local clock is received from the sensing transmitting node.

[0145] The first relevant information includes at least one of the following (1.1) to (1.5):

[0146] (1.1) Satellite identifier of at least one satellite.

[0147] The satellite identifier of at least one satellite is the satellite number ID of at least one satellite used to determine the local clock of the sensing transmission node.

[0148] (1.2) Sensing the distance between the transmitting node and at least one satellite.

[0149] (1.3) Coordinates of at least one satellite.

[0150] (1.4) Determine the time of the clock.

[0151] (1.5) The distance correction between the sensing and transmitting node and at least one satellite.

[0152] In (1.5), the distance correction is a value obtained by the sensing and transmitting node correcting the distance measurement between the sensing and transmitting node and the satellite based on the satellite ionospheric model parameters. For example, if the distance correction is denoted as dx and the distance measurement is denoted as d(measurement), then the reported distance (i.e., the distance in (1.2)) satisfies: d(reported) = d(measurement) - dx. d(reported) is closer to the straight-line distance from the sensing and transmitting node to the satellite than d(measurement).

[0153] In step 502, the second relevant information and sensing measurement quantity sent by the sensing receiving node for determining the local clock are received.

[0154] The second relevant information includes at least one of the following (2.1) to (2.5):

[0155] (2.1) Satellite identifier of at least one satellite.

[0156] The satellite identifier of at least one satellite is the satellite number ID of at least one satellite used to determine the local clock of the sensing receiving node.

[0157] (2.2) Sensing the distance between the receiving node and at least one satellite.

[0158] (2.3) Coordinates of at least one satellite.

[0159] (2.4) Determine the time of the clock.

[0160] (2.5) Distance correction between the sensing receiving node and at least one satellite.

[0161] In (2.5), the distance correction is a value obtained by the sensing and receiving node correcting the distance measurement between the sensing and receiving node and the satellite based on the satellite ionospheric model parameters. For example, if the distance correction is denoted as dx and the distance measurement is denoted as d(measurement), then the reported distance (i.e., the distance in (2.2)) satisfies: d(reported) = d(measurement) - dx. d(reported) is closer to the straight-line distance from the sensing and receiving node to the satellite than d(measurement).

[0162] In this embodiment, the sensing transmitting node and the sensing receiving node can use different satellite constellations to determine their local clocks. It should be noted that different satellite constellations may include one or more of the same satellites.

[0163] For example, the sensing transmitting node uses satellite constellation 1 to determine its local clock, while the sensing receiving node uses satellite constellation 2. Satellite constellation 1 consists of four satellites: satellite 1, satellite 2, satellite 3, and satellite 4. Satellite constellation 2 consists of four satellites: satellite 3, satellite 4, satellite 5, and satellite 6. It is evident that both satellite constellations 1 and 2 include two identical satellites: satellite 3 and satellite 4.

[0164] In step 503, the clock difference between the sensing transmitting node and the sensing receiving node is determined based on the first relevant information and the second relevant information.

[0165] In this embodiment, the network device can determine the clock difference between the sensing transmitting node and the sensing receiving node using RTK technology based on the first relevant information and the second relevant information.

[0166] In step 504, the sensing measurement is adjusted based on the clock difference.

[0167] The sensed measurement includes at least one of the following:

[0168] The transmission delay, transmission distance, and received sensing signal of the sensing signal.

[0169] As can be seen, in this embodiment, the network device receives first relevant information sent by the sensing transmitting node to determine the local clock, and receives second relevant information and sensing measurements sent by the sensing receiving node to determine the local clock. Then, based on the first and second relevant information, the network device can determine the clock difference between the sensing transmitting node and the sensing receiving node; consequently, the network device can adjust the sensing measurements based on the clock difference. Compared to current clock synchronization using RTK technology, this embodiment eliminates the need for the sensing transmitting and receiving nodes to obtain and process RTK information from the RTK quasi-base station, reducing the complexity of clock synchronization; it also eliminates the need to use the services provided by the RTK quasi-base station, reducing the cost of clock synchronization; and it is compatible with the capabilities of existing network transceiver nodes, making it more widely applicable.

[0170] In some embodiments, in step 503, the clock difference between the sensing transmitting node and the sensing receiving node is determined based on the first relevant information and the second relevant information, including the following (1) to (3):

[0171] (1) Determine the first clock difference between the sensing and transmitting node and the satellite based on the first relevant information.

[0172] In this embodiment, the network device calculates the first clock difference between the sensing and transmitting node and the satellite, error_clock_tx, based on the first relevant information.

[0173] (2) Determine the second clock difference between the sensing receiving node and the satellite based on the second relevant information.

[0174] In this embodiment, the network device calculates the second clock difference between the sensing receiving node and the satellite, error_clock_rx, based on the second relevant information.

[0175] (3) Determine the clock difference between the sensing transmitting node and the sensing receiving node based on the first clock difference and the second clock difference.

[0176] In this embodiment, the network device calculates the clock difference between the sensing transmitting node and the sensing receiving node as t = error_clock_rx - error_clock_tx based on the first clock difference and the second clock difference.

[0177] The calculation methods for error_clock include the following (I) to (III):

[0178] (a) Clock difference t0 without considering non-linear distance factors:

[0179] Assume the three-dimensional coordinates of the sensing transmitting or receiving node are (x, y, z), and the sensing transmitting or receiving node reports the three-dimensional coordinates of five satellites, namely (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), and (x5, y5, z5). The measured distances between the sensing transmitting or receiving node and the five satellites are d1, d2, d3, d4, and d5, respectively. The network device calculates the error distance Δd caused by the clock difference t0 according to the following formula:

[0180] Ax = b;

[0181]

[0182]

[0183] The clock difference t0 and the error distance Δd satisfy: Δd=-t0*c, where c is the speed of light.

[0184] (ii) Clock error t1 considering non-linear distance factors:

[0185] Assume the three-dimensional coordinates of the sensing transmitting node or sensing receiving node are (x, y, z), and the three-dimensional coordinates of the five satellites reported by the sensing transmitting node or sensing receiving node are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), and (x5, y5, z5), respectively. The measured distances between the sensing transmitting node or sensing receiving node and the five satellites are d1, d2, d3, d4, and d5, respectively.

[0186] Based on the obtained RTK information, the network device determines the actual straight-line distance from the sensing transmitting node or sensing receiving node to each satellite. The straight-line distance is calculated using the following formula:

[0187] d1-d 1nLOS +d1x=d 1-LOS ;

[0188] d2-d 2nLOS +d2x=d 2-LOS ;

[0189] d3-d 3nLOS +d3x=d 3-LOS ;

[0190] d4-d 4nLOS +d4x=d 4-LOS ;

[0191] d5-d 5nLOS +d5x=d 5-LOS .

[0192] Where, d 1nLOS d 2nLOS d 3nLOS d 4nLOS d 5nLOS This refers to the non-linear distance determined by network devices based on RTK information.

[0193] Network devices will cover a straight-line distance d 1-LOS d 2-LOS , ...,d 3-LOS Substituting d1 to d5 into the following formula, the error distance Δd caused by the clock difference t1 can be calculated:

[0194] Ax = b;

[0195]

[0196] The clock difference t1 and the error distance Δd satisfy: Δd=-t1*c, where c is the speed of light.

[0197] (iii) Determine that error_clock equals t0-t1.

[0198] In some embodiments, the network device may further determine sensing parameter configuration information, which includes at least one of the following (A) and (B):

[0199] (A) Candidate satellite information.

[0200] Candidate satellite information refers to satellite information recommended by network devices to sensing transmitting nodes and / or sensing receiving nodes for determining the local clock. Network devices store verification data (non-linear distance) corresponding to the candidate satellites to ensure the accuracy of clock calculations.

[0201] (B) Perceive resource information.

[0202] Sensing resource information includes sensing resource time-domain information and / or sensing resource frequency-domain information.

[0203] After determining the sensing parameter configuration information, the network device sends the sensing parameter configuration information to the sensing sending node and / or sensing receiving node.

[0204] In some embodiments, the candidate satellite information in the sensing parameter configuration information may include at least one of the following (1) to (4):

[0205] (1) Satellite identifier of at least one candidate satellite.

[0206] For example, the satellite identifier for a candidate satellite is its satellite ID. The satellite ID is an index number for a Global Navigation Satellite System (GNSS) satellite. The satellite identifier can include the following two fields:

[0207] Information Field 1: GNSS-ID, representing the Global Navigation Satellite System number, used to distinguish different satellite systems. Global Navigation Satellite Systems include: Global Positioning System (GPS), GLONASS, BeiDou Navigation Satellite System (BDS), and Satellite-Based Augmentation System (SBAS).

[0208] Information field 2: SV-ID, representing the satellite number under a specific satellite navigation system. The SV-ID number range is, for example, from 1 to 64.

[0209] (2) Satellite orbit model parameters.

[0210] For example, the satellite orbit model is the Global Navigation Satellite System Orbit Model (GNSS-OrbitModel), a mathematical model describing the trajectory of a satellite in space. Using satellite orbit parameters, the satellite orbit model can predict the satellite's three-dimensional coordinate position, velocity, and attitude at any given time. Satellite orbit model parameters can be configured in the group information of the candidate satellite constellation (i.e., the aforementioned (A) candidate satellite information) or in the individual configuration information corresponding to the satellite's ID.

[0211] (3) Satellite ionospheric model parameters.

[0212] The satellite ionospheric model, or Global Navigation Satellite System Ionospheric Model, is a mathematical model that describes the influence of the ionosphere on the propagation of radio signals. It is used to provide satellite ionospheric model parameters to model the propagation delay of GNSS signals through the ionosphere, thereby improving the positioning accuracy and reliability of the Global Navigation Satellite System (GNSS).

[0213] Using satellite ionospheric model parameters allows single-frequency GNSS receivers to remove a portion of the ionospheric delay (non-linear portion) from pseudorange measurements. These parameters can be configured in the group information of the candidate satellite constellation (i.e., the aforementioned candidate satellite information in (A)) or in separate configuration information corresponding to the satellite ID.

[0214] (4) The credibility of at least one candidate satellite.

[0215] The credibility of candidate satellites is used to indicate their reliability and availability. Sensing transmitting nodes and sensing receiving nodes can select satellites from the candidate satellite constellation to determine their local clocks based on the candidate satellite credibility and measurements of the candidate satellites (e.g., signal-to-noise ratio, SNR). For example, candidate satellites with higher credibility and / or higher SNR are given priority.

[0216] In some embodiments, the network device may also send indication information to the sensing transmitting node and / or sensing receiving node. The indication information is used to indicate whether to use satellite ionospheric model parameters to determine the local clock. The indication information may be an indication flag. In other embodiments, the network device may not send indication information, and the use of satellite ionospheric model parameters to determine the local clock may be agreed upon by a protocol.

[0217] Figure 6This is a flowchart illustrating another communication sensing method provided in this disclosure, applied to a sensing transmitting node or a sensing receiving node. The sensing transmitting node is a node that transmits sensing signals (e.g., a base station or a terminal), and the sensing receiving node is a node that receives sensing signals (e.g., a base station or a terminal). Figure 6 As shown, the method includes, but is not limited to, steps 601 and 602:

[0218] In step 601, satellite constellation configuration information is received, which includes at least one of the following (1) to (3):

[0219] (1) At least one group identifier (e.g., groupID) for a satellite constellation.

