Perception method, device and system

Abstract

The invention discloses a sensing method, device and system, relates to the technical field of communication, and aims to solve the problem that the target imaging effect and the resource utilization rate of sensing equipment are reduced due to the fact that bandwidth resources of the sensing equipment are not matched with antenna aperture resources in radio frequency sensing. The method comprises the following steps that: a processing node registers an equilibrium perception parameter set of a measurement node according to an equilibrium perception principle, and indicates the equilibrium perception parameter set to the corresponding measurement node, so that the measurement node executes perception measurement according to equilibrium perception parameters to complete environmental perception. The scheme of the invention can be widely applied to the fields of communication technology, artificial intelligence, Internet of Vehicles, smart home networking and the like.

Description

A sensing method, device and system Technical Field

[0001] The embodiments of the present application relate to the field of communication technologies, and in particular to a perception method, device, and system. Background Art

[0002] Integrated sensing and communication (ISAC), also known as synaesthesia, refers to the fact that communication devices, such as network equipment or terminals, have perception capabilities in addition to communication capabilities. They can perceive the environment through radio frequency signals to achieve target detection or environmental imaging.

[0003] The perceived performance of a communication device is related to its bandwidth and antenna aperture. To improve the perceived performance of a communication device, a larger bandwidth and antenna aperture are usually configured for the communication device, resulting in a waste of resources.

[0004] Summary of the Invention

[0005] The embodiments of the present application provide a perception method, device, and system to solve the problem of improving the perception performance of a perception device and blindly increasing the perception resources of the perception device, resulting in resource waste.

[0006] To achieve the above objectives, the present invention adopts the following technical solutions:

[0007] In a first aspect, the present application provides a perception method that can be executed by a perception device and a functional module or chip within the perception device. The method includes: a processing node first obtains a perception resource parameter and a perception area parameter of a measurement node; then, based on the perception resource parameter and the perception area parameter of the measurement node, determines a balanced perception resource of the measurement node; and further sends, to the measurement node, first information indicating the balanced perception resource corresponding to the measurement node. The perception resource parameter indicates the available perception resource of the measurement node; the perception area parameter indicates the location information of the perceived point; the balanced perception resource is within the range of the available perception resource and is used to ensure that the resolution of the measurement node in each direction when perceiving the perceived point meets a preset resolution requirement and a balanced perception principle; the preset resolution corresponds to the perception resolution required by the perceived point; and the balanced perception principle includes maintaining a balanced and consistent resolution in each direction of the measurement node.

[0008] Based on the method described in the first aspect, compared to a measuring node utilizing all sensing resources to perform sensing measurements on a sensed point, the measuring node can determine balanced sensing resources based on the sensing resource parameters of the measuring node and the sensing area parameters of the measuring node, using the balanced sensing principle, and then perform sensing measurements on the sensed point based on the determined balanced sensing resources. The balanced sensing resources are part of the sensing resources of the measuring node. When the measuring node utilizes the balanced sensing resources to perceive the sensed point, the resolution of the measuring node in all directions meets the preset resolution requirements and the balanced sensing principle. Therefore, the measuring node can achieve better sensing results while utilizing fewer sensing resources, thereby maximizing the utilization of the sensing resources of the measuring node.

[0009] In one possible design, a processing node determines balanced perception resources for a measurement node based on perception resource parameters and perception area parameters of the measurement node, including the following method: the processing node determines the upper limit of the resolution capability of the measurement node in each direction based on the perception resource parameters and perception area parameters of the measurement node; wherein each direction includes at least one of the following: range, azimuth, and elevation; the processing node determines the target resolution of the measurement node in each direction based on the upper limit of the resolution capability of the measurement node in each direction; wherein the target resolution of the measurement node in each direction meets the preset resolution requirement and the balanced perception principle; the processing node determines the balanced perception resources for the measurement node based on the relationship between the resolution and the perception parameters and the target resolution in each direction of the measurement node. The relationship between the resolution and the perception parameters is used to indicate the relationship between the range resolution and the bandwidth of the measurement node, the relationship between the azimuth resolution and the azimuth aperture size of the measurement node, and the relationship between the elevation resolution and the elevation aperture size of the measurement node.

[0010] Based on this possible design, the processing node can determine the target resolution for each direction of the measuring node that meets the preset resolution requirement and the balanced perception principle based on the measuring node's available perception resources. The processing node then determines the balanced perception resources corresponding to the target resolution in each direction of the measuring node based on the relationship between resolution and perception parameters. Through this process, the processing node selects some of the available perception resources of the measuring node as balanced perception resources, thus conserving the perception resources of the measuring node.

[0011] In one possible design, the processing node determines the upper limit of the resolution capability of the measuring node in each direction based on the sensing resource parameters and the sensing area parameters of the measuring node, including:

[0012] The processing node determines the upper limit of the resolution capability of the measuring node in the range direction based on the available bandwidth of the measuring node; the available bandwidth of the measuring node is directly proportional to the upper limit of the resolution capability of the measuring node in the range direction; the processing node determines the upper limit of the resolution of the measuring node in the azimuth direction based on the aperture size of the measuring node in azimuth, the azimuth angle formed by the measuring node and the sensed point, the wavelength corresponding to the center frequency point, and the sensed distance between the measuring node and the sensed point; the processing node determines the upper limit of the resolution of the measuring node in the elevation direction based on the aperture size of the measuring node in elevation, the elevation angle formed by the measuring node and the sensed point, the wavelength corresponding to the center frequency point, and the sensed distance between the measuring node and the sensed point.

