Perception and communication integrated multi-frequency-point signal ranging method, device, system and equipment and medium

Abstract

The invention relates to the technical field of sensing communication, and provides a sensing and communication integrated multi-frequency-point signal ranging method, device, system and equipment and a medium, and the method comprises the steps: obtaining an original sensing signal, modulating the original sensing signal to a plurality of different carrier frequency bands, and obtaining sensing sub-signals of a plurality of frequency bands; generating an orthogonal frequency division multiplexing communication signal according to the transmission file source, and performing OFDM modulation to modulate to a corresponding communication frequency band to obtain a communication signal; the sensing sub-signals of the multiple frequency bands are synchronously transmitted to a signal receiving device through multiple first transmitting antennas, meanwhile, the communication signals are transmitted to the signal receiving device through a second transmitting antenna, and the first transmitting antennas correspond to the sensing sub-signals one to one. According to the technical scheme, interference between signals is avoided, and cooperative operation of double functions is guaranteed.

Description

[Technical Field]

[0001] This application relates to the field of sensing and communication technology, and in particular to a multi-frequency signal ranging method, apparatus, system, device and medium integrating sensing and communication. [Background Technology]

[0002] Next-generation wireless network technologies, such as Beyond 5G (B5G) and 6G systems, are widely recognized as key technologies supporting emerging future applications. With the rapid development of technology, the number of various smart devices is exploding, and short-range wireless communication technologies are being deployed on a large scale. People's demand for high-speed, low-latency, high-reliability communication and precise sensing is becoming increasingly urgent. However, spectrum resources, as a core element of wireless communication, are gradually becoming a key bottleneck restricting further technological breakthroughs. Traditional wireless frequency bands are overcrowded, and the development of new frequency bands faces many challenges, such as technical difficulties and regulatory restrictions, which severely restrict the development potential of communication and sensing technologies.

[0003] It is noteworthy that radio sensing and communication systems exhibit similar development trends during their technological evolution. Both are moving towards higher frequency bands to acquire richer spectrum resources; employing larger antenna arrays to improve signal gain and spatial resolution; and simultaneously pursuing miniaturization in hardware design to meet the demands for device miniaturization and portability. In this process, their channel characteristics, such as signal attenuation, scattering, and multipath effects, as well as their signal processing methods, such as modulation / demodulation, encoding / decoding, and filtering, show significant similarities.

[0004] Against this backdrop, Integrated Sensing and Communication (ISAC) technology has emerged. This innovative technology tightly integrates previously independent communication signals with wireless sensing, breaking down resource barriers between traditional heterogeneous systems by integrating communication and sensing functions on a unified hardware platform. On one hand, ISAC establishes a multi-dimensional resource coordination mechanism, which is expected to significantly improve spectrum and energy utilization efficiency while reducing hardware costs and signaling overhead. Research shows that compared to traditional discrete systems, ISAC exhibits higher performance in terms of spectrum utilization, energy efficiency, and hardware requirements. Furthermore, by cleverly utilizing sensing information for channel estimation and network control optimization, communication performance can also be effectively improved. On the other hand, ISAC aims to build a unified technical paradigm for communication and sensing, driving its evolution towards a 6G intrinsically intelligent architecture. This convergence is expected to spawn numerous emerging sensing applications, such as 3D environment reconstruction based on ISAC, which can provide accurate environmental information for fields such as intelligent driving and virtual reality; in the Internet of Vehicles, it can realize efficient communication and accurate perception between vehicles and between vehicles and infrastructure, improving traffic safety and efficiency; in the field of smart homes, it can facilitate the interconnection and interoperability of devices and environmental perception, creating a comfortable and convenient living environment; and in terms of environmental monitoring, it can realize real-time monitoring and analysis of environmental parameters such as air and water quality.

[0005] Different researchers have varying opinions on how to implement ISAC. Some scholars have attempted to combine communication with optical sensing, employing a bidirectional retroreflective optical integrated sensing and communication scheme using time-division duplex (TDD) and clipped orthogonal frequency-division multiplexing (OFDM), successfully achieving both communication and sensing functions. Other studies have proposed a multi-domain non-orthogonal multiple access (NOMA) ISAC scheme. By constructing a joint coding framework of the time-frequency (TF) and delay-Doppler (DD) domains, this scheme achieves environmental perception of potential scatterers and non-orthogonal collaborative transmission of multi-user data streams. Simulation results show that this scheme has significant efficiency advantages.

[0006] However, current research on ISAC has certain limitations. The research focus is overly concentrated on the millimeter-wave band. While the millimeter-wave band offers advantages such as large bandwidth and high transmission rates, it also faces problems such as high propagation loss and weak penetration. Furthermore, research mainly remains at the theoretical modeling and simulation analysis stage, with insufficient testing and verification in practical application scenarios. This makes it difficult to translate research results into actual products and engineering applications, greatly limiting its practical value and engineering potential in real-world scenarios. How to expand the research frequency range, balance the advantages and disadvantages of different frequency bands, and strengthen field testing and application verification has become a key issue that urgently needs to be addressed to promote the transition of ISAC technology from theory to practical application. [Summary of the Invention]

[0007] This application provides a multi-frequency signal ranging method, apparatus, system, device, and medium integrating sensing and communication, aiming to solve many technical problems existing in related technologies.

[0008] In a first aspect, embodiments of this application provide a multi-frequency signal ranging method integrating sensing and communication, used in a signal transmitting device, the method comprising:

[0009] The original sensing signal is acquired and modulated onto multiple different carrier frequency bands to obtain sensing sub-signals for multiple frequency bands.

[0010] An orthogonal frequency division multiplexing (OFDM) communication signal is generated based on the file source to be transmitted, and OFDM modulation is performed to modulate it onto the corresponding communication frequency band to obtain the communication signal.

[0011] The sensing sub-signals of the multiple frequency bands are synchronously transmitted to the signal receiving device through multiple first transmitting antennas, and the communication signal is transmitted to the signal receiving device through a second transmitting antenna, wherein the first transmitting antenna and the sensing sub-signal correspond one-to-one.

[0012] In one embodiment, optionally, the original sensing signal is a periodic signal, and the frequency, phase, and amplitude of the periodic signal can be arbitrarily set.

[0013] In one embodiment, optionally, the plurality of first transmitting antennas have the same transmitting gain, the frequency difference between the sensing sub-signals of adjacent frequency bands is greater than a preset frequency difference, and the communication frequency band corresponding to the communication signal and the frequency band of each sensing sub-signal are both within the Sub-6G frequency band and do not overlap with each other.

[0014] In one embodiment, optionally, the step of generating an orthogonal frequency division multiplexing (OFDM) communication signal and performing OFDM modulation to modulate it onto the corresponding communication frequency band to obtain the communication signal includes:

[0015] Obtain the source file to be transmitted, convert the source file to a byte stream, and perform source encoding on the byte stream;

[0016] OFDM modulation is performed on the source-encoded byte stream, wherein the OFDM modulation includes at least one of the following: constellation modulation, subcarrier allocation, synchronization code addition, and inverse fast Fourier transform to obtain the modulated signal;

[0017] The modulated signal is scaled and frequency-modulated to the communication frequency band to obtain the communication signal.

[0018] Secondly, embodiments of this application provide a multi-frequency signal ranging method integrating sensing and communication, used in a signal receiving device, the method comprising:

[0019] The system receives sensing sub-signals of multiple frequency bands transmitted by a signal transmitting device through multiple first receiving antennas, and simultaneously receives communication signals transmitted by the signal transmitting device through a second receiving antenna, wherein the first receiving antennas and the sensing sub-signals correspond one-to-one.

[0020] Generate a conjugate signal of the original sensing signal, and determine the phase shift generated in each frequency band based on the conjugate signal of the original sensing signal and each of the sensing sub-signals;

[0021] The communication distance between the signal transmitting device and the signal receiving device is calculated based on the phase offset corresponding to each frequency band.

[0022] The communication signal is restored to obtain the transmission source file.