[0220] (2) Group information for each satellite group.

[0221] (3) Used to determine the local clock time window information.

[0222] Network devices expect the sensing transmitting node and / or sensing receiving node to determine their local clock within the ClockWindow in order to reduce the relative difference between the transmitting and receiving clocks.

[0223] The group information for each satellite constellation includes at least one of the following (2.1) to (2.3):

[0224] (2.1) Satellite identifier of at least one satellite.

[0225] For example, a satellite identifier is a satellite ID, which is an index number for a Global Navigation Satellite System (GNSS) satellite. A satellite identifier can include the following two fields:

[0226] Information Field 1: GNSS-ID, representing the Global Navigation Satellite System number, used to distinguish different satellite systems. Global Navigation Satellite Systems include: Global Positioning System (GPS), GLONASS, BeiDou Navigation Satellite System (BDS), and Satellite-Based Augmentation System (SBAS).

[0227] Information field 2: SV-ID, representing the satellite number under a specific satellite navigation system. The SV-ID number range is, for example, from 1 to 64.

[0228] (2.2) Satellite orbit model parameters.

[0229] For example, a satellite orbit model is a Global Navigation Satellite System (GNSS) orbit model, which is a mathematical model describing the trajectory of a satellite in space. Using satellite orbit parameters, the satellite orbit model can predict the satellite's three-dimensional coordinate position, velocity, and attitude at any given time. Satellite orbit model parameters can be configured in group information or in individual configuration information corresponding to the satellite's ID.

[0230] (2.3) Satellite ionospheric model parameters.

[0231] The satellite ionospheric model, or Global Navigation Satellite System Ionospheric Model, is a mathematical model that describes the influence of the ionosphere on the propagation of radio signals. It is used to provide satellite ionospheric model parameters to model the propagation delay of GNSS signals through the ionosphere, thereby improving the positioning accuracy and reliability of the Global Navigation Satellite System (GNSS).

[0232] Using satellite ionospheric model parameters allows single-frequency GNSS receivers to remove a portion of the ionospheric delay (non-linear portion) from pseudorange measurements. These parameters can be configured in the group information or in separate configuration information corresponding to the satellite ID.

[0233] In some embodiments, the sensing transmitting node or sensing receiving node may also receive indication information sent by the network device, which indicates whether to use satellite ionospheric model parameters to determine the local clock. The indication information may be an indication flag. In other embodiments, the network device may not send indication information, and the protocol may stipulate whether to use satellite ionospheric model parameters to determine the local clock.

[0234] In step 602, the local clock of the sensing signal is determined based on the satellite constellation configuration information.

[0235] For example, after receiving the satellite constellation configuration information, the sensing transmitting node uses the satellite constellation configuration information to determine its local clock. Similarly, after receiving the satellite constellation configuration information, the sensing receiving node uses the same satellite constellation to determine its local clock. That is, in this embodiment, the sensing transmitting node and the sensing receiving node use the same satellite constellation to determine their local clocks.

[0236] As can be seen, in this embodiment, the sensing transmitting node or sensing receiving node receives GNSS satellite constellation configuration information, which includes at least one of the following: a constellation identifier for at least one satellite constellation, constellation information for each satellite constellation, and time window information for determining the local clock. Thus, the sensing transmitting node or sensing receiving node uses the satellite constellation configuration information to determine the local clock, achieving clock synchronization between the transmitting and receiving nodes. Compared to current clock synchronization methods using RTK technology, this embodiment eliminates the need for the sensing transmitting and receiving nodes to obtain and process RTK information from RTK quasi-base stations, reducing the complexity of clock synchronization; it also eliminates the need to use services provided by RTK quasi-base stations, reducing the cost of clock synchronization; and it is compatible with the capabilities of existing network transceiver nodes, making it more widely applicable.

[0237] In some embodiments, a possible implementation of step 602, "determining the local clock of the sensing signal based on satellite constellation configuration information," is described below:

[0238] Assume the satellite constellation configuration information specifies that the satellite constellation contains 5 satellites.

[0239] The parameters to be determined include the following a1 and b1:

[0240] a1: The three-dimensional coordinates (x, y, z) of the sensing sending node or sensing receiving node.

[0241] b1: Correction clock difference t, Δd=-t*c is the distance caused by the error clock, and c is the speed of light.

[0242] The known parameters include the following a2 and b2:

[0243] a2: The three-dimensional coordinates of the five satellites are (x1,y1,z1), (x2,y2,z2), (x3,y3,z3), (x4,y4,z4), and (x5,y5,z5). The three-dimensional coordinates of the satellites are determined based on the parameters of the satellite orbit model (GNSS-OrbitModel).

[0244] b2: The measured distances between the 5 satellites and the sensing transmitting or receiving nodes are d1, d2, d3, d4, and d5, respectively, and are obtained by the sensing transmitting or receiving nodes.

[0245] Based on the method for determining straight-line distance, the equations relating the above parameters are as follows:

[0246] (x1-x) 2 +(y1-y) 2 +(z1-z) 2 =(d1+Δd) 2 ;

[0247] (x2-x)2 +(y2-y) 2 +(z2-z) 2 = (d² + Δd) 2 ;

[0248] (x3-x) 2 +(y3-y) 2 +(z3-z) 2 = (d3 + Δd) 2 ;

[0249] (x4-x) 2 +(y4-y) 2 +(z4-z) 2 =(d4+Δd) 2 ;

[0250] (x5-x) 2 +(y5-y) 2 +(z5-z) 2 = (d5 + Δd) 2 .

[0251] Solving the equations yields the values ​​of the three-dimensional coordinates (x, y, z) of the sensing transmitting node or sensing receiving node, the value of the correction clock difference t, and the distance Δd generated by the error clock.

[0252] The sensing transmitting node or sensing receiving node can determine the local clock based on the correction clock difference t.

[0253] It should be noted that when the sensing transmitting node or sensing receiving node obtains the measured distance (i.e., d1, d2, d3, d4, d5) with the satellite, if the satellite constellation configuration information does not include the satellite ionospheric model parameters, the sensing transmitting node or sensing receiving node will not correct the parameters d1, d2, d3, d4, d5. If the satellite constellation configuration information includes the satellite ionospheric model parameters, the network device needs to instruct the sensing transmitting node or sensing receiving node whether it needs to correct the parameters d1, d2, d3, d4, d5 according to the satellite ionospheric model parameters, so that the behavior of the sensing transmitting node and sensing receiving node remains consistent.

[0254] In some embodiments, a sensing transmitting node or a sensing receiving node may transmit or receive sensing signals based on a local clock and sensing resource information configured in the network device.

[0255] The sensing transmitting node transmits sensing signals based on the local clock and sensing resource information configured in the network device. The sensing receiving node receives sensing signals based on the local clock and sensing resource information configured in the network device.

[0256] If the transmission clock of the sensing signal precedes the transmission clock of the communication signal, the sensing transmitting node may perform either (a) or (b) below:

[0257] (a) Adjust the transmission clock of the communication signal to the transmission clock of the sensing signal.

[0258] In (a), the transmission clock of the communication signal (including symbol timing and / or subframe timing) is adjusted so that the transmission clock of the communication signal is consistent with the transmission clock of the sensing signal.

[0259] (b) Adjust the transmission clock of the sensing signal to the transmission clock of the communication signal.

[0260] In (b), the transmission clock of the communication signal (including symbol timing and / or subframe timing) remains unchanged, and the transmission clock of the sensing signal is adjusted to be consistent with the transmission clock of the communication signal.

[0261] If the sensing transmitting node executes (b), it sends a timing difference to the network device or sensing receiving node. This timing difference is the difference between the transmitting clock of the sensing signal and the clock determined based on the satellite constellation (i.e., the transmitting clock of the communication signal). This difference is used to correct the transmission delay of the sensing signal (e.g., the transmission delay from the sensing transmitting node to the sensed object, and then to the sensing receiving node). It should be noted that the network device here refers to the device that determines the transmission delay of the sensing signal; it may or may not be the network device that sent the aforementioned configuration information.

[0262] Figure 7 This is a flowchart illustrating another communication sensing method provided in this disclosure, applied to a sensing transmitting node or a sensing receiving node. The sensing transmitting node is a node that transmits sensing signals (e.g., a base station or a terminal), and the sensing receiving node is a node that receives sensing signals (e.g., a base station or a terminal). Figure 7 As shown, the method includes, but is not limited to, steps 701 and 702:

[0263] In step 701, relevant information for determining the local clock is sent to the network device.

[0264] The relevant information includes at least one of the following (1) to (5):

[0265] (1) Satellite identifier of at least one satellite.

[0266] The satellite identifier of at least one satellite is the satellite number ID of at least one satellite used to determine the local clock.

[0267] (2) Sensing the distance between the transmitting node or the receiving node and at least one satellite.

[0268] (3) The coordinates of at least one satellite.

[0269] (4) Determine the time of the clock.

[0270] (5) The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite.

[0271] The distance correction is a value obtained by correcting the distance measurement between the sensing transmitting node or sensing receiving node and the satellite based on the satellite ionospheric model parameters. For example, if the distance correction is denoted as dx and the distance measurement is denoted as d(measurement), then the distance reported (i.e., the distance in (2)) satisfies: d(reported) = d(measurement) - dx. d(reported) is closer to the straight-line distance from the sensing transmitting node or sensing receiving node to the satellite than d(measurement).

[0272] In step 702, sensing signals are sent or received based on the sensing resource information configured by the local clock and network devices.

[0273] The sensing transmitting node sends sensing signals based on its local clock and the sensing resource information configured in the network device. The sensing receiving node receives sensing signals based on its local clock and the sensing resource information configured in the network device. After receiving the sensing signals, the sensing receiving node can calculate the transmission delay or transmission distance of the sensing signals.

[0274] The sensing receiving node can also send sensing measurements to network devices. These sensing measurements include at least one of the following:

[0275] The transmission delay, transmission distance, and received sensing signal of the sensing signal.

[0276] As can be seen, in this embodiment, the sensing transmitting node or sensing receiving node sends relevant information for determining the local clock to the network device. This allows the network device to determine the clock difference between the sensing transmitting node and the sensing receiving node based on the first relevant information sent by the sensing transmitting node and the second relevant information sent by the sensing receiving node. Therefore, the network device can adjust the sensing measurement based on the clock difference. Compared to current clock synchronization methods using RTK technology, this embodiment eliminates the need for the sensing transmitting node and sensing receiving node to obtain and process RTK information from the RTK quasi-base station, reducing the complexity of clock synchronization. Furthermore, it eliminates the need to use the services provided by the RTK quasi-base station, reducing the cost of clock synchronization. Moreover, it is compatible with the capabilities of existing network transceiver nodes, making it more widely applicable.

[0277] In some embodiments, the sensing transmitting node or sensing receiving node may also receive sensing parameter configuration information sent by the network device, the sensing parameter configuration information including at least one of the following (A) and (B):

[0278] (A) Candidate satellite information.