[0013] The sensing resource parameters include the central frequency of the measuring node, the available bandwidth of the measuring node, and the aperture size of the measuring node; the aperture size may include at least one of the following: the aperture size in azimuth and the aperture size in elevation; the sensing area parameters include the sensing distance between the measuring node and the sensed point, the azimuth angle formed by the measuring node and the sensed point, and the elevation angle formed by the measuring node and the sensed point;

[0014] After the above process, the processing node can determine the target resolution of the measuring node in each direction within the range of the upper limit of the capability of the measuring node in each direction, thereby ensuring the validity of the target resolution in each direction.

[0015] In one possible design, if the measuring node is fixed, the aperture size of the measuring node corresponds to the actual aperture size of the measuring node; if the measuring node is mobile, the aperture size of the measuring node corresponds to the virtual aperture size formed by the measuring node, and the virtual aperture size formed by the measuring node is determined by the mobile range of the measuring node performing perception measurements. In practical applications, the measuring node can be either a mobile or a fixed perception device. Therefore, based on this possible design, this solution can be applied to different types of perception devices and flexibly applied to various perception scenarios, thereby improving the utilization rate of this solution.

[0016] In one possible design, the processing node determines the target resolution of the measuring node in each direction based on the upper limit of the resolution capability of the measuring node in each direction, including: the processing node determines at least one set of resolution parameters based on the upper limit of the resolution capability of the measuring node in each direction; each set of resolution parameters includes the resolution in each direction, and the maximum resolution in each set of resolution parameters is less than or equal to a preset resolution requirement; the processing node obtains a target resolution parameter that meets the balanced perception principle from the at least one set of resolution parameters; the target resolution parameter that meets the balanced perception principle includes a ratio of the maximum value of the target resolution parameter to the minimum value of the target resolution parameter that is less than or equal to a preset threshold; the processing node determines the target resolution in each direction of the measuring node based on the target resolution parameters.

[0017] Based on this possible design, when the resolution capability of the measurement node in each direction meets the preset requirements, the processing node obtains the target resolution in each direction corresponding to the balanced and consistent resolution of the measurement node in each direction, so that the resolution of the measurement node in each direction is basically the same, achieving a better perception effect and realizing the improvement of the perception performance of the measurement node.

[0018] In one possible design, the target resolution parameters include one or more groups, and the processing node determines the target resolution of each direction of the measuring node based on the target resolution parameters, including: when the target resolution parameters include one group, using the resolutions in each direction included in the target resolution parameters as the target resolution of each direction of the measuring node; when the target resolution parameters include multiple groups, obtaining the target resolution parameter with the smallest sum of resolutions among the multiple groups of target resolution parameters, and using the resolutions in each direction included in the target resolution parameter with the smallest sum of resolutions as the target resolution of each direction of the measuring node; wherein the sum of the resolutions is obtained by adding the resolutions in each direction.

[0019] After the above process, in the perception scenario where a single measuring node connected to the measuring node perceives the perceived point, and multiple measuring nodes connected to the processing node jointly perceive the perceived point, the target resolution parameters may include one or more groups, and the target resolutions in each direction corresponding to the single or multiple measuring nodes that perceive the perceived point are determined by corresponding methods, thereby increasing the adaptability of the scheme and making the scheme more complete.

[0020] In one possible design, the processing node determines at least one set of resolution parameters based on the upper limit of the resolution capability of the measurement node in each direction, including:

[0021] For the resolution of each direction of the measurement node, a set of candidate resolutions is obtained; the candidate resolution parameter of each direction in this set of candidate resolutions is greater than or equal to the minimum value of the resolution in that direction. The resolution capability upper limit of each direction corresponds to the minimum resolution value in that direction, which means that the performance of the candidate resolution in each direction is less than or equal to the capability upper limit of that direction;

[0022] Each time, one candidate resolution parameter in a group of candidate resolutions is adjusted to obtain multiple groups of candidate resolutions; one of the candidate resolution parameters corresponds to the minimum value of the resolution in a group of candidate resolutions; when there are candidate resolution parameters that meet the first condition in the multiple groups of candidate resolutions, the candidate resolution parameters that meet the first condition are used as at least one group of resolution parameters; wherein the first condition includes that the maximum value of the resolution in the candidate resolution parameters is less than or equal to the preset resolution requirement.

[0023] Based on this possible design, the processing node can obtain the target resolution range of the measuring node in each direction according to the upper limit of the resolution capability of the measuring node in each direction, and adjust the resolution in each direction within this range, so that the result of each adjustment of the measuring node can meet the preset resolution requirement, ensuring the perception effect of the measuring node in perceiving the perceived point.

[0024] In one possible design, when no candidate resolution parameter that meets the first condition exists in multiple groups of candidate resolution parameters, the method further includes: the processing node obtaining a joint sensing resource; wherein the joint sensing resource includes a joint bandwidth or a joint aperture; the processing node redetermining the upper limit of the resolution capability in each direction of the measurement node based on the joint sensing resource; and the processing node determining the target resolution in each direction of the measurement node based on the redetermined upper limit of the resolution capability in each direction of the measurement node.

[0025] Based on this possible design, the processing node can gradually determine the target resolution of the measuring node in each direction according to the above method when the measuring node triggers joint perception, thereby increasing the completeness and applicability of this solution.

[0026] In one possible design, the processing node obtains the joint perception resource including: when the maximum resolution among multiple sets of candidate resolution parameters is the resolution in the azimuth direction, or when the maximum resolution among multiple sets of candidate resolution parameters is the resolution in the elevation direction, combining the apertures of multiple measurement nodes including the measurement node to obtain a joint aperture; when the maximum resolution among multiple sets of candidate resolution parameters is the resolution in the range direction, combining the bandwidth resources of multiple frequency bands of the measurement node to obtain a joint bandwidth.