[0023] In one embodiment, optionally, a conjugate signal of the original sensing signal is generated, and the phase shift generated in each frequency band is determined based on the conjugate signal of the original sensing signal and each of the sensing sub-signals, including:

[0024] The conjugate signal of the original sensing signal is generated locally based on the preset parameters of the original sensing signal.

[0025] Automatic gain control is applied to each of the sensing sub-signals to adjust its amplitude to a preset value, thereby obtaining the processed sensing sub-signals.

[0026] The processed sensing sub-signal is carrier demodulated and the carrier frequency component is removed to obtain the baseband sensing signal;

[0027] The baseband sensing signal is multiplied by the conjugate signal of the original sensing signal to obtain an offset signal containing only phase offset information.

[0028] The phase value of the offset signal is extracted as the phase offset of the sensing sub-signal in the corresponding frequency band due to the transmission distance.

[0029] In one embodiment, optionally, calculating the communication distance between the signal transmitting device and the signal receiving device based on the phase offset corresponding to each frequency band includes:

[0030] Calculate the phase shift difference between any two sensing sub-signals of different frequency bands;

[0031] Obtain the frequency difference between the two different frequency bands;

[0032] The communication distance between the signal transmitting device and the signal receiving device is calculated based on the phase offset difference and the frequency difference.

[0033] In one embodiment, optionally, the process of restoring the communication signal to obtain the transmission source file includes:

[0034] The communication signal is down-converted to obtain a baseband communication signal;

[0035] The baseband communication signal is synchronized to eliminate fractional frequency offset and symbol timing deviation;

[0036] The synchronized signal is demodulated using OFDM to obtain the demodulated communication signal. The OFDM demodulation includes Fast Fourier Transform, channel estimation, channel equalization operation, and parallel-to-serial conversion.

[0037] The demodulated communication signal is subjected to constellation demodulation and decoding to restore the original transmission file.

[0038] In one embodiment, optionally, the plurality of first receiving antennas have the same receiving gain and are kept in high-precision clock synchronization with the plurality of first transmitting antennas of the signal transmitting device.

[0039] Thirdly, embodiments of this application provide a multi-frequency signal ranging device integrating sensing and communication, used in signal transmitting equipment, comprising:

[0040] The acquisition module is used to acquire the original sensing signal and modulate the original sensing signal onto multiple different carrier frequency bands to obtain multiple frequency band sensing sub-signals;

[0041] The modulation module is used to generate an orthogonal frequency division multiplexing communication signal based on the file source to be transmitted, and to perform OFDM modulation to modulate it onto the corresponding communication frequency band to obtain the communication signal;

[0042] The transmission module is used to synchronously transmit the sensing sub-signals of the multiple frequency bands to the signal receiving device through multiple first transmitting antennas, and at the same time transmit the communication signal to the signal receiving device through a second transmitting antenna, wherein the first transmitting antenna and the sensing sub-signal correspond one-to-one.

[0043] Fourthly, embodiments of this application provide a multi-frequency signal ranging device integrating sensing and communication, used as a signal receiving device, comprising:

[0044] The receiving module is used to receive sensing sub-signals of multiple frequency bands sent by a signal transmitting device through multiple first receiving antennas, and to receive communication signals sent by the signal transmitting device through a second receiving antenna, wherein the first receiving antennas and the sensing sub-signals correspond one-to-one.

[0045] A determination module is used to generate a conjugate signal of the original sensing signal and determine the phase shift generated in each frequency band based on the conjugate signal of the original sensing signal and each sensing sub-signal.

[0046] The calculation module is used to calculate the communication distance between the signal transmitting device and the signal receiving device based on the phase offset corresponding to each frequency band.

[0047] The restoration module is used to restore the communication signal to obtain the transmission source file.

[0048] The fifth aspect provides a multi-frequency signal ranging system integrating sensing and communication, the system comprising:

[0049] Signal transmitting equipment and signal receiving equipment;

[0050] The signal transmitting device and the signal receiving device exchange data.

[0051] The signal transmitting device is used to perform the multi-frequency signal ranging method integrating sensing and communication as described in any one of the first aspect embodiments;

[0052] The signal receiving device is used to perform a multi-frequency signal ranging method integrating sensing and communication as described in any of the second aspect embodiments.

[0053] In a sixth aspect, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described integrated sensing and communication multi-frequency signal ranging method.

[0054] In a seventh aspect, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the steps of the above-described integrated sensing and communication multi-frequency signal ranging method.

[0055] In the above-described integrated sensing and communication multi-frequency signal ranging method, device, system, equipment, and medium, the transmitting device designs the sensing signal as multiple signals of different frequencies, which are transmitted synchronously through an independent first transmitting antenna. At the same time, an independent second transmitting antenna transmits a communication signal whose frequency does not overlap with the sensing signal, thus achieving physical isolation and parallel transmission of the sensing and communication signals. This avoids interference between signals and ensures the coordinated operation of the two functions. The receiving device receives the two types of signals through multiple antennas, calculates the phase difference between different frequencies of the sensing signal to achieve ranging, and demodulates the communication signal to restore the original data. Ultimately, it achieves the integrated goal of "centimeter-level ranging and efficient data transmission." Moreover, under a 2MHz bandwidth, the ranging accuracy stably reaches the centimeter level, which is far superior to the meter-level error of traditional narrowband sensing schemes, meeting the high-precision sensing requirements of short-range scenarios (such as indoor positioning and device interconnection). [Attached Image Description]

[0056] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A schematic flowchart of a multi-frequency signal ranging method integrating sensing and communication according to an embodiment of this application is shown.

[0058] Figure 2A A schematic diagram of a multi-frequency signal ranging method integrating sensing and communication according to yet another embodiment of this application is shown.

[0059] Figure 2B A detailed flowchart of a multi-frequency signal ranging method integrating sensing and communication according to an embodiment of this application is shown.

[0060] Figure 3 A schematic flowchart of a multi-frequency signal ranging method integrating sensing and communication according to an embodiment of this application is shown.

[0061] Figure 4A A schematic flowchart of step S302 in a multi-frequency signal ranging method integrating sensing and communication according to another embodiment of this application is shown.

[0062] Figure 4B A detailed flowchart of a multi-frequency signal ranging method integrating sensing and communication according to an embodiment of this application is shown.

[0063] Figure 5A schematic flowchart of step S303 in a multi-frequency signal ranging method integrating sensing and communication according to an embodiment of this application is shown.

[0064] Figure 6A A schematic flowchart of step S304 in a multi-frequency signal ranging method integrating sensing and communication according to an embodiment of this application is shown.

[0065] Figure 6B A graphical display diagram of the transmitted signal from the transmitter according to an embodiment of this application is shown.

[0066] Figure 6C A diagram showing the results of a field verification of distance measurement ISAC according to an embodiment of this application is illustrated.

[0067] Figure 7 A block diagram of a multi-frequency signal ranging device integrating sensing and communication according to an embodiment of this application is shown.

[0068] Figure 8 A block diagram of a multi-frequency signal ranging device integrating sensing and communication according to yet another embodiment of this application is shown.

[0069] Figure 9 A schematic diagram of a multi-frequency signal ranging system integrating sensing and communication according to an embodiment of this application is shown.

[0070] Figure 10 A block diagram of a computer device according to one embodiment of this application is shown.

Detailed Implementation Methods

[0071] To better understand the technical solution of this application, the embodiments of this application will be described in detail below with reference to the accompanying drawings.

[0072] It should be understood that the described embodiments are merely some, not all, of the embodiments in this application. All other embodiments obtained by those skilled in the art based on the embodiments in this application without inventive effort are within the scope of protection of this application.

[0073] The terminology used in the embodiments of this application is for the purpose of describing particular embodiments only and is not intended to be limiting of this application. The singular forms “a,” “the,” and “the” used in the embodiments of this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0074] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0075] Please see Figure 1 , Figure 1 A schematic flowchart of a multi-frequency signal ranging method integrating sensing and communication according to an embodiment of this application is shown.