[0279] Candidate satellite information refers to satellite information recommended by network devices to sensing transmitting nodes and / or sensing receiving nodes for determining the local clock. Network devices store verification data (non-linear distance) corresponding to the candidate satellites to ensure the accuracy of clock calculations.

[0280] The sensing transmitting node or sensing receiving node can select at least one satellite based on candidate satellite information; thus, the sensing transmitting node or sensing receiving node can determine the local clock of the sensing signal based on the selected satellite.

[0281] For example, a sensing transmitting node can select at least one satellite based on candidate satellite information; thus, the sensing transmitting node can determine the local clock of the sensing signal based on the selected satellite. Similarly, a sensing receiving node can select at least one satellite based on candidate satellite information; thus, the sensing receiving node can determine the local clock of the sensing signal based on the selected satellite.

[0282] (B) Perceive resource information.

[0283] Sensing resource information includes sensing resource time-domain information and / or sensing resource frequency-domain information.

[0284] The sensing transmitting node or sensing receiving node can send or receive sensing signals based on the local clock of the sensing signal and sensing resource information.

[0285] For example, a sensing transmitting node can transmit sensing signals based on the local clock of the sensing signal and sensing resource information. A sensing receiving node can receive sensing signals based on the local clock of the sensing signal and sensing resource information.

[0286] In some embodiments, the candidate satellite information in the sensing parameter configuration information may include at least one of the following (1) to (4):

[0287] (1) Satellite identifier of at least one candidate satellite.

[0288] For example, the satellite identifier for a candidate satellite is its satellite ID. The satellite ID is an index number for a Global Navigation Satellite System (GNSS) satellite. The satellite identifier can include the following two fields:

[0289] Information Field 1: GNSS-ID, representing the Global Navigation Satellite System number, used to distinguish different satellite systems. Global Navigation Satellite Systems include: Global Positioning System (GPS), GLONASS, BeiDou Navigation Satellite System (BDS), and Satellite-Based Augmentation System (SBAS).

[0290] Information field 2: SV-ID, representing the satellite number under a specific satellite navigation system. The SV-ID number range is, for example, from 1 to 64.

[0291] (2) Satellite orbit model parameters.

[0292] For example, the satellite orbit model is the Global Navigation Satellite System Orbit Model (GNSS-OrbitModel), a mathematical model describing the trajectory of a satellite in space. Using satellite orbit parameters, the satellite orbit model can predict the satellite's three-dimensional coordinate position, velocity, and attitude at any given time. Satellite orbit model parameters can be configured in the group information of the candidate satellite constellation (i.e., the aforementioned (A) candidate satellite information) or in the individual configuration information corresponding to the satellite's ID.

[0293] (3) Satellite ionospheric model parameters.

[0294] The satellite ionospheric model, or Global Navigation Satellite System Ionospheric Model, is a mathematical model that describes the influence of the ionosphere on the propagation of radio signals. It is used to provide satellite ionospheric model parameters to model the propagation delay of GNSS signals through the ionosphere, thereby improving the positioning accuracy and reliability of the Global Navigation Satellite System (GNSS).

[0295] Using satellite ionospheric model parameters allows single-frequency GNSS receivers to remove a portion of the ionospheric delay (non-linear portion) from pseudorange measurements. These parameters can be configured in the group information of the candidate satellite constellation (i.e., the aforementioned candidate satellite information in (A)) or in separate configuration information corresponding to the satellite ID.

[0296] (4) The credibility of at least one candidate satellite.

[0297] The credibility of candidate satellites is used to indicate their reliability and availability. Sensing transmitting nodes and sensing receiving nodes can select satellites from the candidate satellite constellation to determine their local clocks based on the candidate satellite credibility and measurements of the candidate satellites (e.g., signal-to-noise ratio, SNR). For example, candidate satellites with higher credibility and / or higher SNR are given priority.

[0298] In some embodiments, the sensing transmitting node or sensing receiving node may also receive indication information sent by the network device. The indication information is used to indicate whether to use satellite ionospheric model parameters to determine the local clock. The indication information may be an indication flag. In other embodiments, the network device may not send indication information, and the protocol may stipulate whether to use satellite ionospheric model parameters to determine the local clock.

[0299] Example 1

[0300] Figure 8 This disclosure provides an embodiment of a scenario in which a sensing transmitting node and a sensing receiving node use the same satellite constellation to determine their local clock. Figure 14 This disclosure provides a schematic diagram of a process in which a sensing transmitting node and a sensing receiving node use the same satellite constellation to determine their local clock.

[0301] exist Figure 8 In this system, the sensing transmitting node (TX) and sensing receiving node (RX) use the same satellite constellation (satellites 1, 2, 3, and 4) to determine their local clocks. The distances between the sensing transmitting node (TX) and satellites 1, 2, 3, and 4 are denoted as dt1, dt2, dt3, and dt4. The distances between the sensing receiving node (RX) and satellites 1, 2, 3, and 4 are denoted as dr1, dr2, dr3, and dr4.

[0302] exist Figure 14 In this context, the configuration node is the node that configures the satellite constellation information. The configuration node can be a sensing server, a base station, or a terminal (a specific terminal). TRP1 (Transmission and Reception Point) is the sensing receiving node, and TRP2 is the sensing transmitting node.

[0303] The sensing and transmitting node is used to: determine the local clock (i.e., transmit clock information) based on the satellite constellation configuration information; generate sensing signals; and transmit the sensing signals according to the local clock. The sensing and transmitting node can be a base station or a terminal.

[0304] The sensing receiving node is used to: determine the local clock (i.e., receive clock information) based on the satellite constellation configuration information; receive sensing signals; and determine the propagation delay of the sensing signals based on the local clock. The sensing receiving node can be a base station or a terminal.

[0305] If both the sensing transmitting node and the sensing receiving node are TRPs (base stations), the configured node can be a sensing server, a sensing receiving node, or a sensing transmitting node.

[0306] If the sensing sending node (or sensing receiving node) is a TRP (base station), the configuration node can be a sensing server or a TRP.

[0307] If the sensing transmitting node (or sensing receiving node) is a terminal, the configured node can be a sensing server, a base station, or a transmitting terminal.

[0308] like Figure 14 As shown, the process by which the sensing transmitting node and the sensing receiving node determine their local clock using the same satellite constellation includes the following steps 1 to 3:

[0309] Step 1: Configure the node to configure the satellite constellation information.

[0310] The configuration node determines the satellite constellation configuration information and sends the satellite constellation configuration information to the sensing transmitting node and the sensing receiving node.

[0311] The satellite constellation configuration information includes at least one of the following (1) to (3):

[0312] (1) At least one group identifier (e.g., groupID) for a satellite constellation.

[0313] (2) Group information for each satellite group.

[0314] (3) Used to determine the local clock time window information.

[0315] The group information for each satellite constellation in (2) includes at least one of the following (2.1) to (2.3):

[0316] (2.1) Satellite identifier of at least one satellite.

[0317] For example, a satellite identifier is a satellite ID, which is an index number for a Global Navigation Satellite System (GNSS) satellite. A satellite identifier can include the following two fields:

[0318] Information Field 1: GNSS-ID, representing the Global Navigation Satellite System number, used to distinguish different satellite systems. Global Navigation Satellite Systems include: Global Positioning System (GPS), GLONASS, BeiDou Navigation Satellite System (BDS), and Satellite-Based Augmentation System (SBAS).

[0319] Information field 2: SV-ID, representing the satellite number under a specific satellite navigation system. The SV-ID number range is, for example, from 1 to 64.

[0320] (2.2) Satellite orbit model parameters.

[0321] For example, a satellite orbit model is a Global Navigation Satellite System (GNSS) orbit model, which is a mathematical model describing the trajectory of a satellite in space. Using satellite orbit parameters, the satellite orbit model can predict the satellite's three-dimensional coordinate position, velocity, and attitude at any given time. Satellite orbit model parameters can be configured in group information or in individual configuration information corresponding to the satellite's ID.

[0322] (2.3) Satellite ionospheric model parameters.

[0323] The satellite ionospheric model, or Global Navigation Satellite System Ionospheric Model, is a mathematical model that describes the influence of the ionosphere on the propagation of radio signals. It is used to provide satellite ionospheric model parameters to model the propagation delay of GNSS signals through the ionosphere, thereby improving the positioning accuracy and reliability of the Global Navigation Satellite System (GNSS).

[0324] Using satellite ionospheric model parameters allows single-frequency GNSS receivers to remove a portion of the ionospheric delay (non-linear portion) from pseudorange measurements. These parameters can be configured in the group information or in separate configuration information corresponding to the satellite ID.

[0325] (3) The time window (ClockWindow) information used to determine the local clock is configured so that the sending node and / or receiving node can determine the local clock within the ClockWindow in order to reduce the relative difference between the sending and receiving clocks.

[0326] If the clock window is a single time window, the sensing transmitting node and / or sensing receiving node perform a clock determination once. If the clock window is a periodic time window, the sensing transmitting node and / or sensing receiving node update their clocks periodically.

[0327] Figure 2 This is a schematic diagram illustrating an embodiment of the present disclosure for determining that a local clock time window is a single time window. Figure 2 In this context, the time window used to determine the local clock is a single time window: ClockWindow, with a window length denoted as T and a start time denoted as S. The sensing transmitting node and / or sensing receiving node perform a clock determination once within this ClockWindow.

[0328] Figure 3 This is a schematic diagram illustrating an embodiment of the present disclosure for determining whether a local clock's time window is a periodic time window. Figure 3 In this context, the time window used to determine the local clock is a periodic time window: ClockWindow1. That is, any two adjacent ClockWindow1 windows have the same window interval. The window length of each ClockWindow1 is denoted as T, and the start time is denoted as S. The start time S of each ClockWindow1 has a different value. The sensing transmitting node and / or sensing receiving node can perform clock determination once within each ClockWindow1.

[0329] In some embodiments, time window information of the local clock is associated with sensing resources.

[0330] For example, the end time of the time window (ClockWindow) corresponding to the time window information is before the time of sending or receiving the sensing signal corresponding to the sensing resource. That is, the sensing transmitting node completes the determination of its local clock before sending the sensing signal; the sensing receiving node completes the determination of its local clock before receiving the sensing signal.

[0331] The time difference between the end time of the clock window and the time of sending or receiving the sensing signal is configured in the clock window information or in the configuration information of the sensing resource.

[0332] Figure 4 This is a schematic diagram illustrating the association between a local clock's time window information and sensing resources, provided as an embodiment of this disclosure. Figure 4 In this context, the time window used to determine the local clock is a periodic time window: ClockWindow1. The window length of ClockWindow1 is denoted as T, and the end time is denoted as E. It should be noted that... Figure 4The ClockWindow1 shown is the last time window in the periodic time window. The end time E of ClockWindow1 is before the time of transmission or reception of the sensing signal, and the time difference between the end time E of ClockWindow1 and the time of transmission or reception of the sensing signal is denoted as X, in milliseconds (ms). X can be configured in the time window information or in the configuration information of the sensing resource.