[0027] In practical applications, a measurement node may trigger joint sensing due to any of the following reasons: insufficient sensing bandwidth or insufficient sensing antenna aperture. This solution addresses these situations. Based on the specific reason for the measurement node triggering joint sensing, the processing node provides a corresponding method for obtaining joint sensing resources, increasing the solution's utilization and completeness.

[0028] In one possible design, when the measuring node uses single-base sensing, the sensing distance between the measuring node and the sensed point is determined based on the distance between the measuring node's center position and the sensed node. When the measuring node uses dual-base sensing, the sensing distance between the measuring node and the sensed point is determined based on the distance between the measuring node's transmitting antenna and the sensed point, as well as the distance between the measuring node's receiving antenna and the sensed node. In practical applications, the measuring node can operate in either single-base sensing mode or dual-base sensing mode. This solution, based on this possible design, is applicable to any of these scenarios, improving its utilization and completeness.

[0029] In one possible design, the target resolution of the measurement node in each direction is the resolution under Cartesian coordinates; the processing node determines the balanced perception resources of the measurement node based on the relationship between the resolution and the perception parameters, and the target resolution in each direction of the measurement node, including: the processing node converts the target resolution in each direction of the measurement node into the resolution under the spherical coordinate system; the processing node determines the balanced perception resources of the measurement node based on the relationship between the resolution and the perception parameters, and the target resolution in each direction after the conversion.

[0030] In practical applications, the location information of the measuring node and the sensed point can be expressed in either Cartesian or spherical coordinates. This solution is based on this possible design and is applicable to either scenario, improving its utilization and completeness.

[0031] In one possible design, when the measuring node is a fixed node, the first information includes the center frequency and at least one of the following: antenna aperture range, bandwidth range; when the measuring node is a mobile node, the first information includes the center frequency and at least one of the following: mobile perception range, bandwidth range.

[0032] In actual applications, the aperture sizes corresponding to different types of measurement nodes have different meanings. When the measurement node is a fixed node, the aperture size represents the maximum range of the antenna aperture. Therefore, when the first information indicates the balanced perception resource corresponding to the measurement node, it indicates the antenna aperture range; when the measurement node is a mobile node, the aperture size represents the mobile range of the measurement node for perception measurement, which is called the mobile perception range. Therefore, when the first information indicates the balanced perception resource corresponding to the measurement node, it indicates the mobile perception range.

[0033] The specific content included in the first information is determined based on the sensing resource parameters and the balanced sensing resource of the measuring node. The balanced sensing resource corresponding to the changed sensing resource parameter is carried in the first information and sent to the measuring node, instructing the measuring node to perform sensing measurements on the sensed point based on the balanced sensing resource. Based on this possible design, the signaling overhead of the processing node sending the balanced sensing resource of the measuring node can be reduced.

[0034] In a second aspect, the present application provides a communication device, which may be a sensing device or a chip or system-on-chip in a sensing device, or a functional module in a sensing device for implementing the method in the first aspect or any possible design of the first aspect. The communication device can implement the functions performed by the sensing device in the above-mentioned first aspect or any possible design of the first aspect, and the functions can be implemented by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above-mentioned functions. For example, the communication device may include a receiving unit, a processing unit, and a sending unit.

[0035] A receiving unit, configured to obtain a sensing resource parameter of a measurement node and a sensing area parameter of the measurement node;

[0036] a processing unit, configured to determine a balanced sensing resource of the measuring node according to a sensing resource parameter of the measuring node and a sensing area parameter of the measuring node;

[0037] The sending unit is configured to send first information to the measurement node, where the first information is used to indicate balanced sensing resources.

[0038] Specifically, the relevant descriptions of perception resource parameters, perception area parameters, balanced perception resources, preset resolution requirements, balanced perception principles, and first information can refer to the first aspect or any possible design of the first aspect. At the same time, the execution actions of each unit of the communication device can refer to the first aspect or any possible design of the first aspect and will not be repeated here.

[0039] In a third aspect, the present application provides a communication device, which may be a perception device or a chip or system-on-chip in a perception device. The communication device may implement the function performed by the perception device in the first aspect or the possible design of the first aspect, and the function may be implemented by hardware. In one possible design, the communication device includes a processor and a communication interface. The processor and the communication interface are used to support the communication device in executing the perception method in the first aspect or any possible design of the first aspect. In another possible design, the communication device may further include a memory, the memory being used to store computer-executable instructions and data necessary for the communication device. When the communication device is running, the processor executes the computer-executable instructions stored in the memory, so that the communication device executes the perception method as described in the first aspect or any possible design of the first aspect.

[0040] In a fourth aspect, the present application provides a communication system, which includes a perception device and the communication apparatus provided in the second aspect, or the communication system includes a perception device and the communication apparatus provided in the third aspect.

[0041] In a fifth aspect, the present application provides a computer-readable storage medium, which stores computer instructions. When the computer instructions are executed on a computer, the computer executes the perception method in the first aspect or any possible design of the first aspect.

[0042] In a sixth aspect, the present application provides a computer program product comprising computer instructions, which, when executed on a computer, enable the computer to execute the perception method in the first aspect or any possible design of the first aspect.