[0076] like Figure 1 As shown, a multi-frequency signal ranging method integrating sensing and communication is used in signal transmitting equipment, comprising:

[0077] Step S101: Obtain the original sensing signal and modulate the original sensing signal onto multiple different carrier frequency bands to obtain sensing sub-signals of multiple frequency bands;

[0078] The original sensing signal is the basic signal used to realize the ranging function. In this invention, it is configured as a periodic signal (such as a sine wave, a triangular wave, etc.), whose frequency, phase and amplitude can be flexibly configured, and it is the "signal source" of the sensing sub-signal.

[0079] The carrier frequency band is the frequency range that carries the original sensing signal transmission. In specific embodiments, it can be limited to the Sub-6G frequency band (such as 2.4GHz, 2.5GHz), and it must not overlap with the communication frequency band.

[0080] The sensing sub-signal is the signal formed by carrier modulation of the original sensing signal. Each frequency band corresponds to a sensing sub-signal, which is used for phase difference calculation by the subsequent receiving equipment.

[0081] The principle of this invention for achieving phase estimation of range-correlated signals under the condition of no reference phase is as follows:

[0082] The original signal is modulated onto two sensing signals with different carrier frequencies, f1GHz and f2GHz. An example setting for the sensing signal parameters is a sensing frequency of 2.4GHz and 2.5GHz, with a single-channel bandwidth of 1MHz, and a total bandwidth of 2MHz for both signals. The modulated signal is then transmitted into space via two horn antennas. Let the original signal be a complex sine wave with frequency f0 and amplitude A0.

[0083]

[0084] The original signal is modulated to two frequencies, f1 and f2. c1 ,f c2 The amplitude is A c On the carrier wave. The two carrier signals are represented as follows:

[0085]

[0086] The original signal passes through a carrier frequency f c After modulation, it can be further expressed as

[0087]

[0088] Therefore, the sensed signal can be further represented as

[0089]

[0090] Among them, A′=A c ·A0, therefore the transmitted sensing signal is S sen (t).

[0091] In this step, the transmitting end first determines the waveform (preferably a sine wave, as the sine wave has stable phase characteristics, which facilitates subsequent phase difference extraction), frequency (e.g., 1MHz, with a small single-channel bandwidth and a total bandwidth of only 2MHz, reducing spectrum occupancy), phase, and amplitude parameters of the original sensing signal; then, through frequency modulation techniques (e.g., amplitude shifting and frequency shifting), the same original sensing signal is loaded onto multiple different Sub-6G carrier frequency bands (e.g., 2.4GHz and 2.5GHz, with an adjacent frequency difference of 0.1GHz), ensuring that each carrier frequency band corresponds to only one sensing sub-signal, and that the frequency bands of each sensing sub-signal do not overlap, thus avoiding mutual interference.

[0092] In this step, compared to the high propagation loss and easy blockage of the millimeter wave band, the Sub-6G band has strong penetration and wide coverage, making it suitable for complex indoor communication environments and reducing signal transmission attenuation. The sensing sub-signals of multiple frequency bands provide a "multi-frequency reference" for the receiver to calculate the phase difference, solving the phase fluctuation problem caused by hardware errors and multipath effects of single-frequency signals. At the same time, the bandwidth of a single sensing sub-signal is only 1MHz, with a total bandwidth of 2MHz, which greatly reduces the occupation of spectrum resources and addresses the current industry pain point of scarce spectrum resources.

[0093] Step S102: Generate an orthogonal frequency division multiplexing communication signal based on the file source, and perform OFDM modulation to modulate it to the corresponding communication frequency band to obtain the communication signal;

[0094] The file source is the original data file (such as text or image files) that the transmitting end needs to transmit to the receiving end; it is the "data carrier" of the communication signal.

[0095] Orthogonal Frequency Division Multiplexing (OFDM) communication signals are communication signals generated using OFDM technology. By decomposing a high-speed data stream into multiple low-speed sub-data streams, which are then transmitted in parallel on orthogonal subcarriers, OFDM has strong resistance to multipath interference.

[0096] OFDM modulation is the process of converting baseband data into OFDM signals. Its core includes constellation modulation and subcarrier allocation, which are key steps in the generation of OFDM communication signals.

[0097] like Figure 2AAs shown, in one embodiment, optionally, step S102 includes:

[0098] Step S201: Obtain the source file for transmission, convert the source file for transmission into a byte stream, and perform source encoding operation on the byte stream;

[0099] A byte stream is a continuous data sequence formed by splitting a file source into bytes (8 bits), and it is the basic format for data transmission.

[0100] Source coding is an operation that compresses and adds redundancy to byte streams. Its core purpose is to reduce data volume and improve anti-interference capability.

[0101] The transmitting end obtains the source file (such as a .txt text file) through a file reading module (such as the File Source module in GNU Radio), and uses a binary conversion tool to convert the file content into a byte stream (such as converting the text "ISAC" into a byte stream [0x49,0x53,0x41,0x43]). Then, Huffman coding is used for source encoding: first, the frequency of each byte in the byte stream is counted (such as "0x49" appearing 100 times and "0x53" appearing 80 times), short codes are assigned to high-frequency bytes (such as "01"), and long codes are assigned to low-frequency bytes (such as "1010"), and parity bits (such as parity bits) are added to form the encoded byte stream.

[0102] Source coding can compress the amount of transmitted data by 30% to 50% (e.g., a 1MB text file can be compressed to 0.5MB), increasing the communication rate under the same bandwidth and meeting the high-speed requirements of short-distance communication; the addition of a parity bit enhances reliability: the parity bit can detect bit errors (such as the error of changing 0) in real time during transmission, with an error detection rate of 99.9%, reducing the risk of data loss due to noise.

[0103] Step S202: OFDM modulation is performed on the byte stream after source encoding, wherein the OFDM modulation includes at least one of the following: constellation modulation, subcarrier allocation, synchronization code addition and inverse fast Fourier transform, to obtain the modulated signal;

[0104] Constellation modulation is the process of mapping binary data into complex symbols (amplitude and phase), with common methods including BPSK and QPSK.

[0105] Subcarrier allocation involves distributing the complex symbols modulated by the constellation to different subcarriers in an OFDM system to ensure that the subcarriers are orthogonal.

[0106] Synchronization codes are reference signals used by the receiver to achieve symbol synchronization and carrier synchronization, and are usually known pseudo-random sequences.

[0107] Fast Fourier Transform (FFT): A mathematical operation that converts a time-domain signal into a frequency-domain signal. It is the core algorithm of OFDM modulation (actually IFFT, which converts frequency-domain data into a time-domain signal).

[0108] The OFDM modulation process consists of four steps: ① Constellation modulation: The encoded byte stream is split into groups of 2 bits (QPSK modulation), such as "00" being mapped to the complex symbol (1,0) and "01" being mapped to (0,1); ② Subcarrier allocation: The complex symbols are allocated to the effective subcarriers of 64 subcarriers (excluding DC subcarriers), with each subcarrier corresponding to one complex symbol; ③ Synchronization code addition: A pseudo-random synchronization code (such as an m-sequence of length 32) is added to the header of the time-domain signal for synchronization at the receiver; ④ IFFT transformation: A 64-point IFFT is performed on the frequency-domain subcarrier data to convert it into time-domain OFDM symbols, and a cyclic prefix (CP length is 1 / 8 of the IFFT length) is added to obtain the modulated signal.

[0109] Step S203: Scaling the modulated signal and tuning it to the communication frequency band to obtain the communication signal.

[0110] Signal scaling adjusts the amplitude of the modulated OFDM signal to match the power range of the transmitter's RF module, thus avoiding signal distortion.

[0111] Frequency modulation (FM): Converts baseband OFDM signals into radio frequency signals for a specified communication frequency band. The core of this process is to achieve frequency shifting through a mixer.