[0333] For example, in Figure 4 In this context, the window length T of ClockWindow1 is 50ms, 20ms, or 10ms, and the time difference X between the end time E of ClockWindow1 and the time of sending or receiving the sensing signal is 1000ms, 512ms, or 10ms. For example, when T = 20ms, X = 10ms.

[0334] Step 2A: The sensing and transmitting node determines its local clock (i.e., the transmitting clock) based on the satellite constellation configuration information.

[0335] Step 2B: The sensing and receiving node determines the local clock (i.e., the receiving clock) based on the satellite constellation configuration information.

[0336] Assume that the satellite constellation configured in step 1 includes 5 satellites.

[0337] The parameters to be determined include the following a1 and b1:

[0338] a1: The three-dimensional coordinates (x, y, z) of the sensing sending node or sensing receiving node.

[0339] b1: Correction clock difference t, Δd=-t*c is the distance caused by the error clock, and c is the speed of light.

[0340] The known parameters include the following a2 and b2:

[0341] a2: The three-dimensional coordinates of the five satellites are (x1,y1,z1), (x2,y2,z2), (x3,y3,z3), (x4,y4,z4), and (x5,y5,z5). The three-dimensional coordinates of the satellites are determined based on the parameters of the satellite orbit model (GNSS-OrbitModel).

[0342] b2: The measured distances between the 5 satellites and the sensing transmitting or receiving nodes are d1, d2, d3, d4, and d5, respectively, and are obtained by the sensing transmitting or receiving nodes.

[0343] Based on the method for determining straight-line distance, the equations relating the above parameters are as follows:

[0344] (x1-x) 2+(y1-y) 2 +(z1-z) 2 =(d1+Δd) 2 ;

[0345] (x2-x) 2 +(y2-y) 2 +(z2-z) 2 = (d² + Δd) 2 ;

[0346] (x3-x) 2 +(y3-y) 2 +(z3-z) 2 = (d3 + Δd) 2 ;

[0347] (x4-x) 2 +(y4-y) 2 +(z4-z) 2 =(d4+Δd) 2 ;

[0348] (x5-x) 2 +(y5-y) 2 +(z5-z) 2 = (d5 + Δd) 2 .

[0349] Solving the equations yields the values ​​of the three-dimensional coordinates (x, y, z) of the sensing transmitting node or sensing receiving node, the value of the correction clock difference t, and the distance Δd generated by the error clock.

[0350] The sensing transmitting node or sensing receiving node can determine the local clock based on the correction clock difference t.

[0351] It should be noted that when the sensing transmitting node or sensing receiving node obtains the measured distance (i.e., d1, d2, d3, d4, d5) with the satellite, if the satellite constellation configuration information does not include the satellite ionospheric model parameters, the sensing transmitting node or sensing receiving node will not correct the parameters d1, d2, d3, d4, d5. If the satellite constellation configuration information includes the satellite ionospheric model parameters, the network device needs to instruct the sensing transmitting node or sensing receiving node whether it needs to correct the parameters d1, d2, d3, d4, d5 according to the satellite ionospheric model parameters, so that the behavior of the sensing transmitting node and sensing receiving node remains consistent.

[0352] Step 3: Sensing signal transmission.

[0353] During the transmission of sensing signals, sensing sending nodes and sensing receiving nodes send or receive sensing signals according to the configured sensing resource information.

[0354] It should be noted that for the sensing transmitting node, it may already be transmitting or receiving communication signals before performing steps 1 and 2. The transmission clock (symbol timing, subframe timing) of the sensing transmitting node when transmitting communication signals may differ from the transmission clock of the sensing signal after steps 1 and / or 2. The sensing transmitting node can perform either of the following (a) or (b):

[0355] (a) Adjust the transmission clock of the communication signal to the transmission clock of the sensing signal.

[0356] In (a), the transmission clock of the communication signal (including symbol timing and / or subframe timing) is adjusted so that the transmission clock of the communication signal is consistent with the transmission clock of the sensing signal.

[0357] Figure 10 This is a schematic diagram illustrating an embodiment of adjusting the transmission clock of a communication signal. Figure 10 In step 2A, the sensing transmitting node obtains the transmission clock (an integer multiple of milliseconds) of the sensing signal, which is t seconds ahead of the transmission clock of the communication signal (i.e., clock difference t). The sensing transmitting node adjusts the transmission clock of the communication signal (including symbol timing and / or subframe timing) to make the transmission clock of the communication signal consistent with the transmission clock of the sensing signal.

[0358] (b) Adjust the transmission clock of the sensing signal to the transmission clock of the communication signal.

[0359] In (b), the transmission clock of the communication signal (including symbol timing and / or subframe timing) remains unchanged, and the transmission clock of the sensing signal is adjusted to be consistent with the transmission clock of the communication signal.

[0360] Figure 11 This is a schematic diagram of adjusting the transmission clock of a sensing signal according to an embodiment of the present disclosure. Figure 11 In step 2A, the sensing and transmitting node obtains the transmission clock of the sensing signal (a time position that is an integer multiple of milliseconds), which is t seconds ahead of the transmission clock of the communication signal (i.e., a clock difference t). The sensing and transmitting node adjusts the transmission clock of the sensing signal to make it consistent with the transmission clock of the communication signal.

[0361] If the sensing transmitting node performs step (b), it sends a timing difference to the network device or sensing receiving node. This timing difference is the difference between the transmission clock of the sensing signal and the clock determined based on the satellite constellation (i.e., the transmission clock of the communication signal). This allows the network device (e.g., the sensing server) or sensing receiving node to calibrate based on the timing difference when calculating the transmission delay of the sensing signal.

[0362] For example, in Figure 11In step 2A, the sensing transmitting node obtains the transmission clock (an integer multiple of milliseconds) of the sensing signal, which is t = 0.001 ms ahead of the transmission clock of the communication signal. Assume the sensing transmitting node is expected to transmit the sensing signal between 3 ms and 0.001 ms, but actually transmits at 3 ms, meaning the actual transmission time is 0.001 ms later than the expected transmission time. The sensing transmitting node sends the t = 0.001 ms value to the sensing server. Assuming the sensing server calculates a sensing delay dt = 0.02 ms, the sensing server corrects the transmission delay of the sensing signal to t + dt = 0.021 ms. Correspondingly, if the transmission clock of the sensing signal is t = -0.001 ms ahead of the transmission clock of the communication signal (i.e., lagging by 0.001 ms), the sensing server corrects the transmission delay of the sensing signal to t + dt = 0.019 ms.

[0363] In Example 1, it is assumed that the satellite orbit model parameter GNSS-OrbitModel uses the Keplerian set (NavModelKeplerianSet) as shown in Table 1-1 below to calculate the satellite trajectory and position at a certain moment.

[0364] Table 1-1 Keplerian Set (NavModelKeplerianSet)

[0365]

[0366]

[0367] In Example 1, it is assumed that the satellite ionospheric model parameters (GNSS-IonosphericModel) use the contents of Table 1-2 below (Klobuchar model).

[0368] Table 1-2 Klobuchar Model

[0369]

[0370] The results obtained in Example 1 (without using satellite ionospheric model parameters) are shown in Tables 1-3 below.

[0371] Table 1-3 Clock calibration error (simulation results)

[0372]

[0373] Example 2

[0374] Figure 12 This disclosure provides a schematic diagram of a scenario where a sensing server adjusts a clock difference to cause sensing errors. Figure 13This disclosure provides a schematic flowchart of a sensing server adjusting for sensing errors caused by clock differences.

[0375] exist Figure 12 In this system, the sensing transmitting node (TX) and sensing receiving node (RX) use different satellite constellations to determine their local clocks. The sensing transmitting node (TX) uses satellites 1, 2, 3, and 4 to determine its local clock, while the sensing receiving node (RX) uses satellites 3, 4, 5, and 6. The distances between the sensing transmitting node (TX) and satellites 1, 2, 3, and 4 are denoted as dt1, dt2, dt3, and dt4. The distances between the sensing receiving node (RX) and satellites 3, 4, 5, and 6 are denoted as dr1, dr2, dr3, and dr4.

[0376] exist Figure 13 In this context, the configuration node is the node that configures the sensing parameters. The configuration node can be a sensing server, a base station, or a terminal (a specific terminal). TRP1 is the sensing receiving node, and TRP2 is the sensing sending node.

[0377] The sensing and transmitting node is used to: determine the local clock (i.e., transmit clock information) using the Global Navigation Satellite System (GNSS); generate sensing signals; and transmit the sensing signals according to the local clock. The sensing and transmitting node can be a base station or a terminal.

[0378] The sensing and receiving node is used to: determine its local clock (i.e., receive clock information) based on the Global Navigation Satellite System (GNSS); receive sensing signals; and determine the propagation delay of the sensing signals based on the local clock. The sensing and receiving node can be a base station or a terminal.

[0379] If both the sensing transmitting node and the sensing receiving node are TRPs (base stations), the configured node can be a sensing server, a sensing receiving node, or a sensing transmitting node.

[0380] If the sensing sending node (or sensing receiving node) is a TRP (base station), the configuration node can be a sensing server or a TRP.

[0381] If the sensing transmitting node (or sensing receiving node) is a terminal, the configured node can be a sensing server, a base station, or a transmitting terminal.

[0382] like Figure 13 As shown, the process of the sensing server adjusting for sensing errors caused by clock differences includes the following steps 1 to 4:

[0383] Step 1 (optional): Configure the node to configure the perception parameters.

[0384] The configuration node determines the sensing parameter configuration information and sends the sensing parameter configuration information to the sensing sending node and the sensing receiving node.

[0385] The perception parameter configuration information includes at least one of the following (A) and (B):

[0386] (A) Candidate satellite information.

[0387] Candidate satellite information refers to satellite information recommended by the configuration node to the sensing transmitting node and / or sensing receiving node for determining the local clock. The configuration node stores verification data (non-linear distance) corresponding to the candidate satellites to ensure the accuracy of clock calculation.

[0388] (B) Perceive resource information.

[0389] Sensing resource information includes sensing resource time-domain information and / or sensing resource frequency-domain information.

[0390] The candidate satellite information may include at least one of the following (1) to (4):

[0391] (1) Satellite identifier of at least one candidate satellite.

[0392] For example, the satellite identifier for a candidate satellite is its satellite ID. The satellite ID is an index number for a Global Navigation Satellite System (GNSS) satellite. The satellite identifier can include the following two fields:

[0393] Information Field 1: GNSS-ID, representing the Global Navigation Satellite System number, used to distinguish different satellite systems. Global Navigation Satellite Systems include: Global Positioning System (GPS), GLONASS, BeiDou Navigation Satellite System (BDS), and Satellite-Based Augmentation System (SBAS).

[0394] Information field 2: SV-ID, representing the satellite number under a specific satellite navigation system. The SV-ID number range is, for example, from 1 to 64.

[0395] (2) Satellite orbit model parameters.

[0396] For example, the satellite orbit model is the Global Navigation Satellite System Orbit Model (GNSS-OrbitModel), a mathematical model describing the trajectory of a satellite in space. Using satellite orbit parameters, the satellite orbit model can predict the satellite's three-dimensional coordinate position, velocity, and attitude at any given time. Satellite orbit model parameters can be configured in the group information of the candidate satellite constellation (i.e., the aforementioned (A) candidate satellite information) or in the individual configuration information corresponding to the satellite's ID.