[0043] Among them, the technical effects brought about by any design method in the second to sixth aspects can refer to the technical effects brought about by the above-mentioned first aspect or any possible design of the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Figure 1 is a schematic diagram of the synthetic aperture;

[0045] Figure 2 is a schematic diagram of full aperture / bandwidth sensing;

[0046] FIG3 is a schematic diagram of a communication system provided by the present application;

[0047] FIG4 is a flow chart of a sensing method provided by the present application;

[0048] FIG4a is a schematic diagram of a perception effect provided by this application;

[0049] FIG4b is a schematic diagram of a perception effect provided by this application;

[0050] FIG5 is a schematic diagram of a perception scenario provided by this application;

[0051] FIG6 is a schematic diagram of a perception scenario provided by this application;

[0052] FIG7 is a schematic diagram of a flow chart of a sensing method provided by this application;

[0053] Figure 8 is a schematic diagram of single-base sensing parameters;

[0054] FIG9 is a schematic diagram of dual-base sensing parameters;

[0055] Figure 10a is a schematic diagram of full-sensing resource simulation;

[0056] FIG10 b is a schematic diagram of a simulation of a solution provided by this application;

[0057] Figure 11a is a schematic diagram of a full-sensing resource simulation;

[0058] FIG11b is a schematic diagram of a simulation of a solution provided by this application;

[0059] Figure 12a is a schematic diagram of full-sensing resource simulation;

[0060] FIG12b is a schematic diagram of a simulation of a solution provided by this application;

[0061] FIG13 is a schematic diagram of a perception scenario provided by this application;

[0062] FIG14 is a schematic diagram of a perception scenario provided by this application;

[0063] FIG15 is a schematic diagram of a perception scenario provided by this application;

[0064] FIG16 is a flow chart of a sensing method provided by the present application;

[0065] FIG17 is a schematic structural diagram of a communication device provided by the present application;

[0066] FIG18 is a schematic structural diagram of a communication device provided in this application. DETAILED DESCRIPTION

[0067] Before introducing the embodiments of the present application, some technical terms involved in the embodiments of the present application are explained. It should be noted that the following explanations are intended to make the embodiments of the present application easier to understand and should not be regarded as limiting the scope of protection claimed by the embodiments of the present application.

[0068] Wireless sensing: Signals emitted by transmitting devices are typically reflected, diffracted, and scattered by various obstacles before they are received, resulting in the actual received signal being a superposition of multiple signals. Therefore, wireless signals (acoustic, optical, and radio frequency signals, etc.) can sense the physical environment they pass through. By analyzing wireless signals "modulated" by various obstacles, the surrounding environment can be inferred, leading to the development of wireless sensing technology.

[0069] Therefore, wireless sensing technology can utilize the widely deployed wireless devices to send specific data or communication channel detection frames to perceive the surrounding environment, and then receive signal echoes or feedback information generated by the peer device in the wireless network. Then, it can extract the corresponding parameters in the received signal through certain algorithms for analysis to obtain information about the surrounding environment.

[0070] Integrated sensing and communication (ISAC), also known as synaesthesia, refers to a communication device that possesses both wireless sensing capabilities and communication capabilities. This communication device can also be called a sensing device. This integration of ISAC enables future communication systems to simultaneously perform both communication and sensing functions. While transmitting information over wireless channels, ISAC proactively learns and analyzes channel characteristics to perceive the physical characteristics of the surrounding environment.

[0071] As research and development in the field of interawareness integration deepens in academia and industry, the use of radio frequency signals from communication systems for environmental perception, such as target detection and environmental imaging, is gaining traction. Target detection involves the sensing device processing echo signals to determine the angle and distance between the sensing device and the perceived point. Environmental imaging involves the sensing device processing echo signals to distinguish the three-dimensional position of each scattering point (a point on the perceived point with a strong ability to scatter electromagnetic waves, known as a scattering point) in the environment, thereby obtaining an image of the perceived point.

[0072] In the above scenario, the sensing performance of a sensing device can be measured by its spatial resolution. This includes both range and azimuth resolution, reflecting the minimum spacing between scattering points that the sensing device can distinguish. In RF sensing, the spatial resolution of a sensing device is primarily influenced by two factors: the available bandwidth of the sensing device and the antenna aperture.

[0073] Specifically, as shown in formula (1), the available bandwidth range B of the sensing device can determine the range direction resolution δ of the sensing device. r , the distance resolution can also be called ranging resolution. As can be seen from formula (1), the distance resolution of the sensing device can be improved by increasing the available bandwidth range of the sensing device to meet the sensing requirements of the sensed point. The available bandwidth range of the sensing device is the range of the sensing device's operating frequency; the distance resolution of the sensing device can correspond to the distance sensing capability of the sensing device. The smaller the distance resolution of the sensing device, the stronger the distance sensing capability of the sensing device.

[0074] In the above formula, c is the speed of light, which is equal to 3×10 8 m / s; k r is a constant whose specific value depends on the signal waveform, etc.; B is the available bandwidth of the sensing device, measured in Hertz (Hz). Specifically, the antenna aperture size F of the sensing device can determine the cross-range resolution of the sensing device, which can also be called angular resolution.

[0075] The antenna aperture F of a sensing device has different meanings for different types of sensing devices. Therefore, the above-mentioned antenna aperture size can be the real aperture size of the antenna or the virtual aperture size of the antenna.

[0076] Specifically, sensing devices can be divided into fixed and mobile sensing devices based on their motion state. For fixed sensing devices, the antenna aperture size F corresponds to the actual antenna aperture size D of the sensing device. For mobile sensing devices, the antenna aperture size F corresponds to the virtual aperture size L formed by the sensing device. The virtual aperture size formed by the sensing device is determined by the range of motion within which the mobile sensing device performs sensing measurements. Therefore, the virtual aperture size L can also be referred to as the mobile sensing range.