[0112] In this step, the transmitting device converts the selected file source into a binary byte stream and then adds tags to the data stream to mark data boundaries in data communication. Based on this, the system generates a data frame header according to the data portion, specifically mapping one byte of data to a constellation modulation symbol. Next, the header data uses BPSK modulation, while the data portion uses QPSK modulation. The reason for using different modulation methods is to improve the anti-interference capability of the data frame header and enhance the data payload capacity. Since the data portion and the frame header are constellation modulated separately, they need to be concatenated. The resulting complete data frame is the baseband signal that requires OFDM modulation. OFDM modulation mainly includes three parts: subcarrier allocation, inverse fast Fourier transform (IFFT), and adding a cyclic prefix. Finally, the modulated data signal is multiplied by a scaling factor to protect the transmitted data and prevent distortion.

[0113] In the above technical solutions, the orthogonal subcarrier design and parallel transmission characteristics of OFDM can effectively combat inter-symbol interference caused by indoor multipath effects and improve the transmission stability of communication data; the communication signal and the sensing sub-signal use different frequency bands, which physically isolates the two from interference and solves the problem of "performance mutual exclusion caused by signal multiplexing" in traditional integrated sensing systems; the combination of frame header BPSK modulation and data part QPSK modulation not only ensures the anti-interference capability of the frame header (data boundary identifier) ​​but also improves the transmission rate of the data part, taking into account both communication reliability and efficiency.

[0114] Step S103: The sensing sub-signals of the multiple frequency bands are synchronously transmitted to the signal receiving device through multiple first transmitting antennas, and the communication signal is transmitted to the signal receiving device through a second transmitting antenna, wherein the first transmitting antenna and the sensing sub-signal correspond one-to-one.

[0115] In one embodiment, optionally, the plurality of first transmitting antennas have the same transmitting gain, the frequency difference between the sensing sub-signals of adjacent frequency bands is greater than a preset frequency difference, and the communication frequency band corresponding to the communication signal and the frequency band of each sensing sub-signal are both within the Sub-6G frequency band and do not overlap with each other.

[0116] The first transmitting antenna is used to transmit the sensing sub-signal. The number of antennas is the same as the number of frequency bands of the sensing sub-signal, and it is the "transmission channel" for the sensing sub-signal.

[0117] The second transmitting antenna is used to transmit communication signals. It is independent of the first transmitting antenna and is a "dedicated transmission channel" for communication signals.

[0118] In this process, the sensing sub-signal and the communication signal are transmitted in parallel within the same time period, i.e., synchronous transmission, to ensure that the receiving end can receive both types of signals at the same time, thus achieving "parallel sensing and communication".

[0119] In this step, the transmitting end is configured with multiple transmitting antennas: the number of the first transmitting antennas is the same as the number of sensing sub-signal frequency bands, such as... Figure 2B As shown, two frequency bands correspond to two first transmitting antennas, namely antenna 1 and antenna 2, and each first transmitting antenna is connected to only one frequency band of sensing sub-signal. The transmission gain is set to the same value (e.g., 10dB) to avoid signal amplitude deviation caused by gain differences. The second transmitting antenna is configured independently, that is, antenna 3 is only connected to the communication signal. During the transmission phase, a clock synchronization mechanism (e.g., clock calibration based on GPS or synchronization code) is used to ensure that the sensing sub-signal and the communication signal are transmitted from the corresponding antennas at the same time, and there is no time delay between each sensing sub-signal, realizing the parallel transmission of "multiple sensing signals and one communication signal".

[0120] The transmit gain of the first transmitting antenna is uniformly set to a fixed value (e.g., 10dB) through hardware configuration to ensure that the initial power of each sensing sub-signal is consistent when transmitted from the antenna, avoiding amplitude fluctuations at the receiving end due to power differences; the frequency difference between adjacent sensing sub-signals is set to 0.1GHz (greater than the preset frequency difference of 0.05GHz), according to the formula... A sufficiently large frequency difference can make the phase difference change more significantly with distance, thus improving ranging sensitivity; the communication frequency band (such as 1.8GHz) and the sensing sub-band (2.4GHz, 2.5GHz) are both in the Sub-6GHz range, and the frequency band spacing is greater than 0.5GHz. The spectrum analyzer is used to ensure that there is no overlap, thus avoiding intermodulation interference caused by spectrum overlap during the transmission of the sensing signal.

[0121] Through the above technical solution, the first and second transmitting antennas are physically separated, avoiding mutual interference between different types of signals when transmitted on the same antenna, ensuring the phase stability of the sensing sub-signals and the integrity of the communication signal data. Simultaneous transmission of both types of signals allows the receiving end to synchronously complete ranging and communication data reception, solving the latency problem caused by traditional "sensing time-division transmission" and adapting to low-latency scenarios. The first transmitting antenna has the same transmit gain, ensuring the consistency of amplitude of each sensing sub-signal upon arrival at the receiving end, laying the foundation for subsequent automatic gain control (AGC) and phase extraction, and avoiding the impact of amplitude differences on ranging accuracy. A 0.1 GHz frequency difference results in a phase difference change of approximately 0.68 rad (actual data) for every 0.3 meter change in distance, with a clear trend in phase difference variation with distance, facilitating accurate distance calculation by the receiving end. The communication and sensing frequency bands do not overlap, ensuring that the transmission rate of the communication signal (e.g., 10 Mbps) and the ranging accuracy of the sensing signal (centimeter-level) are independent, achieving "dual assurance of sensing performance."

[0122] This invention tested the phase change of the receiver at two frequencies, 2.4GHz and 2.5GHz, with a fixed distance of 50cm between the transmitting and receiving parties. Five experiments were conducted, and the specific results are shown in Table 1.

[0123] Table 1. Phase changes of signals at two frequency points when the transmitter and receiver are 50cm apart.

[0124]

[0125] As shown in the table above, the phase data of the two frequency points received by the receiver fluctuated drastically within a certain range during each experiment. This indicates that due to factors such as hardware errors, multipath effects, and reflections, the received phase of the two frequency points is random, making distance measurement impossible based on a single frequency signal. However, the phase difference between the two frequency points is relatively stable, fluctuating between 0.78 and 0.85, with an average value close to 0.82. This demonstrates that at a fixed distance, the received phase difference between the two frequency points exhibits a certain degree of stability, reflecting the correlation between distance and phase difference. Based on the above analysis, the receiver can obtain the phase difference generated by distance without a reference phase.

[0126] like Figure 3 As shown, in a second aspect, embodiments of this application provide a multi-frequency signal ranging method integrating sensing and communication, used in a signal receiving device, the method comprising:

[0127] Step S301: Receive sensing sub-signals of multiple frequency bands sent by a signal transmitting device through multiple first receiving antennas, and simultaneously receive communication signals sent by the signal transmitting device through a second receiving antenna, wherein the first receiving antennas and the sensing sub-signals correspond one-to-one.

[0128] The first receiving antenna is used to receive the sensing sub-signal. The number of antennas is the same as the first transmitting antenna, and it is the "receiving channel" for the sensing sub-signal.

[0129] The second receiving antenna is used to receive communication signals. It is independent of the first receiving antenna and is a "dedicated receiving channel" for communication signals.

[0130] The receiver is equipped with multiple first receiving antennas, the same number as the first transmitting antenna on the transmitter. Each first receiving antenna receives only the sensing sub-signal of the corresponding frequency band (e.g., the first antenna receives the 2.4GHz sensing sub-signal, and the second antenna receives the 2.5GHz sensing sub-signal). Simultaneously, it is configured with one independent second receiving antenna to receive the communication signal (1.8GHz). The receiving gain of the receiving antennas is uniformly set to 10dB (matching the transmitting antenna gain) to avoid uneven signal amplitude attenuation due to gain differences. The receiver uses a clock synchronization module (e.g., sharing a GPS clock with the transmitter or parsing the synchronization code in the communication signal) to ensure that the clock deviation from the transmitter is less than 1μs, guaranteeing the timing consistency of the receiving sub-signal and the communication signal, and avoiding phase calculation errors or communication data misalignment caused by timing deviations.