[0397] (3) Satellite ionospheric model parameters.

[0398] The satellite ionospheric model, or Global Navigation Satellite System Ionospheric Model, is a mathematical model that describes the influence of the ionosphere on the propagation of radio signals. It is used to provide satellite ionospheric model parameters to model the propagation delay of GNSS signals through the ionosphere, thereby improving the positioning accuracy and reliability of the Global Navigation Satellite System (GNSS).

[0399] Using satellite ionospheric model parameters allows single-frequency GNSS receivers to remove a portion of the ionospheric delay (non-linear portion) from pseudorange measurements. These parameters can be configured in the group information of the candidate satellite constellation (i.e., the aforementioned candidate satellite information in (A)) or in separate configuration information corresponding to the satellite ID.

[0400] (4) The credibility of at least one candidate satellite.

[0401] The credibility of candidate satellites is used to indicate their reliability and availability. Sensing transmitting nodes and sensing receiving nodes can select satellites from the candidate satellite constellation to determine their local clocks based on the candidate satellite credibility and measurements of the candidate satellites (e.g., signal-to-noise ratio, SNR). For example, candidate satellites with higher credibility and / or higher SNR are given priority.

[0402] In some embodiments, the configuration node may also send indication information to the sensing transmitting node and / or sensing receiving node. The indication information is used to indicate whether to use satellite ionospheric model parameters to determine the local clock. The indication information may be an indication flag. In other embodiments, the configuration node may not send indication information, and the protocol will determine whether to use satellite ionospheric model parameters to determine the local clock.

[0403] Step 2: Sensing signal transmission / reception.

[0404] The sensing transmitting node can select at least four satellites based on candidate satellite information; thus, the sensing transmitting node can determine the local clock of the sensing signal based on the selected satellites. The sensing receiving node can also select at least four satellites based on candidate satellite information; thus, the sensing receiving node can determine the local clock of the sensing signal based on the selected satellites.

[0405] The information of the satellites selected by the sensing transmitting node and the sensing receiving node is shown in Table 1.

[0406] Table 1 Information on satellites selected for sensing transmitting and receiving nodes.

[0407]

[0408] In Table 1, the distance correction is the value obtained by correcting the distance measurement between the transmitting or receiving node and the satellite based on the satellite ionospheric model parameters. For example, for satellite S#1, if the distance correction is denoted as d1x and the distance measurement is denoted as d1(measurement), then the distance d1 between the transmitting / receiving node and satellite S#1 satisfies: d1 = d1(measurement) - d1x. d1 is the corrected value. d1 is closer to the straight-line distance from the transmitting or receiving node to satellite S#1 than d1(measurement). When d1x is zero, it indicates that no correction has been made.

[0409] The sensing transmitting node sends sensing signals based on its local clock and the sensing resource information configured by the configuration node. The sensing receiving node receives sensing signals based on its local clock and the sensing resource information configured by the configuration node. After receiving the sensing signals, the sensing receiving node can calculate the transmission delay or transmission distance of the sensing signals.

[0410] Step 3A: The sensing and transmitting node sends the first relevant information to determine the local clock.

[0411] The first relevant information includes at least one of the following (1.1) to (1.5):

[0412] (1.1) Satellite identifier of at least one satellite.

[0413] The satellite identifier of at least one satellite is the satellite number ID of at least one satellite used to determine the local clock of the sensing transmission node.

[0414] (1.2) Sensing the distance between the transmitting node and at least one satellite.

[0415] (1.3) Coordinates of at least one satellite.

[0416] (1.4) Determine the time of the clock.

[0417] (1.5) The distance correction between the sensing and transmitting node and at least one satellite.

[0418] In (1.5), the distance correction is a value obtained by the sensing and transmitting node correcting the distance measurement between the sensing and transmitting node and the satellite based on the satellite ionospheric model parameters. For example, if the distance correction is denoted as dx and the distance measurement is denoted as d(measurement), then the reported distance (i.e., the distance in (1.2)) satisfies: d(reported) = d(measurement) - dx. d(reported) is closer to the straight-line distance from the sensing and transmitting node to the satellite than d(measurement).

[0419] Step 3B: The sensing receiving node sends second relevant information and sensing measurements to determine the local clock.

[0420] The sensed measurement includes at least one of the following:

[0421] The transmission delay, transmission distance, and received sensing signal of the sensing signal.

[0422] The second relevant information includes at least one of the following (2.1) to (2.5):

[0423] (2.1) Satellite identifier of at least one satellite.

[0424] The satellite identifier of at least one satellite is the satellite number ID of at least one satellite used to determine the local clock of the sensing receiving node.

[0425] (2.2) Sensing the distance between the receiving node and at least one satellite.

[0426] (2.3) Coordinates of at least one satellite.

[0427] (2.4) Determine the time of the clock.

[0428] (2.5) Distance correction between the sensing receiving node and at least one satellite.

[0429] In (2.5), the distance correction is a value obtained by the sensing and receiving node correcting the distance measurement between the sensing and receiving node and the satellite based on the satellite ionospheric model parameters. For example, if the distance correction is denoted as dx and the distance measurement is denoted as d(measurement), then the reported distance (i.e., the distance in (2.2)) satisfies: d(reported) = d(measurement) - dx. d(reported) is closer to the straight-line distance from the sensing and receiving node to the satellite than d(measurement).

[0430] The relevant information sent by the sensing transmitting node and the sensing receiving node for determining the local clock is shown in Table 2 below.

[0431] Table 2. Relevant information sent by the sensing transmitting node and sensing receiving node for determining the local clock.

[0432]

[0433]

[0434] In Table 2, columns 3 (satellite coordinates) and 4 (time determination) can be reported separately. For example, only column 4 can be reported, and the sensing server can calculate the information for column 3 based on the information in column 4. Alternatively, both columns 3 and 4 can be reported, and the sensing server can verify the reported column 3.

[0435] Step 4: The sensing server adjusts the sensing measurement.

[0436] The sensing server calculates the first clock difference between the sensing transmitting node and the satellite based on the first relevant information: error_clock_tx; calculates the second clock difference between the sensing receiving node and the satellite based on the second relevant information: error_clock_rx; calculates the clock difference between the sensing transmitting node and the sensing receiving node as t = error_clock_rx - error_clock_tx based on the first and second clock differences; and adjusts the sensing measurement according to t.

[0437] The calculation methods for error_clock include the following (I) to (III):

[0438] (a) Clock difference t0 without considering non-linear distance factors:

[0439] Assume the three-dimensional coordinates of the sensing transmitting or receiving node are (x, y, z), and the sensing transmitting or receiving node reports the three-dimensional coordinates of five satellites, namely (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), and (x5, y5, z5). The measured distances between the sensing transmitting or receiving node and the five satellites are d1, d2, d3, d4, and d5, respectively. The sensing server calculates the error distance Δd caused by the clock difference t0 according to the following formula:

[0440] Ax = b;

[0441]

[0442] The clock difference t0 and the error distance Δd satisfy: Δd=-t0*c, where c is the speed of light.

[0443] (ii) Clock error t1 considering non-linear distance factors:

[0444] Assume the three-dimensional coordinates of the sensing transmitting node or sensing receiving node are (x, y, z), and the three-dimensional coordinates of the five satellites reported by the sensing transmitting node or sensing receiving node are (x1, y1, z1), (x2, y2, z2), (x3, y3, z3), (x4, y4, z4), and (x5, y5, z5), respectively. The measured distances between the sensing transmitting node or sensing receiving node and the five satellites are d1, d2, d3, d4, and d5, respectively.

[0445] Based on the acquired RTK information, the sensing server determines the actual straight-line distance from the sensing transmitting node or sensing receiving node to each satellite. The straight-line distance is calculated using the following formula:

[0446] d1-d 1nLOs +d1x=d 1-LOS ;

[0447] d2-d 2nLOS +d2x=d 2-LOS ;

[0448] d3-d 3nLOS +d3x=d 3-LOS ;

[0449] d4-d 4nLOS +d4x=d 4-LOS ;

[0450] d5-d 5nLOS +d5x=d 5-LOS .

[0451] Where, d 1nLOS d 2nLOS d 3nLOS d 4nLOS d 5nLOS This refers to the non-linear distance determined by the perception server based on RTK information.

[0452] The sensing server will measure the straight-line distance d 1-LOS d 2-LOS , ...,d 3-LOS Substituting d1 to d5 into the following formula, the error distance Δd caused by the clock difference t1 can be calculated:

[0453] Ax = b;

[0454]

[0455] The clock difference t1 and the error distance Δd satisfy: Δd=-t1*c, where c is the speed of light.

[0456] (iii) Determine that error_clock equals t0-t1.

[0457] This disclosure also provides the following solutions:

[0458] X1. A communication sensing method applied to network devices, the method comprising:

[0459] Receive the first relevant information sent by the sensing and transmitting node to determine the local clock;

[0460] Receive the second relevant information and sensing measurement quantity sent by the sensing receiving node to determine the local clock;

[0461] Based on the first and second relevant information, the clock difference between the sensing transmitting node and the sensing receiving node is determined;

[0462] Adjust the sensing measurement based on clock difference.

[0463] X2. According to the method of X1, the first relevant information includes at least one of the following:

[0464] Satellite identifier for at least one satellite;

[0465] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0466] The coordinates of at least one satellite;

[0467] Determine the time on the clock;

[0468] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite;

[0469] The second relevant information includes at least one of the following:

[0470] Satellite identifier for at least one satellite;

[0471] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0472] The coordinates of at least one satellite;

[0473] Determine the time on the clock;

[0474] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite.

[0475] X3. According to the method of X1, wherein determining the clock difference between the sensing transmitting node and the sensing receiving node based on the first relevant information and the second relevant information includes:

[0476] The first clock difference between the sensing transmission node and the satellite is determined based on the first relevant information;

[0477] The second clock difference between the sensing receiving node and the satellite is determined based on the second relevant information.

[0478] The clock difference between the sensing transmitting node and the sensing receiving node is determined based on the first clock difference and the second clock difference.

[0479] X4. According to the method of X1, the method further includes:

[0480] Determine the sensing parameter configuration information, which includes at least one of the following:

[0481] Candidate satellite information;

[0482] Perceive resource information;

[0483] Send sensing parameter configuration information to the sensing sending node and / or sensing receiving node.

[0484] X5. According to the method of X4, the candidate satellite information includes at least one of the following:

[0485] Satellite identifier of at least one candidate satellite;

[0486] Satellite orbit model parameters;

[0487] Satellite ionospheric model parameters;

[0488] The credibility of at least one candidate satellite.

[0489] X6. According to the method in X5, the method further includes:

[0490] Send indication information to the sensing transmitting node and / or sensing receiving node. The indication information is used to indicate whether to use satellite ionospheric model parameters to determine the local clock.

[0491] X7. A communication sensing method, applied to a sensing transmitting node or a sensing receiving node, the method comprising:

[0492] Send relevant information to network devices to determine the local clock;

[0493] Based on the local clock and network device configuration information of the sensing resources, send or receive sensing signals.