[0077] Among them, the antennas of the sensing device can be divided into planar antenna arrays and linear antenna arrays according to the antenna array type. Planar antenna arrays can be used in three-dimensional sensing scenarios or two-dimensional sensing scenarios, and linear antenna arrays can be used in two-dimensional sensing scenarios. For different types of antenna arrays configured on the sensing device, the azimuth resolution of the sensing device can correspond to the azimuth resolution and / or the elevation resolution. The specific situations are as follows:

[0078] When the antenna of the sensing device is a planar antenna array, the azimuth resolution of the sensing device corresponds to the azimuth resolution δ a and the pitch resolution δ e , at this time, as shown in formula (2) and formula (3), the antenna azimuth aperture size F of the sensing device a Determines the azimuth resolution of the sensing device; the antenna pitch aperture size F of the sensing device e Determines the elevation resolution of the sensing device, where the aperture size can be the real aperture size of the antenna or the virtual aperture size of the antenna.

[0079] For example, when the sensing device is a fixed device and the antenna of the sensing device is a planar antenna array, the antenna azimuth aperture size F in formula (2) is a Corresponding antenna azimuth real aperture size D a ; In formula (3), the antenna elevation aperture size F e Corresponding antenna pitch direction real aperture size D e When the sensing device is a mobile device and the antenna of the sensing device is a planar antenna array, the antenna azimuth aperture size F in formula (2) is a Corresponding to the virtual aperture size L in the antenna azimuth a ; In formula (3), the antenna elevation aperture size F e Corresponding to the virtual aperture size L of the antenna in the elevation direction e .

[0080] When the antenna of the sensing device is a linear antenna array, the azimuth resolution of the sensing device corresponds to the azimuth resolution δ a At this time, as shown in formula (2), the antenna azimuth aperture size F of the sensing device aDetermines the azimuth resolution δ of the sensing device a , where the aperture size can be the real aperture size of the antenna or the virtual aperture size of the antenna. a =R*k a *λ / (F a *cosθ a ) (2) δ e =R*k e *λ / (F e *cosθ e ) (3)

[0081] In the above formula, k a With k e is a constant, and its specific value is related to the antenna oscillator pattern of the sensing device; λ is the wavelength corresponding to the center frequency; δ r is the range resolution; δ a is the azimuth resolution; δ e F is the pitch resolution; a F is the azimuth antenna aperture size of the sensing device, in meters; e is the pitch antenna aperture size of the sensing device, in m; f c θ is the center frequency of the sensing device, in Hertz (Hz). a is the azimuth angle formed between the measuring node and the sensed point; θ e is the pitch angle formed between the measuring node and the sensed point; R is the straight-line distance between the measuring node and the sensed point, which can also be called the sensing distance.

[0082] In formulas (2) and (3), R can correspond to different information depending on the working mode of the measuring node. When the measuring node works in single-base sensing, R corresponds to the sensing distance between the measuring node and the sensed point, which can be calculated by the following formula (5). When the measuring node works in dual-base sensing, the transmitting antenna T X The array is arranged in azimuth to provide azimuth resolution. The receiving antenna R X Arranged along the pitch direction, it provides azimuth resolution. Therefore, formula (2) can be transformed into formula (2.1), and formula (3) can be transformed into formula (3.1): δ a =R t *k a *λ / (F a *cosθ a ) (2.1) δ e =R r *k e *λ / (F e *cosθ e) (3.1)

[0083] In formula (2.1) and formula (3.1), R t is the transmitting antenna T X The perceived distance from the perceived point, R r is the transmitting antenna R X The perception distance between the perceived point and the rest of the parameters are consistent with those described in formula (2) and formula (3).

[0084] Therefore, the azimuth resolution of the sensing device can be improved by increasing the antenna aperture range of the sensing device to meet the perception requirements of the sensed point. The antenna aperture range of the sensing device corresponds to the antenna aperture size of the sensing device; the azimuth resolution of the sensing device can correspond to the azimuth perception capability of the sensing device. The smaller the azimuth perception resolution of the sensing device, the stronger the azimuth perception capability of the sensing device. When the antenna aperture range of the sensing device has been increased to the maximum range of the antenna aperture configured for the sensing device, and it still cannot meet the perception requirements of the sensed point, synthetic aperture technology can be used to improve the azimuth perception capability of the sensing device.

[0085] Synthetic aperture technology uses the relative motion between the radar antenna and the target to transform the actual aperture of the radar's smaller antenna configuration into a virtual aperture much larger than the actual antenna aperture of the radar configuration using data processing methods. At this time, the azimuth resolution capability of the radar is equivalent to the azimuth resolution capability provided by the virtual aperture. The schematic diagram of synthetic aperture formation is shown in Figure 1.

[0086] Therefore, sensing devices can utilize synthetic aperture technology to increase the antenna aperture range of sensing devices and further enhance the sensing performance of sensing devices. However, synthetic aperture technology requires a long antenna aperture synthesis time, resulting in poor real-time performance. In addition, during the antenna aperture synthesis process, a relatively precise transceiver position is required, high signal coherence requirements are required, and the imaging results are more susceptible to non-ideal factors. At the same time, there is a lack of specific, appropriate guidelines and configuration solutions for the antenna aperture synthesis range of sensing devices. For example, in order for a mobile sensing device to meet the sensing requirements of the sensed point, it is unknown how large a virtual antenna aperture the sensing device needs to synthesize, and the corresponding moving distance of the virtual antenna aperture.

[0087] In summary, the goal of improving the perception performance of the perception device can be achieved by increasing the available bandwidth range and / or antenna aperture range of the perception device.

[0088] One possible scenario is that the sensing device utilizes its entire bandwidth and antenna aperture to sense the perceived point, as shown in Figure 2. In this case, the sensing device's sensing capabilities in all directions meet the sensing requirements of the perceived point. However, the sensing device can also meet the sensing requirements of the perceived point by utilizing only a portion of its bandwidth and / or antenna aperture. In this case, utilizing the sensing device's entire available bandwidth and antenna aperture results in a waste of the sensing device's bandwidth and antenna aperture resources.