[0131] Step S302: Generate the conjugate signal of the original sensing signal, and determine the phase shift generated in each frequency band based on the conjugate signal of the original sensing signal and each sensing sub-signal;

[0132] The conjugate signal of the original sensed signal is a reference signal locally generated based on the parameters (frequency, phase, amplitude) of the original sensed signal. Mathematically, it is represented by the inverted imaginary part of the original signal. For example, if the original signal is...

[0133] The conjugate signal is ), used to extract the phase shift of the sensing sub-signal.

[0134] Phase offset is the amount of phase change of a sensing signal during transmission due to the propagation distance (e.g., the phase offset of a 2.4 GHz signal is about 15.08 rad for a 1-meter transmission distance), and it is a core parameter for calculating distance.

[0135] In this step, the receiver obtains the frequency (1MHz), phase (initial 0), and amplitude (1) of the original sensing signal through system preset parameters (consistent with the transmitter, requiring no additional transmission). It then uses a signal generation module (such as the USRP signal generation API) to locally generate a conjugate signal. Subsequently, each sensing sub-signal is processed: first, it filters out noise through a bandpass filter (the center frequency is consistent with the sensing sub-signal frequency band, and the bandwidth is 2MHz), and then performs down-conversion processing (converting the RF signal to a 1MHz baseband signal). Next, the baseband sensing sub-signal is multiplied by the locally generated conjugate signal. According to the complex multiplication rule, the phase part of the signal after conjugate multiplication is "baseband sensing sub-signal phase - original sensing signal phase", that is, only the phase offset caused by the transmission distance is retained (e.g., the baseband sensing sub-signal phase is 15.08rad, the original signal phase is 0, and the phase offset after multiplication is 15.08rad). Finally, the phase offset value is extracted from the multiplied signal using a phase extraction algorithm (such as Hilbert transform) and stored as phase data for each frequency band.

[0136] This eliminates the need for the transmitter to transmit the original sensing signal, avoiding leakage of the original signal and reducing transmission overhead.

[0137] The first transmit / receive antenna has its gain uniformly calibrated through hardware registers, with a deviation of less than ±0.5dB. Clock synchronization adopts a dual-mode scheme of 'GPS + synchronization code', with GPS providing a ±10ns reference and the synchronization code (16-bit pseudo-random sequence) calibrating residual deviations, resulting in a final clock deviation of less than ±0.1μs.

[0138] like Figure 4A As shown, in one embodiment, optionally, step S302 includes:

[0139] Step S401: Generate the conjugate signal of the original sensing signal locally based on the preset original sensing signal parameters;

[0140] The preset raw sensing signal parameters are the raw sensing signal parameters (frequency, phase, amplitude) negotiated and determined by the transmitter and receiver during the system initialization phase. They are stored in the parameter configuration table of the receiver and do not need to be transmitted in real time.

[0141] The receiver's parameter configuration table pre-stores the same raw sensing signal parameters as the transmitter: frequency 1MHz, initial phase 0, amplitude 1; the receiver's signal generation module calls the parameters from the parameter configuration table, based on the sinusoidal IQ signal generation formula, (where A = 1, ω = 2π × 10) 6 (rad / s, φ=0), generate a time-domain conjugate signal, with the sampling rate set to 10MHz (10 times the signal frequency, satisfying the Nyquist sampling theorem). The generated conjugate signal is stored in a buffer as a digital baseband signal, waiting to be multiplied with the baseband sensing sub-signal.

[0142] In this way, the parameters of the transmitting and receiving ends are completely consistent, avoiding phase extraction errors caused by parameter mismatch (the error can be reduced from ±0.5rad to ±0.05rad); at the same time, there is no need for the transmitting end to transmit the original sensing signal, saving about 1MHz of transmission bandwidth and reducing signal transmission delay.

[0143] Step S402: Perform automatic gain control on each of the sensing sub-signals to adjust their amplitude to a preset value, thereby obtaining the processed sensing sub-signals;

[0144] Automatic gain control (AGC) is a technology that uses a closed-loop feedback mechanism to adjust the gain of the received signal in real time, so that the signal amplitude is stabilized at a preset value. The core is a cycle of "detecting amplitude - comparing with preset value - adjusting gain".

[0145] The preset value is the target amplitude value of AGC (usually set to 1 for easy complex number calculations later), which is a fixed value preset by the receiver according to the signal processing requirements.

[0146] The receiver enables the AGC module for each sensing sub-signal: First, the amplitude of the sensing sub-signal is detected in real time through an amplitude detection circuit (such as a peak detector) (e.g., the current amplitude is 0.8); the detected amplitude is compared with a preset value of 1, and the amplitude difference (0.2) is calculated; the gain coefficient of AGC is adjusted according to the amplitude difference (e.g., if the current gain is 10dB, the gain needs to be increased by 2dB to 12dB); the amplitude of the sensing sub-signal is amplified to 1 through a variable gain amplifier (VGA), while the noise introduced during the gain adjustment process is filtered out through a low-pass filter; the adjustment period of AGC is set to 1ms to ensure that the amplitude fluctuation is less than ±0.05 and maintain the stability of the signal amplitude.

[0147] In this way, the amplitude is unified to 1, so that the amplitude of the subsequent conjugate multiplication is always 1. Only the phase information needs to be considered, which simplifies the complexity of the phase extraction algorithm. Even if the amplitude of the sensing sub-signal is attenuated due to changes in transmission distance (such as from 0.3m to 3m) (from -20dBm to -40dBm), AGC can adjust the gain within 1ms to restore the amplitude to 1, adapting to dynamic transmission environments.

[0148] Step S403: Demodulate the processed sensing sub-signal with a carrier and remove the carrier frequency component to obtain the baseband sensing signal;

[0149] Carrier demodulation is a technical process that converts a radio frequency carrier signal carrying the original signal (such as a sensing signal or a communication signal) into a low-frequency baseband signal. Essentially, it is an inverse modulation operation that "strips the carrier from carrying the frequency of the original signal and restores the original signal characteristics." It is a key step in converting radio frequency signals into processable baseband signals.

[0150] Removing carrier frequency components is the core operation result in carrier demodulation. It refers to completely filtering out high-frequency carrier frequencies (such as 2.4GHz / 2.5GHz) in the radio frequency signal through mixing, filtering and other techniques, and retaining only the low-frequency components corresponding to the original signal (such as 1MHz baseband signal). This ensures that subsequent signal processing focuses only on the phase and amplitude information of the original signal and is not affected by carrier frequency interference.

[0151] In one specific embodiment, such as Figure 4B As shown, the receiving end performs carrier demodulation on the processed sensing sub-signal (e.g., 2.4 GHz, amplitude 1): First, the sensing sub-signal is input into a mixer and mixed with the 2.4 GHz carrier signal generated by the local oscillator. According to the mixing principle, two frequency components are generated after mixing: 2.4 GHz + 1 MHz (2401 MHz) and 2.4 GHz - 1 MHz (2399 MHz). Then, the mixed signal is input into a bandpass filter (center frequency 1 MHz, bandwidth 2 MHz) to filter out the high-frequency components of 2401 MHz and 2399 MHz, retaining only the 1 MHz baseband signal. Finally, the analog baseband signal is converted into a digital baseband signal (sampling rate 10 MHz) by an AD converter to obtain the baseband sensing signal.

[0152] Step S404: Multiply the baseband sensing signal with the conjugate signal of the original sensing signal to obtain an offset signal containing only phase offset information.

[0153] Multiplication operation: This refers to complex number multiplication, which is the superposition of the real and imaginary parts of two complex signals (baseband sensing signal and conjugate signal) after multiplying them separately. The core is "real part × real part - imaginary part × imaginary part" (real part result) and "real part × imaginary part + imaginary part × real part" (imaginary part result).

[0154] Offset signal: The signal obtained after multiplication has an amplitude of 1 (because the amplitudes of the baseband sensing signal and the conjugate signal are both 1) and a phase of "baseband sensing signal phase - conjugate signal phase", which means it only contains the distance-related phase offset.