[0494] X8. According to the method of X7, the sensing receiving node also sends sensing measurements to the network device.

[0495] X9. According to the method of X7, the relevant information includes at least one of the following:

[0496] Satellite identifier for at least one satellite;

[0497] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0498] The coordinates of at least one satellite;

[0499] Determine the time on the clock;

[0500] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite.

[0501] X10. According to the method in X7, the method further includes:

[0502] Receive sensing parameter configuration information sent by the network device, wherein the sensing parameter configuration information includes at least one of the following:

[0503] Candidate satellite information;

[0504] Perceive resource information.

[0505] X11. According to the method of X10, the candidate satellite information includes at least one of the following:

[0506] Satellite identifier of at least one candidate satellite;

[0507] Satellite orbit model parameters;

[0508] Satellite ionospheric model parameters;

[0509] The credibility of at least one candidate satellite.

[0510] X12. According to the method of X11, the method further includes:

[0511] Based on the candidate satellite information, select at least one satellite;

[0512] Determine the local clock of the sensed signal based on at least one satellite.

[0513] X13. According to the method of X11, the method further includes:

[0514] Receive indication information sent by network devices, which indicates whether to use satellite ionospheric model parameters to determine the local clock.

[0515] It should be noted that, for the sake of simplicity, the foregoing method embodiments are all described as a series of actions. However, those skilled in the art will understand that the embodiments of this disclosure are not limited to the described order of actions, because according to the embodiments of this disclosure, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art will understand that the embodiments described in the specification are all optional embodiments.

[0516] Figure 14 This is a schematic diagram of a communication sensing device provided in an embodiment of this disclosure, which is applied to a network device. Figure 14As shown, the device includes, but is not limited to: a transmitting unit 1401.

[0517] Transmitting unit 1401 is used to transmit satellite group configuration information to sensing transmitting nodes and / or sensing receiving nodes. The satellite group configuration information includes at least one of the following:

[0518] A group identifier for at least one satellite constellation;

[0519] Group information for each satellite constellation;

[0520] Used to determine the time window information of the local clock.

[0521] In some embodiments, group information includes at least one of the following:

[0522] Satellite identifier for at least one satellite;

[0523] Satellite orbit model parameters;

[0524] Satellite ionosphere model parameters.

[0525] In some embodiments, the sending unit 1401 is further configured to:

[0526] Send indication information to the sensing transmitting node and / or sensing receiving node. The indication information is used to indicate whether to use satellite ionospheric model parameters to determine the local clock.

[0527] In some embodiments, the time window information is information about a single time window or information about a periodic time window.

[0528] In some embodiments, time window information is associated with perceived resources.

[0529] In some embodiments, time window information is associated with perceived resources, including:

[0530] The end time of the time window information is before the time when the sensing signal corresponding to the sensing resource is sent or received.

[0531] In some embodiments, the time difference between the end time of the time window and the time of transmission or reception of the sensing signal is configured in the time window information or in the configuration information of the sensing resource.

[0532] In some embodiments, the apparatus further includes:

[0533] The receiving unit is used to receive the timing difference sent by the sensing transmitting node. The timing difference is the difference between the transmitting clock of the sensing signal and the clock determined according to the satellite constellation.

[0534] The determination unit is used to determine the transmission delay of the sensing signal based on the timing difference.

[0535] Figure 14 For details of the various embodiments of the communication sensing device shown, please refer to... Figure 1 The various embodiments of the communication sensing method shown are not described again to avoid repetition.

[0536] Figure 15 This is a schematic diagram of another communication sensing device provided in an embodiment of this disclosure, which is applied to a network device. Figure 15 As shown, the device includes, but is not limited to: a first receiving unit 1501, a second receiving unit 1502, a determining unit 1503, and an adjusting unit 1504.

[0537] The first receiving unit 1501 is used to receive first relevant information sent by the sensing and transmitting node for determining the local clock;

[0538] The second receiving unit 1502 is used to receive the second relevant information and sensing measurement quantity sent by the sensing receiving node for determining the local clock.

[0539] The determining unit 1503 is used to determine the clock difference between the sensing transmitting node and the sensing receiving node based on the first relevant information and the second relevant information;

[0540] Adjustment unit 1504 is used to adjust the sensed measurement based on the clock difference.

[0541] In some embodiments, the first relevant information includes at least one of the following:

[0542] Satellite identifier for at least one satellite;

[0543] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0544] The coordinates of at least one satellite;

[0545] Determine the time on the clock;

[0546] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite;

[0547] The second relevant information includes at least one of the following:

[0548] Satellite identifier for at least one satellite;

[0549] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0550] The coordinates of at least one satellite;

[0551] Determine the time on the clock;

[0552] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite.

[0553] In some embodiments, the determining unit 1503 is configured to:

[0554] The first clock difference between the sensing transmission node and the satellite is determined based on the first relevant information;

[0555] The second clock difference between the sensing receiving node and the satellite is determined based on the second relevant information.

[0556] The clock difference between the sensing transmitting node and the sensing receiving node is determined based on the first clock difference and the second clock difference.

[0557] In some embodiments, the determining unit 1503 is further configured to:

[0558] Determine the sensing parameter configuration information, which includes at least one of the following:

[0559] Candidate satellite information;

[0560] Perceive resource information;

[0561] The device also includes a transmitting unit for transmitting sensing parameter configuration information to sensing transmitting nodes and / or sensing receiving nodes.

[0562] In some embodiments, candidate satellite information includes at least one of the following:

[0563] Satellite identifier of at least one candidate satellite;

[0564] Satellite orbit model parameters;

[0565] Satellite ionospheric model parameters;

[0566] The credibility of at least one candidate satellite.

[0567] In some embodiments, the sending unit is further configured to:

[0568] Send indication information to the sensing transmitting node and / or sensing receiving node. The indication information is used to indicate whether to use satellite ionospheric model parameters to determine the local clock.

[0569] Figure 15 For details of the various embodiments of the communication sensing device shown, please refer to... Figure 5 The various embodiments of the communication sensing method shown are not described again to avoid repetition.

[0570] Figure 16 This is a schematic diagram of another communication sensing device provided in an embodiment of the present disclosure, which is applied to a sensing transmitting node or a sensing receiving node. For example... Figure 16As shown, the device includes, but is not limited to: a receiving unit 1601 and a determining unit 1602.

[0571] Receiver unit 1601 is used to receive satellite constellation configuration information, which includes at least one of the following:

[0572] A group identifier for at least one satellite constellation;

[0573] Group information for each satellite constellation;

[0574] Used to determine the time window information of the local clock;

[0575] The determination unit 1602 is used to determine the local clock of the sensing signal based on the satellite constellation configuration information.

[0576] In some embodiments, group information includes at least one of the following:

[0577] Satellite identifier for at least one satellite;

[0578] Satellite orbit model parameters;

[0579] Satellite ionosphere model parameters.

[0580] In some embodiments, the receiving unit 1601 is further configured to:

[0581] Receive indication information sent by network devices, which indicates whether to use satellite ionospheric model parameters to determine the local clock.

[0582] In some embodiments, the device further includes:

[0583] The transceiver unit is used to send or receive sensing signals based on the sensing resource information configured by the local clock and network devices.

[0584] In some embodiments, the device further includes an adjustment unit for:

[0585] If the transmission clock of the sensing signal precedes the transmission clock of the communication signal, then perform one of the following:

[0586] Adjust the transmission clock of the communication signal to the transmission clock of the sensing signal;

[0587] Adjust the transmission clock of the sensing signal to the transmission clock of the communication signal.

[0588] In some embodiments, the apparatus further includes a transmitting unit for:

[0589] If the adjustment unit adjusts the transmission clock of the sensing signal to the transmission clock of the communication signal, the sensing transmitting node sends a timing difference to the network device or the sensing receiving node. The timing difference is the difference between the transmission clock of the sensing signal and the clock determined according to the satellite constellation.

[0590] Figure 16 For details of the various embodiments of the communication sensing device shown, please refer to... Figure 6 The various embodiments of the communication sensing method shown are not described again to avoid repetition.

[0591] Figure 17 This is a schematic diagram of another communication sensing device provided in an embodiment of the present disclosure, which is applied to a sensing transmitting node or a sensing receiving node. For example... Figure 17 As shown, the device includes, but is not limited to: a transmitting unit 1701 and a transceiver unit 1702.

[0592] The transmitting unit 1701 is used to send relevant information for determining the local clock to the network device;

[0593] The transceiver unit 1702 is used to send or receive sensing signals based on sensing resource information configured by the local clock and network devices.

[0594] In some embodiments, the transmitting unit 1701 of the sensing receiving node is further configured to:

[0595] Send sensing measurements to network devices.

[0596] In some embodiments, the relevant information includes at least one of the following:

[0597] Satellite identifier for at least one satellite;

[0598] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0599] The coordinates of at least one satellite;

[0600] Determine the time on the clock;

[0601] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite.

[0602] In some embodiments, the device further includes a receiving unit for:

[0603] Receive sensing parameter configuration information sent by the network device, wherein the sensing parameter configuration information includes at least one of the following:

[0604] Candidate satellite information;

[0605] Perceive resource information.

[0606] In some embodiments, candidate satellite information includes at least one of the following:

[0607] Satellite identifier of at least one candidate satellite;

[0608] Satellite orbit model parameters;

[0609] Satellite ionospheric model parameters;

[0610] The credibility of at least one candidate satellite.

[0611] In some embodiments, the device further includes:

[0612] The selection unit is used to select at least one satellite based on candidate satellite information;

[0613] A determining unit is used to determine the local clock of the sensed signal based on at least one satellite.

[0614] In some embodiments, the receiving unit is further configured to:

[0615] Receive indication information sent by network devices, which indicates whether to use satellite ionospheric model parameters to determine the local clock.

[0616] Figure 17 For details of the various embodiments of the communication sensing device shown, please refer to... Figure 7 The various embodiments of the communication sensing method shown are not described again to avoid repetition.

[0617] It should be noted that the division of units in the embodiments of this disclosure is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0618] If the aforementioned integrated units are implemented as software functional units and sold or used as independent products, they can be stored in a processor-readable storage medium. Based on this understanding, the technical solutions of this disclosure, in essence, or the parts that contribute to the prior art, or all or part of the technical solutions, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of the various embodiments of this disclosure.

[0619] Based on the same concept, embodiments of this disclosure also provide a processor-readable storage medium storing a program for causing a processor to execute the steps of various embodiments of the communication sensing method. The processor-readable storage medium can be any available medium or data storage device accessible to a processor, including but not limited to RAM, ROM, EEPROM, CD-ROM or other optical storage (e.g., CD, DVD, BD, HVD, etc.), disk storage media or other magnetic storage devices (e.g., floppy disk, hard disk, magnetic tape, magneto-optical disk (MO), or any other medium capable of carrying or storing desired program code having an instruction or data structure form and accessible by a computer.

[0620] Figure 18 This is a schematic diagram of a network device provided as an embodiment of this disclosure. Figure 18 As shown, the network device provided in this embodiment includes a memory 1801, a transceiver 1802, and a processor 1803.