[0089] The above problem arises because when a sensing device uses its available bandwidth resources and antenna aperture resources to sense a perceived point, it lacks a clear instruction scheme to instruct the sensing device to use appropriate bandwidth resources and / or antenna aperture resources, resulting in a waste of the sensing device's sensing resources. For example, the range resolution corresponding to the sensing device's available bandwidth resources is much greater than the azimuth resolution corresponding to the sensing device's antenna aperture resources. This results in the sensing effect of the perceived point being limited by the sensing device's antenna aperture resources. In this case, the sensing device still uses its entire available bandwidth resources to sense the perceived point, resulting in a significant waste of the sensing device's bandwidth resources.

[0090] Another possible scenario is that the sensing device cannot meet the sensing requirements of the sensed point even after utilizing all available bandwidth resources and antenna aperture resources. In this case, the sensing device can use joint sensing technology to enhance its sensing capabilities in all directions to meet the sensing requirements of the sensed point.

[0091] For example, the perception device can perceive the perceived point by combining the bandwidth resources of multiple different frequency bands of the perception device, thereby improving the available bandwidth range of the perception device and improving the distance perception capability of the perception device, thereby meeting the perception requirements of the perceived point; the perception device can use synthetic aperture technology to equivalently form a virtual aperture that is much larger than the actual antenna aperture of the perception device, thereby improving the azimuth perception capability of the perception device and thus meeting the perception requirements of the perceived point.

[0092] However, when the perception device uses joint perception technology to improve the perception performance of the perception device to meet the perception requirements of the perceived point, the following problems exist: the perception device cannot determine whether the available bandwidth range or antenna aperture range of the perception device should be improved through the joint perception technology, or whether both the available bandwidth range and antenna aperture range of the perception device need to be improved; at the same time, the perception device cannot determine how many perception devices it can be combined with to meet the perception requirements of the perceived point; further, it is unknown how to choose the joint perception device to be combined with the perception device.

[0093] To solve the above problems, the present application provides a perception method, which includes: a processing node determines the balanced perception resources of the measuring node based on the perception resource parameters and perception area parameters of the measuring node, and sends first information to the measuring node. The first information is used to instruct the measuring node to use the balanced perception resources to perform perception measurements on the perceived point; the node corresponds to a perception device, and the perception device is divided into a measurement perception device and a processing perception device according to the different operations performed by the perception device. Specifically, the measurement perception device is a perception device that performs perception measurements on the perceived point; the processing perception device is a perception device that determines the balanced resources of the measurement perception device. Optionally, the processing perception device can also perform perception measurements on the perceived point.

[0094] In this way, the measuring and sensing device can perform sensing measurements on the sensed point using specific and appropriate sensing resources according to the first information, thereby maximizing the use of the sensing resources of the measuring and sensing device and meeting the sensing requirements of the sensed point.

[0095] The following describes the sensing method provided in the embodiment of the present application in conjunction with the accompanying drawings.

[0096] The technical solutions of the embodiments of the present application can be used to support various communication systems that support the integration of communication and perception. The communication system can be a satellite communication system, a third generation partnership project (3GPP) communication system, for example, a long term evolution (LTE) system, or a fifth generation (5G) mobile communication system, a new radio (NR) system, a beyond 5G (B5G) mobile communication system, a sixth generation (6G) mobile communication system, a new air interface vehicle to everything (NR V2X) system, and can also be applied to a system with a hybrid network of LTE and 5G, or a device-to-device (D2D) communication system, a machine-to-machine (M2M) communication system, an Internet of Things (IoT), and other next-generation communication systems, and can also be a non-3GPP communication system without limitation.

[0097] FIG3 is a communication system provided by an embodiment of the present application, which includes a processing node, a sensed point, and at least one measuring device connected to the processing node. Optionally, the processing node can also be a measuring node. The node in FIG3 includes the following features: supports integrated communication and perception; the measuring node can operate in a single-base perception mode or a dual-base perception mode; the measuring node can be a fixed node or a mobile node. In the single-base perception mode, the perception signal sent by the measuring node is received by the measuring node; in the dual-base perception mode, the perception signal sent by the measuring node is received by the remaining measuring nodes except the measuring node.

[0098] It should be noted that Figure 3 is only an exemplary framework diagram. The number of nodes included in Figure 3 is not limited, and for example, more measurement nodes may be included. Each measurement node in the system shown in Figure 3 can be either an access network device or a terminal. In addition to the functional nodes shown in Figure 7, other nodes such as core network devices, gateway devices, and application servers may also be included without limitation.

[0099] The following describes possible devices of the measuring node, processing node, and sensed point in the communication system shown in FIG3 .

[0100] The measurement node is a sensing device that performs sensing measurements on the sensed point and can be an access network device or a terminal.

[0101] Specifically, the terminal may be terminal equipment (terminal equipment) or user equipment (UE) or mobile station (MS) or mobile terminal (MT), etc. Specifically, the terminal may be a mobile phone, a tablet computer or a computer with wireless transceiver function, or a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in telemedicine, a wireless terminal in a smart grid, a wireless terminal in a smart city, a smart home, a vehicle-mounted terminal, etc. In an embodiment of the present application, the device for realizing the function of the terminal may be a terminal, or a device that can support the terminal to realize the function, such as a chip system (such as a processing system composed of a chip or multiple chips) or a modem. The following describes the cell switching method provided in an embodiment of the present application by taking the device for realizing the function of the terminal as an example.