[0155] Let the baseband sensing signal be (where φ1 is the total phase including range offset, ω=2π×10) 6 rad / s), the conjugate signal is (Where φ2 = 0, representing the phase of the original signal); complex multiplication is performed between the two: The multiplication operation is implemented by a digital signal processor (DSP) with a precision of 32-bit floating point to ensure that the phase calculation error is less than 0.01 rad. The resulting offset signal is a complex signal with constant phase (amplitude 1, phase φ1) and is stored in the phase extraction buffer.

[0156] Step S405: Extract the phase value of the offset signal as the phase offset of the sensing sub-signal in the corresponding frequency band due to the transmission distance.

[0157] Phase extraction is the process of obtaining phase information from a complex offset signal. Mathematically, it involves performing the arctan2 (imaginary part, real part) operation on the complex signal to obtain the phase value (unit: rad).

[0158] Step S303: Calculate the communication distance between the signal transmitting device and the signal receiving device based on the phase offset corresponding to each frequency band;

[0159] like Figure 5 As shown, in one embodiment, optionally, step S303 includes:

[0160] Step S501: Calculate the phase shift difference between any two sensing sub-signals of different frequency bands;

[0161] Step S502: Obtain the frequency difference between the two different frequency bands;

[0162] Step S503: Calculate the communication distance between the signal transmitting device and the signal receiving device based on the phase offset difference and the frequency difference.

[0163] Assuming the distance between the sender and receiver is d, and the speed of signal propagation in space is the speed of light C, then the time it takes for the signal to propagate in space is... Because the communication frequencies of the sensing signal antennas are different, the communication frequency is f. c1 Both the transmitter and receiver have the same antenna, with the receiver antenna only receiving frequencies f. c1 If the signal is received by the receiving antenna at frequency f, then... c1 The signal can be represented as

[0164]

[0165] The original signal obtained by demodulating the carrier signal through conjugate multiplication with the carrier signal is represented as follows:

[0166]

[0167] Where A″′ represents the signal amplitude of the carrier demodulation. To extract the phase shift of the signal during propagation in the channel, the received signal is conjugate multiplied by the original signal. Therefore, the shift signal can be expressed as:

[0168]

[0169] In this invention, distance is primarily calculated through phase offset. Therefore, for ease of calculation, A0 can be set to 1. Automatic gain control is added at the receiving end to consistently limit the signal amplitude to 1, thus ensuring the signal offset amplitude remains constant at 1. Carrier f c1 The resulting phase shift is Similarly, we can obtain the carrier f c2 The resulting phase shift is

[0170] Therefore, the sensed signal travels a transmission path of distance d, and f c2 >f c1 Generally, f is set. c2 For 2.5GHz, f c1 The phase difference generated under the condition of 2.4 GHz is

[0171]

[0172] The distance between the two communicating parties can then be calculated as follows:

[0173]

[0174] Among them, the received phase Where C is the speed of light (3 × 10⁻⁶) 8 The distance is measured in m / s, where Δφ is the phase offset difference (Δφ∈[0,2π]), Δf is the frequency difference, and the communication distance measurement range is 0-3 meters. Since the two signals propagate at the same speed in space at different communication frequencies, the resulting phase difference is solely due to the frequency difference. This invention utilizes this characteristic for distance estimation and successfully achieves centimeter-level ranging accuracy under a 2MHz bandwidth.

[0175] Step S304: The communication signal is restored to obtain the transmission source file.

[0176] Restoration processing is the process of gradually restoring the received communication signal (radio frequency signal) to the original transmitted file source at the transmitting end through a series of signal processing operations. The core processes include downconversion, synchronization, demodulation, and decoding.

[0177] The source file is the original data file that the receiving end eventually recovers (such as a .txt text file transmitted by the transmitting end), and it is the "final output" of the communication function.

[0178] like Figure 6A As shown, in one embodiment, optionally, step S304 includes:

[0179] Step S601: Perform down-conversion processing on the communication signal to obtain a baseband communication signal;

[0180] Step S602: Perform synchronization processing on the baseband communication signal to eliminate fractional frequency offset and symbol timing deviation;

[0181] Step S603: Perform OFDM demodulation on the synchronized signal to obtain the demodulated communication signal. The OFDM demodulation includes fast Fourier transform, channel estimation, and channel equalization operations.

[0182] Step S604: Perform constellation demodulation and decoding on the demodulated communication signal to restore the original transmission file.

[0183] The receiver's signal restoration process consists of four steps: ① Down-conversion: The 1.8GHz RF communication signal is converted to a baseband signal (center frequency 0Hz, bandwidth 20MHz) using a mixer, while high-frequency noise is filtered out using a low-pass filter; ② Synchronization processing: The synchronization code (32-bit m-sequence) in the baseband signal is analyzed, the fractional frequency offset (e.g., ±50Hz) is calculated, and the frequency offset is eliminated using a frequency offset compensation algorithm. Simultaneously, the start time of the OFDM symbol is determined based on the synchronization code position to eliminate symbol timing deviation; ③ OFDM demodulation: A 64-point FFT is performed on the synchronized baseband signal to demodulate the signal. The time-domain signal is converted into frequency-domain subcarrier data. The channel fading coefficient is obtained through channel estimation (based on pilot subcarriers), and channel distortion is compensated through channel equalization (single-tap equalizer) to obtain equalized subcarrier data. ④ Constellation demodulation and decoding: The subcarrier data is mapped back to binary bits (QPSK demodulation, 2 bits per symbol). Huffman decoding is performed on the binary bit stream (to recover the byte stream before source encoding). Finally, the byte stream is converted back to the original transmission file source (e.g., converting the byte stream [0x49,0x53,0x41,0x43] into the text "ISAC").

[0184] In one embodiment, optionally, the plurality of first receiving antennas have the same receiving gain and are kept in high-precision clock synchronization with the plurality of first transmitting antennas of the signal transmitting device.

[0185] like Figure 6B The image shows a graphical display of the transmitted signal from the transmitter. The signal sensed at the transmitter consists of two sine wave signals. For example, the frequency bands can be set such that one sine wave carrier frequency is 2.4 GHz and the other sine wave carrier frequency is 2.5 GHz. The transmitted complex sine wave waveforms are shown in the first two sub-figures. The third sub-figure shows the transmission of the communication signal in OFDM mode.

[0186] Figure 6C These are the results of the ISAC distance measurement practical verification. Sub-figure (a) shows the transmitter and receiver being relatively close, as shown in sub-figure (b). The distance measured by the ISAC distance measurement practical unit is approximately 0.3m. The top image in sub-figure (b) shows the sensing signals of the two sine waves received by the receiver, and the bottom image shows the constellation diagram of the communication signals received by the receiver. Sub-figure (c) shows the result when the distance between the two communicating parties is increased, as shown in figure (d). The ISAC distance calculation is approximately 1m. These four sub-figures demonstrate that the ISAC distance measurement practical unit has good distance estimation and communication capabilities.

[0187] This invention proposes an ISAC verification system for complex communication conditions in indoor environments, constructing an ISAC prototype from the perspectives of distance measurement and communication. In the distance measurement ISAC system, the sensing signal is designed as two sinusoidal signals with different frequencies, and the communication signal frequency is different from the sensing signal frequency. The transmitter simultaneously transmits the sensing signal and the communication signal, and the receiver demodulates the communication signal to restore the original data and calculates the phase difference between the sensing signals of different frequencies at the receiver for distance measurement. This invention addresses the problems of high propagation loss, increased signal blocking, and high complexity and cost of high-precision antenna arrays required for sensing devices in millimeter waves. It uses Sub-6G signals for experiments. Addressing the issue that ISAC technology in simulation scenarios often relies on existing channel models and is conducted under ideal conditions, ignoring the dynamic factors in real-world scenarios that lead to a decline in communication and sensing quality, the invention uses a hardware-built ISAC platform for verification, achieving centimeter-level distance measurement with a 2MHz bandwidth.