[0621] Memory 1801 is used to store computer programs; transceiver 1802 is used to send and receive data under the control of processor 1803; processor 1803 is used to read the computer programs from memory 1801; transceiver 1802 is used for:

[0622] Send satellite constellation configuration information to the sensing transmitting node and / or sensing receiving node. The satellite constellation configuration information includes at least one of the following:

[0623] A group identifier for at least one satellite constellation;

[0624] Group information for each satellite constellation;

[0625] Used to determine the time window information of the local clock.

[0626] In some embodiments, group information includes at least one of the following:

[0627] Satellite identifier for at least one satellite;

[0628] Satellite orbit model parameters;

[0629] Satellite ionosphere model parameters.

[0630] In some embodiments, transceiver 1802 is further configured to:

[0631] Send indication information to the sensing transmitting node and / or sensing receiving node. The indication information is used to indicate whether to use satellite ionospheric model parameters to determine the local clock.

[0632] In some embodiments, the time window information is information about a single time window or information about a periodic time window.

[0633] In some embodiments, time window information is associated with perceived resources.

[0634] In some embodiments, time window information is associated with perceived resources, including:

[0635] The end time of the time window information is before the time when the sensing signal corresponding to the sensing resource is sent or received.

[0636] In some embodiments, the time difference between the end time of the time window and the time of transmission or reception of the sensing signal is configured in the time window information or in the configuration information of the sensing resource.

[0637] In some embodiments, transceiver 1802 is further configured to:

[0638] The timing difference is the difference between the clock of the sensing signal transmission node and the clock determined according to the satellite constellation.

[0639] The transmission delay of the sensed signal is determined based on the timing difference.

[0640] Figure 18 For details of the various embodiments of the network devices shown, please refer to Figure 1 The various embodiments of the communication sensing method shown are not described again to avoid repetition.

[0641] Figure 19 This is a schematic diagram of another network device provided as an embodiment of this disclosure. (See diagram below.) Figure 19 As shown, the network device provided in this embodiment includes a memory 1901, a transceiver 1902, and a processor 1903.

[0642] Memory 1901 is used to store computer programs; transceiver 1902 is used to send and receive data under the control of processor 1903; processor 1903 is used to read the computer program in memory 1901 and execute it.

[0643] Receive the first relevant information sent by the sensing and transmitting node to determine the local clock;

[0644] Receive the second relevant information and sensing measurement quantity sent by the sensing receiving node to determine the local clock;

[0645] Based on the first and second relevant information, the clock difference between the sensing transmitting node and the sensing receiving node is determined;

[0646] Adjust the sensing measurement based on clock difference.

[0647] In some embodiments, the first relevant information includes at least one of the following:

[0648] Satellite identifier for at least one satellite;

[0649] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0650] The coordinates of at least one satellite;

[0651] Determine the time on the clock;

[0652] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite;

[0653] The second relevant information includes at least one of the following:

[0654] Satellite identifier for at least one satellite;

[0655] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0656] The coordinates of at least one satellite;

[0657] Determine the time on the clock;

[0658] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite.

[0659] In some embodiments, determining the clock difference between the sensing transmitting node and the sensing receiving node based on a first relevant information and a second relevant information includes:

[0660] The first clock difference between the sensing transmission node and the satellite is determined based on the first relevant information;

[0661] The second clock difference between the sensing receiving node and the satellite is determined based on the second relevant information.

[0662] The clock difference between the sensing transmitting node and the sensing receiving node is determined based on the first clock difference and the second clock difference.

[0663] In some embodiments, the processor 1903 is further configured to:

[0664] Determine the sensing parameter configuration information, which includes at least one of the following:

[0665] Candidate satellite information;

[0666] Perceive resource information;

[0667] Send sensing parameter configuration information to the sensing sending node and / or sensing receiving node.

[0668] In some embodiments, candidate satellite information includes at least one of the following:

[0669] Satellite identifier of at least one candidate satellite;

[0670] Satellite orbit model parameters;

[0671] Satellite ionospheric model parameters;

[0672] The credibility of at least one candidate satellite.

[0673] In some embodiments, transceiver 1902 is further configured to:

[0674] Send indication information to the sensing transmitting node and / or sensing receiving node. The indication information is used to indicate whether to use satellite ionospheric model parameters to determine the local clock.

[0675] Figure 19 For details of the various embodiments of the network devices shown, please refer to Figure 5 The various embodiments of the communication sensing method shown are not described again to avoid repetition.

[0676] Figure 20 This is a schematic diagram of a sensing transmitting node or a sensing receiving node provided in an embodiment of this disclosure. Figure 20 As shown, the sensing transmitting node or sensing receiving node provided in this embodiment includes a memory 2001, a transceiver 2002, and a processor 2003.

[0677] Memory 2001 is used to store computer programs; transceiver 2002 is used to send and receive data under the control of processor 2003; processor 2003 is used to read the computer program in memory 2001 and execute it.

[0678] Receive satellite constellation configuration information, which includes at least one of the following:

[0679] A group identifier for at least one satellite constellation;

[0680] Group information for each satellite constellation;

[0681] Used to determine the time window information of the local clock;

[0682] The local clock for the sensed signal is determined based on the satellite constellation configuration information.

[0683] In some embodiments, group information includes at least one of the following:

[0684] Satellite identifier for at least one satellite;

[0685] Satellite orbit model parameters;

[0686] Satellite ionosphere model parameters.

[0687] In some embodiments, the transceiver 2002 is further configured to:

[0688] Receive indication information sent by network devices, which indicates whether to use satellite ionospheric model parameters to determine the local clock.

[0689] In some embodiments, the processor 2003 is further configured to:

[0690] Based on the local clock and network device configuration information of the sensing resources, send or receive sensing signals.

[0691] In some embodiments, the processor 2003 is further configured to:

[0692] If the transmission clock of the sensing signal precedes the transmission clock of the communication signal, then perform one of the following:

[0693] Adjust the transmission clock of the communication signal to the transmission clock of the sensing signal;

[0694] Adjust the transmission clock of the sensing signal to the transmission clock of the communication signal.

[0695] In some embodiments, if the processor 2003 of the sensing transmitting node adjusts the transmission clock of the sensing signal to the transmission clock of the communication signal, the transceiver 2002 of the sensing transmitting node is also used to send a timing difference to the network device or the sensing receiving node, the timing difference being the difference between the transmission clock of the sensing signal and the clock determined according to the satellite constellation.

[0696] Figure 20 For details of the various embodiments of the sensing transmitting node or sensing receiving node shown, please refer to [reference needed]. Figure 6 The various embodiments of the communication sensing method shown are not described again to avoid repetition.

[0697] Figure 21 This is a schematic diagram of another sensing transmitting node or sensing receiving node provided in an embodiment of this disclosure. (See diagram below.) Figure 21 As shown, the sensing transmitting node or sensing receiving node provided in this embodiment includes a memory 2101, a transceiver 2102, and a processor 2103.

[0698] Memory 2101 is used to store computer programs; transceiver 2102 is used to send and receive data under the control of processor 2103; processor 2103 is used to read the computer program in memory 2101 and execute it.

[0699] Send relevant information to network devices to determine the local clock;

[0700] Based on the local clock and network device configuration information of the sensing resources, send or receive sensing signals.

[0701] In some embodiments, the transceiver 2102 of the sensing receiving node is further configured to:

[0702] Send sensing measurements to network devices.

[0703] In some embodiments, the relevant information includes at least one of the following:

[0704] Satellite identifier for at least one satellite;

[0705] Sensing the distance between the transmitting node or the receiving node and at least one satellite;

[0706] The coordinates of at least one satellite;

[0707] Determine the time on the clock;

[0708] The distance correction between the sensing transmitting node or sensing receiving node and at least one satellite.

[0709] In some embodiments, transceiver 2102 is further configured to:

[0710] Receive sensing parameter configuration information sent by the network device, wherein the sensing parameter configuration information includes at least one of the following:

[0711] Candidate satellite information;

[0712] Perceive resource information.

[0713] In some embodiments, candidate satellite information includes at least one of the following:

[0714] Satellite identifier of at least one candidate satellite;

[0715] Satellite orbit model parameters;

[0716] Satellite ionospheric model parameters;

[0717] The credibility of at least one candidate satellite.

[0718] In some embodiments, the processor 2103 is further configured to:

[0719] Based on the candidate satellite information, select at least one satellite;

[0720] Determine the local clock of the sensed signal based on at least one satellite.

[0721] In some embodiments, transceiver 2102 is further configured to:

[0722] Receive indication information sent by network devices, which indicates whether to use satellite ionospheric model parameters to determine the local clock.

[0723] Figure 21 For details of the various embodiments of the sensing transmitting node or sensing receiving node shown, please refer to [reference needed]. Figure 7The various embodiments of the communication sensing method shown are not described again to avoid repetition.

[0724] In the above embodiments, the transceiver is used to receive and transmit data under the control of the processor. The bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors (represented by the processor) and memories (represented by the memory). The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver can be multiple components, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, and other transmission media.

[0725] The processor manages the bus architecture and general processing, while the memory stores the data used by the processor during operation. The processor can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). Processors can also employ a multi-core architecture.

[0726] In this embodiment of the disclosure, the terminal may 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 may be called User Equipment (UE). The wireless terminal device may be a USB storage device, other personal computer memory devices, or a dongle. It may also communicate with one or more core networks (CNs) via a Radio Access Network (RAN). The wireless terminal device may be a mobile terminal device, such as a mobile phone (or "cellular" phone) and a computer with a mobile terminal device, for example, a portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile device that exchanges voice and / or data with the radio access network. Examples of such devices include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, Personal Digital Assistants (PDAs), personal computers, tablets, and Machine-type Communication (MTC) terminal devices. Wireless terminal devices can also be referred to as systems, subscriber units, subscriber stations, mobile stations, mobile devices, remote stations, access points, remote terminals, access terminals, user terminals, user agents, user devices, and wireless access devices and routers / modems that meet the limitations of this definition, but are not limited to these in the embodiments of this disclosure.

[0727] The technical solutions provided in this disclosure are applicable to a variety of systems. For example, applicable systems may include Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5G New Radio (NR) systems and their evolved communication systems, and 6G (sixth generation mobile communication technology) systems. These systems may include terminal equipment and network equipment. The systems may also include a core network component, such as Evolved Packet Core (EPC) and 5G Core Network (5GC).

[0728] Based on the same concept, this disclosure also provides a chip including a processor coupled to a memory for executing a computer program or instructions stored in the memory, such that when the processor executes the computer program or instructions, the methods provided in the above embodiments are implemented.

[0729] It should also be understood that the memory mentioned in the embodiments of this disclosure can be volatile memory and / or non-volatile memory. Non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes various forms such as: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA, or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) can be integrated into the processor.

[0730] like Figure 22 This disclosure provides a chip system 2200. The chip system 2200 (or processing system) includes logic circuitry 2201 and an input / output interface 2202. The logic circuitry 2201 can be the processing circuitry within the chip system 2200. The logic circuitry 2201 can be coupled to a memory unit, calling instructions stored in the memory unit, enabling the chip system 2200 to implement the methods and functions of the embodiments of this disclosure. The input / output interface 2202 can be the input / output circuitry within the chip system 2200, outputting processed information or inputting data or signaling information to be processed into the chip system 2200 for processing.