[0102] An access network device is a device in a radio access network (RAN) that connects a terminal to a wireless network. The RAN can be connected to a core network (for example, it can be an LTE core network or a 5G core network, etc.). The access network device can be a satellite base station (or flying platform) in an NTN scenario, an evolutionary Node B (eNB or eNodeB) in LTE, or a base station in a 5G network or a future evolved public land mobile network (PLMN), a broadband network gateway (BNG), an aggregation switch or a non-3GPP access device; or the access network device in the embodiment of the present application can also be a wireless controller in a cloud radio access network (CRAN); or a transmission and reception point (TRP), or a device including a TRP, etc., which is not specifically limited in the embodiment of the present application. Optionally, the base station in the embodiment of the present application can include various forms of base stations, such as macro base stations, micro base stations (also called small stations), relay stations, access points, etc., which is not specifically limited in the embodiment of the present application.

[0103] The following describes the perception method provided by the embodiments of the present application in conjunction with the communication system shown in Figure 3. The actions and terms involved in the following embodiments can be cross-referenced. The names of messages or parameter names in messages exchanged between devices in each embodiment are merely examples, and other names may be used in specific implementations. For example, the word "corresponding" in the following embodiments can be replaced with "associated."

[0104] Taking the interaction between the measurement node, the processing node, and the sensed point shown in FIG3 as an example, in an embodiment of the present application, the process of the measurement node performing sensing measurement on the sensed point is shown in FIG4 and may include:

[0105] S401: The measuring node sends sensing resource parameters and sensing area parameters. Correspondingly, the processing node receives the sensing resource parameters and sensing area parameters of the measuring node.

[0106] The sensing resource parameter of the measuring node is used to indicate the available sensing resources of the measuring node; and the sensing area parameter of the measuring node is used to indicate the location information of the sensed point.

[0107] S402: The processing node determines the balanced sensing resources of the measuring node according to the sensing resource parameters of the measuring node and the sensing area parameters of the measuring node.

[0108] Specifically, the processing node determines the upper limit of the resolution capability of the measuring node in each direction based on the perception resource parameters of the measuring node and the perception area parameters of the measuring node; then, the processing node determines the target resolution of the measuring node in each direction based on the upper limit of the resolution capability of the measuring node in each direction; further, the processing node determines the balanced perception resource based on the relationship between the resolution and the perception parameters and the target resolution of the measuring node in each direction.

[0109] Among them, the target resolution of the measurement node in each direction meets the preset resolution requirements and the balanced perception principle; the relationship between resolution and perception parameters is used to indicate the relationship between the range resolution and the measurement node bandwidth, the relationship between the azimuth resolution and the azimuth aperture size of the measurement node, and the relationship between the elevation resolution and the elevation aperture size of the measurement node.

[0110] Based on the above process, the processing node can achieve the corresponding balanced perception resources when the resolution capability of the measurement node in each direction meets the preset requirements and the resolution of the measurement node in each direction is balanced and consistent, so that the measurement node can use the least available perception resources to achieve better perception effect and realize the improvement of the perception performance of the measurement node.

[0111] S403: The processing node sends first information to the measuring node. Correspondingly, the measuring node receives the first information.

[0112] Among them, the first information is used to indicate the balanced perception resources of the measuring node; the measuring node performs perception measurement on the perceived point according to the balanced perception resources corresponding to the received first information, which can maximize the utilization of the available perception resources of the measuring node and reduce air interface resources; at the same time, it can save the signaling overhead of the processing node sending the balanced perception resources of the measuring node.

[0113] Furthermore, after receiving the first information, the measuring node may perform perception based on the balanced perception resources indicated by the first information.

[0114] Based on the method shown in FIG4 , the schematic diagrams of the scheme effects shown in FIG4 a and FIG4 b can be obtained.

[0115] In Figure 4a, the left side shows a measurement node using full-aperture sensing of a sensed point, while the right side shows the measurement node sensing the sensed point based on balanced sensing resources indicated by the first information. The balanced sensing resources indicated by the first information are the antenna aperture resources in azimuth corresponding to the target resolution in azimuth, and / or the antenna aperture resources in elevation corresponding to the target resolution in elevation. In this case, the antenna aperture resources in the balanced sensing resources are half of the measurement node's aperture resources, which can also be called sub-aperture resources.

[0116] In Figure 4b, on the left, the measuring node uses the entire available bandwidth to perceive the perceived point. On the right, the measuring node perceives the perceived point based on the balanced perception resources indicated by the first information. The balanced perception resources indicated by the first information are the bandwidth resources corresponding to the target resolution in the range direction. In this case, the bandwidth resources used in the balanced perception are partial bandwidth resources of the measuring node, such as sub-bandwidth 1 or sub-bandwidth 2.

[0117] At this point, when the measuring node performs sensing measurements on the sensed point using balanced sensing resources, compared to when the measuring node utilizes all sensing resources for sensing measurements on the sensed point, the sensing resources of the measuring node are conserved, allowing the measuring node to utilize minimal sensing resources while achieving a better sensing effect, thus maximizing the utilization of the sensing resources of the measuring node. Furthermore, the target resolution in each direction corresponding to the balanced sensing resources of the measuring node is balanced and consistent, ensuring that the imaging effect of the sensed point is consistent with the actual geometric shape of the sensed point, achieving a better imaging effect. Furthermore, by configuring sensing resources according to the first information, the measuring node can reduce repeated measurements and data redundancy, thereby reducing air interface resources and data storage usage.

[0118] The following describes the process of the measuring node performing perception measurement on a perceived point, assuming that the sensing scenario in Figure 3 includes multiple measuring nodes, including the fixed node shown in Figure 5, or the mobile node shown in Figure 6. As shown in Figure 7, a sensing method provided in an embodiment of the present application is applicable to a sensing scenario in which a single measuring node senses a perceived point, as shown in Figure 7.