[0188] The technical solution described above aims to overcome the bottleneck of existing sensing technology research being limited to millimeter-wave frequency bands and simulation scenarios, and to promote the application of the technology in real-world scenarios. First, compared to the high propagation loss, increased signal congestion, and high complexity and cost of high-precision antenna arrays required for sensing devices in the millimeter-wave frequency band, the Sub-6GHz band offers advantages such as strong signal transmission, simpler and lower-cost physical equipment, and a more mature overall industry chain, making it more conducive to large-scale deployment and application. Second, ISAC technology in simulation scenarios often relies on existing channel models and experiments under ideal conditions, ignoring dynamic factors in real-world scenarios, leading to a decline in communication and sensing quality. Therefore, for millimeter-wave applications, design and experimentation need to be conducted in the Sub-6GHz band; and to address the differences between simulation experiments and real-world applications, deployment and verification using hardware equipment in real-world scenarios are necessary. Finally, to address the problems of ultra-wide bandwidth and high path loss of millimeter-wave signals in traditional ranging, a distance-phase correlation model is constructed to advance the application and development of ISAC.

[0189] like Figure 7 As shown, in a third aspect, embodiments of this application provide a multi-frequency signal ranging device 70 integrating sensing and communication, used in signal transmitting equipment, comprising:

[0190] The acquisition module 71 is used to acquire the original sensing signal and modulate the original sensing signal onto multiple different carrier frequency bands to obtain multiple frequency band sensing sub-signals;

[0191] The modulation module 72 is used to generate an orthogonal frequency division multiplexing communication signal based on the file source to perform OFDM modulation to modulate it onto the corresponding communication frequency band to obtain a communication signal;

[0192] The transmission module 73 is used to synchronously transmit the sensing sub-signals of the multiple frequency bands to the signal receiving device through multiple first transmitting antennas, and at the same time transmit the communication signal to the signal receiving device through a second transmitting antenna, wherein the first transmitting antenna and the sensing sub-signal correspond one-to-one.

[0193] In one embodiment, optionally, the original sensing signal is a periodic signal, and the frequency, phase, and amplitude of the periodic signal can be arbitrarily set.

[0194] In one embodiment, optionally, the plurality of first transmitting antennas have the same transmitting gain, the frequency difference between the sensing sub-signals of adjacent frequency bands is greater than a preset frequency difference, and the communication frequency band corresponding to the communication signal and the frequency band of each sensing sub-signal are both within the Sub-6G frequency band and do not overlap with each other.

[0195] In one embodiment, optionally, the modulation module is used for:

[0196] Obtain the source file to be transmitted, convert the source file to a byte stream, and perform source encoding on the byte stream;

[0197] OFDM modulation is performed on the source-encoded byte stream, wherein the OFDM modulation includes at least one of the following: constellation modulation, subcarrier allocation, synchronization code addition, and inverse fast Fourier transform to obtain the modulated signal;

[0198] The modulated signal is scaled and frequency-modulated to the communication frequency band to obtain the communication signal.

[0199] like Figure 8 As shown, in a fourth aspect, embodiments of this application provide a multi-frequency signal ranging device 80 integrating sensing and communication, used as a signal receiving device, comprising:

[0200] The receiving module 81 is used to receive sensing sub-signals of multiple frequency bands sent by the signal transmitting device through multiple first receiving antennas, and to receive communication signals sent by the signal transmitting device through a second receiving antenna, wherein the first receiving antennas and the sensing sub-signals correspond one-to-one.

[0201] The determination module 82 is used to generate a conjugate signal of the original sensing signal and determine the phase shift generated in each frequency band based on the conjugate signal of the original sensing signal and each sensing sub-signal.

[0202] Calculation module 83 is used to calculate the communication distance between the signal transmitting device and the signal receiving device based on the phase offset corresponding to each frequency band;

[0203] The restoration module 84 is used to restore the communication signal to obtain the transmission source file.

[0204] In one embodiment, optionally, the determining module includes:

[0205] The signal generation unit is used to locally generate the conjugate signal of the original sensing signal based on preset original sensing signal parameters;

[0206] The control unit is used to perform automatic gain control on each of the sensing sub-signals, adjust their amplitude to a preset value, and obtain the processed sensing sub-signals.

[0207] The first demodulation unit is used to perform carrier demodulation on the processed sensing sub-signal and remove the carrier frequency component to obtain the baseband sensing signal;

[0208] The arithmetic unit is used to perform a multiplication operation on the baseband sensing signal and the conjugate signal of the original sensing signal to obtain an offset signal containing only phase offset information.

[0209] An extraction unit is used to extract the phase value of the offset signal as the phase offset of the sensing sub-signal in the corresponding frequency band due to the transmission distance.

[0210] In one embodiment, optionally, the computing module includes:

[0211] The difference calculation unit is used to calculate the phase offset difference between any two sensing sub-signals of different frequency bands;

[0212] The difference acquisition unit is used to acquire the frequency difference between the two different frequency bands;

[0213] The distance calculation unit is used to calculate the communication distance between the signal transmitting device and the signal receiving device based on the phase offset difference and the frequency difference.

[0214] In one embodiment, optionally, the restoration module includes:

[0215] The signal processing unit is used to perform down-conversion processing on the communication signal to obtain a baseband communication signal;

[0216] The elimination unit is used to synchronize the baseband communication signal and eliminate fractional frequency offset and symbol timing deviation.

[0217] The second demodulation unit is used to perform OFDM demodulation on the synchronized signal to obtain the demodulated communication signal. The OFDM demodulation includes fast Fourier transform, channel estimation and channel equalization operations.

[0218] The file restoration unit is used to perform constellation demodulation and decoding on the demodulated communication signal to restore the original transmission file.

[0219] In one embodiment, optionally, the plurality of first receiving antennas have the same receiving gain and are kept in high-precision clock synchronization with the plurality of first transmitting antennas of the signal transmitting device.

[0220] The fifth aspect provides a multi-frequency signal ranging system integrating sensing and communication, the system comprising:

[0221] Signal transmitting equipment and signal receiving equipment;

[0222] The signal transmitting device and the signal receiving device exchange data.

[0223] The signal transmitting device is used to perform the multi-frequency signal ranging method integrating sensing and communication as described in any one of the first aspect embodiments;

[0224] The signal receiving device is used to perform a multi-frequency signal ranging method integrating sensing and communication as described in any of the second aspect embodiments.

[0225] like Figure 9 As shown, the transmitting and receiving equipment used in the ISAC proposed in this invention consists of a USRP X310 equipped with a UBX160 daughterboard and an Ubuntu system computer. The USRP has powerful performance and supports the 10M-6GHz communication frequency band, so the communication signal frequency range is between 10M-6GHz. Some examples of parameters set in the OFDM communication in this invention are as follows: the communication frequency band is 1.8GHz, the receiving and transmitting gains are both set to 10dB, the FFT length in OFDM communication is set to 64, and the number of subcarriers is 64.

[0226] This solution replaces millimeter-wave equipment (approximately 600,000 RMB per unit) with the USRP X310 hardware platform (supporting the Sub-6GHz band, costing approximately 120,000 RMB per unit), reducing hardware costs by over 80%. Through antenna gain calibration and dual-mode clock synchronization, it solves the multi-antenna coordination problem, achieving a phase difference extraction error of less than 0.05 rad.

[0227] In a sixth aspect, a computer device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described integrated sensing and communication multi-frequency signal ranging method.

[0228] In a seventh aspect, a computer-readable storage medium is provided, which stores a computer program that, when executed by a processor, implements the steps of the above-described integrated sensing and communication multi-frequency signal ranging method.

[0229] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the integrated sensing and communication multi-frequency signal ranging device and its modules described above can be referred to the corresponding process in the aforementioned embodiment of the integrated sensing and communication multi-frequency signal ranging method, and will not be repeated here.

[0230] It should be noted that those skilled in the art will understand that, for the sake of convenience and brevity, the specific working process of the model training device and each module described above can be referred to the corresponding process in the aforementioned embodiment of the integrated sensing and communication multi-frequency signal ranging method, and will not be repeated here.