[0731] As one approach, the chip system 2200 is used to implement the operations described in the various method embodiments above. For example, the logic circuit 2201 is used to implement the relevant operations performed by the network device, the sensing transmitting node, or the sensing receiving node in the method embodiments above; the input / output interface 2202 is used to implement the transmission and / or reception-related operations performed by the network device, the sensing transmitting node, or the sensing receiving node in the method embodiments above.

[0732] It should be noted that, in this document, 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. Unless otherwise specified, an element defined by the phrase "comprising..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0733] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0734] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. 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 illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0735] 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.

[0736] Those skilled in the art will understand that although some embodiments described herein include certain features included in other embodiments but not others, combinations of features from different embodiments are meant to be within the scope of this disclosure and form different embodiments.

[0737] Those skilled in the art will understand that the descriptions of the various embodiments have different focuses, and for parts not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0738] Although embodiments of this disclosure have been described in conjunction with the accompanying drawings, 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, this application also intends to include such modifications and variations if they fall within the scope of the claims of this application and their equivalents.

Claims

1. A method for communication sensing, applied to a network device, the method comprising: sending, to a sensing transmitting node and / or a sensing receiving node, satellite constellation configuration information, the satellite constellation configuration information comprising at least one of: a constellation identifier of at least one satellite constellation; constellation information of each satellite constellation; time window information for determining a local clock.

2. The method of claim 1, wherein, The constellation identifier is a global navigation satellite system number, the global navigation satellite system number comprising any one of: a global positioning system number; a global navigation satellite system number; a Beidou satellite navigation system number; a satellite-based augmentation system number.

3. The method of claim 1, wherein, The constellation information comprises at least one of: a satellite identifier of at least one satellite; satellite orbit model parameters; satellite ionosphere model parameters.

4. The method of claim 3, wherein, The satellite identifier is a satellite number or a combination of a global navigation satellite system number and a satellite number.

5. The method of claim 3, wherein, The method further comprises: sending, to the sensing transmitting node and / or the sensing receiving node, indication information, the indication information indicating whether to use the satellite ionosphere model parameters to determine the local clock.

6. The method of claim 1, wherein, The time window information is information of a single time window or information of a periodic time window.

7. The method of claim 1, wherein, The time window information is associated with a sensing resource.

8. The method of claim 7, wherein, The time window information being associated with a sensing resource comprises: an ending moment of a time window corresponding to the time window information being before a transmitting moment or a receiving moment of a sensing signal corresponding to the sensing resource.

9. The method of claim 8, wherein, A time difference between the ending moment of the time window and the transmitting moment or the receiving moment of the sensing signal is configured in the time window information or in configuration information of the sensing resource.

10. The method of claim 1, wherein, The method further comprises: receiving a timing difference sent by the sensing transmitting node, the timing difference being a difference between a transmitting clock of a sensing signal and a clock determined according to a satellite constellation; determining a transmission delay of the sensing signal based on the timing difference. 11.A method for communication sensing, applied to a sensing transmitting node or a sensing receiving node, the method comprising: receiving satellite constellation configuration information, the satellite constellation configuration information comprising at least one of: a constellation identifier of at least one satellite constellation; constellation information of each satellite constellation; time window information for determining a local clock. determining a local clock of a sensing signal based on the satellite constellation configuration information.

12. The method of claim 11, wherein, The constellation identifier is a global navigation satellite system number, the global navigation satellite system number comprising any one of: a global positioning system number; a global navigation satellite system number; a Beidou satellite navigation system number; a satellite-based augmentation system number.

13. The method of claim 11, wherein, The constellation information comprises at least one of: a satellite identifier of at least one satellite; satellite orbit model parameters; satellite ionosphere model parameters.

14. The method of claim 13, wherein, The satellite identifier is a satellite number or a combination of a global navigation satellite system number and a satellite number.

15. The method of claim 13, wherein, The method further comprises: receiving indication information sent by a network device, the indication information indicating whether to use the satellite ionosphere model parameters to determine the local clock.

16. The method of claim 11, wherein, The time window information is information of a single time window or information of a periodic time window.

17. The method of claim 11, wherein, The time window information is associated with a sensing resource.

18. The method of claim 17, wherein, The time window information being associated with a sensing resource comprises: An ending moment of a time window corresponding to the time window information is before a sending moment of a sensing signal corresponding to the sensing resource or a receiving moment of the sensing signal.

19. The method of claim 11, wherein, The method further includes: sending or receiving the sensing signal based on the local clock and the sensing resource information configured by the network device.

20. The method of claim 19, wherein, The method further includes: if the sending clock of the sensing signal is before the sending clock of the communication signal, performing any one of: adjusting the sending clock of the communication signal to the sending clock of the sensing signal; or adjusting the sending clock of the sensing signal to the sending clock of the communication signal.

21. The method of claim 20, wherein, The method further includes: if the sending clock of the sensing signal is adjusted to the sending clock of the communication signal, sending, by the sensing sending node, a timing difference to the network device or the sensing receiving node, the timing difference being a difference between the sending clock of the sensing signal and a clock determined according to the satellite constellation. 22.A communication sensing apparatus applied to a network device, the apparatus comprising: a sending unit configured to send, to a sensing sending node and / or a sensing receiving node, satellite constellation configuration information, the satellite constellation configuration information comprising at least one of: a constellation identifier of at least one satellite constellation; constellation information of each satellite constellation; and time window information for determining a local clock. 23.A communication sensing apparatus applied to a sensing sending node or a sensing receiving node, the apparatus comprising: a receiving unit configured to receive satellite constellation configuration information, the satellite constellation configuration information comprising at least one of: a constellation identifier of at least one satellite constellation; constellation information of each satellite constellation; and time window information for determining a local clock; and a determining unit configured to determine a local clock of a sensing signal based on the satellite constellation configuration information.

24. A network device, wherein, The network device comprises a memory, a transceiver, and a processor; The memory is configured to store a computer program; the transceiver is configured to transceive data under control of the processor; and the processor is configured to read the computer program in the memory; and the transceiver is configured to: send, to a sensing sending node and / or a sensing receiving node, satellite constellation configuration information, the satellite constellation configuration information comprising at least one of: a constellation identifier of at least one satellite constellation; constellation information of each satellite constellation; and time window information for determining a local clock.

25. The network device of claim 24, wherein, The constellation identifier is a global navigation satellite system number, the global navigation satellite system number comprising any one of: a global positioning system number; a global navigation satellite system number; a Beidou satellite navigation system number; and a satellite-based augmentation system number.

26. The network device of claim 24, wherein, The constellation information comprises at least one of: a satellite identifier of at least one satellite; satellite orbit model parameters; and satellite ionosphere model parameters.

27. The network device of claim 26, wherein, The satellite identifier is a satellite number or a combination of a global navigation satellite system number and a satellite number.

28. The network device of claim 26, wherein, The transceiver is further configured to: send, to the sensing sending node and / or the sensing receiving node, indication information, the indication information being used to indicate whether the satellite ionosphere model parameters are used to determine a local clock.

29. The network device of claim 24, wherein, The time window information is information of a single time window or information of a periodic time window.

30. The network device of claim 24, wherein, The time window information is associated with a sensing resource.

31. The network device of claim 30, wherein, The time window information being associated with a sensing resource comprises: An ending moment of a time window corresponding to the time window information is before a sending moment of a sensing signal corresponding to the sensing resource or a receiving moment of the sensing signal.

32. The network device of claim 31, wherein, A time difference between the ending moment of the time window and the sending moment of the sensing signal or the receiving moment of the sensing signal is configured in the time window information or configured in configuration information of the sensing resource.

33. The network device of claim 24, wherein, The transceiver is further configured to: receive a timing difference sent by the sensing sending node, the timing difference being a difference between a sending clock of the sensing signal and a clock determined according to the satellite constellation; determine a transmission delay of the sensing signal based on the timing difference.

34. A cognitive transmitting node or a cognitive receiving node, wherein, The sensing sending node or the sensing receiving node comprises a memory, a transceiver, and a processor. The memory is configured to store a computer program, the transceiver is configured to transceive data under control of the processor, and the processor is configured to read the computer program in the memory and perform: receive satellite constellation configuration information, the satellite constellation configuration information comprising at least one of: a constellation identification of at least one satellite constellation; constellation information of each satellite constellation; time window information for determining a local clock; determine a local clock of the sensing signal based on the satellite constellation configuration information.

35. The cognitive transmitting node or cognitive receiving node in claim 34, wherein, The constellation identification is a global navigation satellite system number, the global navigation satellite system number comprising any one of: a global positioning system number; a global navigation satellite system number; a Beidou satellite navigation system number; a satellite-based augmentation system number.

36. The cognitive transmitting node or cognitive receiving node in claim 34, wherein, The constellation information comprises at least one of: a satellite identification of at least one satellite; satellite orbit model parameters; satellite ionosphere model parameters.

37. The cognitive transmitting node or cognitive receiving node in claim 36, wherein, The satellite identification is a satellite number or a combination of a global navigation satellite system number and a satellite number.

38. The cognitive transmitting node or cognitive receiving node in claim 36, wherein, The transceiver is further configured to: receive indication information sent by the network device, the indication information being used to indicate whether to use the satellite ionosphere model parameters to determine the local clock.

39. The cognitive transmitting node or cognitive receiving node in claim 34, wherein, The time window information is information of a single time window or information of a periodic time window.

40. The cognitive transmitting node or cognitive receiving node in claim 34, wherein, The time window information is associated with the sensing resource.

41. The cognitive transmitting node or cognitive receiving node in claim 40, wherein, The time window information is associated with the sensing resource, comprising: An ending moment of a time window corresponding to the time window information is before a sending moment of a sensing signal corresponding to the sensing resource or a receiving moment of the sensing signal.

42. The cognitive transmitting node or cognitive receiving node in claim 34, wherein, The processor is further configured to: send or receive the sensing signal based on the local clock and sensing resource information configured by the network device.

43. The cognitive transmitting node or cognitive receiving node in claim 42, wherein, The processor is further configured to: if the sending clock of the sensing signal is before the sending clock of the communication signal, perform any one of: adjust the sending clock of the communication signal to be the sending clock of the sensing signal; adjust the sending clock of the sensing signal to be the sending clock of the communication signal.

44. The sensing sending node or the sensing receiving node of claim 43, wherein, if the processor of the sensing sending node adjusts the sending clock of the sensing signal to be the sending clock of the communication signal, the transceiver of the sensing sending node is further configured to send a timing difference to the network device or the sensing receiving node, the timing difference being a difference between the sending clock of the sensing signal and a clock determined according to the satellite constellation.

45. A processor-readable storage medium, wherein, The processor readable storage medium stores a program for causing the processor to perform the communication awareness method according to any one of claims 1 to 10, or the communication awareness method according to any one of claims 11 to 21.

46. A chip, wherein, A processor is coupled with a memory for executing a computer program or instructions stored in the memory, and when the processor executes the computer program or instructions, performs the communication awareness method according to any one of claims 1 to 10, or the communication awareness method according to any one of claims 11 to 21.

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