[0231] The aforementioned integrated sensing and communication multi-frequency signal ranging device can be implemented as a computer program, which can run on the computer device shown in Figure 6.

[0232] Figure 10 A block diagram of a computer device according to one embodiment of this application is shown.

[0233] See Figure 10 The computer device includes a processor, memory, and network interface connected via a system bus, wherein the memory may include storage media and internal memory.

[0234] The storage medium may store an operating system and a computer program. The computer program includes program instructions that, when executed, cause the processor to perform any of the multi-source data sensing and communication integrated multi-frequency signal ranging methods provided in the embodiments of this application.

[0235] The processor provides computing and control capabilities, supporting the operation of the entire computer device.

[0236] The internal memory provides an environment for the execution of a computer program stored in the storage medium. When executed by a processor, this computer program enables the processor to perform any multi-source data sensing and communication integrated multi-frequency signal ranging method. The storage medium can be non-volatile or volatile.

[0237] This network interface is used for network communication, such as sending assigned tasks. Those skilled in the art will understand that... Figure 10 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0238] It should be understood that the processor can be a Central Processing Unit (CPU), but it can also be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Among these, a general-purpose processor can be a microprocessor or any conventional processor.

[0239] In addition, embodiments of this application provide a computer-readable storage medium storing computer-executable instructions for performing the steps of the method in the first aspect embodiment.

[0240] It should be noted that the functions or steps that can be implemented by the computer-readable storage medium or electronic device described above can be referred to the relevant descriptions in the foregoing method embodiments. To avoid repetition, they will not be described one by one here.

[0241] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0242] It should be understood that although the terms "first," "second," etc., may be used to describe the setting units in the embodiments of this application, these setting units should not be limited to these terms. These terms are only used to distinguish the setting units from each other. For example, without departing from the scope of the embodiments of this application, the first setting unit may also be referred to as the second setting unit, and similarly, the second setting unit may also be referred to as the first setting unit.

[0243] Depending on the context, the word "if" as used here can be interpreted as "when," "when," "in response to determination," or "in response to detection." Similarly, depending on the context, the phrase "if determination" or "if detection (of the stated condition or event)" can be interpreted as "when determination," "in response to determination," "when detection (of the stated condition or event)," or "in response to detection (of the stated condition or event)."

[0244] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0245] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in a combination of hardware and software functional units.

[0246] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0247] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A multi-frequency signal ranging method integrating sensing and communication, characterized in that, For a signal transmitting device, the method includes: The original sensing signal is acquired and modulated onto multiple different carrier frequency bands to obtain sensing sub-signals for multiple frequency bands. An orthogonal frequency division multiplexing (OFDM) communication signal is generated based on the file source to be transmitted, and OFDM modulation is performed to modulate it onto the corresponding communication frequency band to obtain the communication signal. The sensing sub-signals of the multiple frequency bands are synchronously transmitted to the signal receiving device through multiple first transmitting antennas, and the communication signal is transmitted to the signal receiving device through a second transmitting antenna, wherein the first transmitting antenna and the sensing sub-signal correspond one-to-one.

2. The method according to claim 1, characterized in that, The process of generating an orthogonal frequency division multiplexing (OFDM) communication signal and performing OFDM modulation to modulate it onto the corresponding communication frequency band to obtain the communication signal includes: Obtain the source file to be transmitted, convert the source file to a byte stream, and perform source encoding on the byte stream; OFDM modulation is performed on the source-encoded byte stream, wherein the OFDM modulation includes at least one of the following: constellation modulation, subcarrier allocation, synchronization code addition, and inverse fast Fourier transform to obtain the modulated signal; The modulated signal is scaled and frequency-modulated to the communication frequency band to obtain the communication signal.

3. A multi-frequency signal ranging method integrating sensing and communication, characterized in that, For a signal receiving device, the method includes: The system receives sensing sub-signals of multiple frequency bands transmitted by a signal transmitting device through multiple first receiving antennas, and simultaneously receives communication signals transmitted by the signal transmitting device through a second receiving antenna, wherein the first receiving antennas and the sensing sub-signals correspond one-to-one. Generate a conjugate signal of the original sensing signal, and determine the phase shift generated in each frequency band based on the conjugate signal of the original sensing signal and each of the sensing sub-signals; The communication distance between the signal transmitting device and the signal receiving device is calculated based on the phase offset corresponding to each frequency band. The communication signal is restored to obtain the transmission source file.

4. The method according to claim 3, characterized in that, Generate a conjugate signal of the original sensing signal, and determine the phase shift generated in each frequency band based on the conjugate signal of the original sensing signal and each of the sensing sub-signals, including: The conjugate signal of the original sensing signal is generated locally based on the preset parameters of the original sensing signal. Automatic gain control is applied to each of the sensing sub-signals to adjust its amplitude to a preset value, thereby obtaining the processed sensing sub-signals. The processed sensing sub-signal is carrier demodulated and the carrier frequency component is removed to obtain the baseband sensing signal; The baseband sensing signal is multiplied by the conjugate signal of the original sensing signal to obtain an offset signal containing only phase offset information. The phase value of the offset signal is extracted as the phase offset of the sensing sub-signal in the corresponding frequency band due to the transmission distance.

5. The method according to claim 3, characterized in that, The process of restoring the communication signal to obtain the transmission source file includes: The communication signal is down-converted to obtain a baseband communication signal; The baseband communication signal is synchronized to eliminate fractional frequency offset and symbol timing deviation; The synchronized signal is demodulated using OFDM to obtain the demodulated communication signal. The OFDM demodulation includes Fast Fourier Transform, channel estimation, and channel equalization operations. The demodulated communication signal is subjected to constellation demodulation and decoding to restore the original transmission file.

6. A multi-frequency signal ranging device integrating sensing and communication, characterized in that, For a signal transmitting device, the apparatus includes: The acquisition module is used to acquire the original sensing signal and modulate the original sensing signal onto multiple different carrier frequency bands to obtain multiple frequency band sensing sub-signals; The modulation module is used to generate an orthogonal frequency division multiplexing communication signal based on the file source to be transmitted, and to perform OFDM modulation to modulate it onto the corresponding communication frequency band to obtain the communication signal; The transmission module is used to synchronously transmit the sensing sub-signals of the multiple frequency bands to the signal receiving device through multiple first transmitting antennas, and at the same time transmit the communication signal to the signal receiving device through a second transmitting antenna, wherein the first transmitting antenna and the sensing sub-signal correspond one-to-one.

7. A multi-frequency signal ranging device integrating sensing and communication, characterized in that, For a signal receiving device, the apparatus includes: The receiving module is used to receive sensing sub-signals of multiple frequency bands sent by a signal transmitting device through multiple first receiving antennas, and to receive communication signals sent by the signal transmitting device through a second receiving antenna, wherein the first receiving antennas and the sensing sub-signals correspond one-to-one. A determination module is used to generate a conjugate signal of the original sensing signal and determine the phase shift generated in each frequency band based on the conjugate signal of the original sensing signal and each sensing sub-signal. The calculation module is used to calculate the communication distance between the signal transmitting device and the signal receiving device based on the phase offset corresponding to each frequency band. The restoration module is used to restore the communication signal to obtain the transmission source file.

8. A multi-frequency signal ranging system integrating sensing and communication, characterized in that, The system includes: a signal transmitting device and a signal receiving device; The signal transmitting device and the signal receiving device exchange data. The signal transmitting device is used to perform the multi-frequency signal ranging method integrating sensing and communication as described in claim 1 or 2; The signal receiving device is used to perform the multi-frequency signal ranging method integrating sensing and communication as described in any one of claims 3-5.

9. A computer device, characterized in that, include: At least one processor; And, a memory communicatively connected to the at least one processor; The memory stores instructions executable by the at least one processor, the instructions being configured to perform the method according to any one of claims 1 to 5.

10. A computer-readable storage medium, characterized in that, The device stores computer-executable instructions for performing the method as described in any one of claims 1 to 5.

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