[0119] In the perception scenario shown in Figure 5, there is a processing node, a sensed point, and measuring nodes 1, 2, and 3. Each measuring node is a fixed node and operates in single-base perception mode, performing perception measurements on the sensed point. Each measuring node is equipped with multiple antenna devices. The processing node is responsible for determining the balanced perception resources of the measuring node based on the sensing resource parameters and sensing area parameters of the measuring node and in accordance with the balanced perception principle. The sensed point is the physical object on which the measuring node performs perception measurements. The measuring node and processing node can be various access network devices that support interawareness integration, such as base stations (BS), access points (AP), and stations (STA). The sensed point can be a physical object such as a building, car, or truck. The measuring node operates in single-base perception mode, meaning that the sensing signal sent by the measuring node to the sensed point is received by the sensed node in the sensing environment. The sensed point then transmits an echo signal corresponding to the sensing signal, which is also received by the measuring node.

[0120] The perception scenario shown in Figure 6 involves a processing node, a perceived point, and measuring nodes 1 and 2. Measuring node 1 is a mobile node. The measuring nodes operate in bistatic sensing mode, performing perception measurements on the perceived point. Each measuring node is equipped with multiple antennas. The processing node determines the balanced perception resources of the measuring node based on the sensing resource parameters and sensing area parameters of the measuring node, in accordance with the principle of balanced perception. The perceived point is the physical object on which the measuring node performs perception measurements. The processing node can be any access network device supporting interawareness, such as a base station (BS), access point (AP), or station (STA). The perceived point can be a physical object such as a building, car, or truck. The measuring node can be a device supporting interawareness, such as a base station (BS), access point (AP), car, or drone. When a measuring node operates in bistatic sensing mode, the sensing signal sent by the measuring node to the perceived point is received by the perceived point in the sensing environment. The perceived point then transmits an echo signal corresponding to the sensing signal. This echo signal is received by all other measuring nodes connected to the processing node, excluding the measuring node itself.

[0121] In the scenario shown in FIG5 or FIG6 above, when the sensing resources of any measurement node connected to the processing node can meet the preset resolution requirement, the specific sensing method includes the following steps:

[0122] S501: Multiple measurement nodes connected to a processing node send sensing resource parameters and sensing area parameters to the processing node. Correspondingly, the processing node receives the sensing resource parameters and sensing area parameters sent by each measurement node.

[0123] The types of the multiple measurement nodes, processing nodes, and sensed points connected to the processing node are consistent with those described in FIG6 and FIG7 .

[0124] Among them, the perception resource parameters include: the location coordinates, angle coordinates, center frequency, available bandwidth, and antenna aperture range of the measurement node; the perception area parameters include: the location information of the perceived point and the preset resolution requirements.

[0125] The position coordinates of a measurement node can be any coordinate representing the position of the measurement node. In different dimensional perception scenarios, the position coordinates of a measurement node represent different coordinate information. For example, in a three-dimensional perception scenario, the position coordinates of a measurement node can be represented by spatial coordinates, representing the three-dimensional position coordinates of the measurement node; in a two-dimensional perception scenario, the position coordinates of a measurement node can be represented by plane coordinates, representing the two-dimensional position coordinates of the measurement node.

[0126] For example, in a three-dimensional perception scene, the position coordinates of the measurement node are expressed by spherical coordinates in the spatial coordinates, and the position coordinates of the measurement node are expressed as R is the distance between the origin and the measurement node, θ is the azimuth angle formed by the origin and the measurement node, is the pitch angle formed by the origin and the measurement node. The position coordinates of the measurement node can also be expressed by rectangular coordinates in spatial coordinates. In this case, the position coordinates of the measurement node are expressed as (x, y, z), where x is the distance between the origin and the measurement node on the x-axis, y is the distance between the origin and the measurement node on the y-axis, and z is the distance between the origin and the measurement node on the z-axis.

[0127] For example, in a two-dimensional perception scenario, the position coordinates of a measurement node are expressed using polar coordinates in a plane coordinate system. The position coordinates of the measurement node are expressed as (R, θ), where R is the distance between the origin and the measurement node, and θ is the azimuth angle between the origin and the measurement node. The position coordinates of a measurement node can also be expressed using rectangular coordinates in a plane coordinate system. In this case, the position coordinates of the measurement node are expressed as (x, y), where x is the distance between the origin and the measurement node along the x-axis, and y is the distance between the origin and the measurement node along the y-axis.

[0128] The angular coordinates of a measurement node represent its orientation in three-dimensional space. These coordinates are typically represented by three parameters: roll bias, pitch bias, and yaw bias. Yaw bias is the angle between the actual heading and the planned heading; pitch bias is the angle between the measurement node's axis and the ground; and roll bias is the angle of rotation of the measurement node around its fore-aft axis.

[0129] The center frequency refers to the middle frequency of the measurement node's operating band, measured in Hertz (Hz). For example, if the measurement node's operating band is 1885-1905 MHz, the center frequency is 1895 MHz.

[0130] Available bandwidth refers to the frequency bandwidth occupied by the sensing signal transmitted by the measurement node. It is equivalent to the difference between the highest and lowest frequencies supported by the measurement equipment, and is therefore also called the carrier bandwidth. It is measured in Hertz (Hz). The bandwidth range of a measurement node is less than or equal to its available bandwidth.

[0131] The antenna aperture range can refer to the actual aperture range of the antenna of the measuring device, or it can refer to the virtual aperture range of the measuring device. Specifically, when the measuring node is a fixed device, the antenna aperture range corresponds to the actual aperture range of the antenna configured by the measuring node itself; in this case, the antenna aperture range of the measuring device is less than or equal to the actual aperture size of the antenna of the measuring device. When the measuring node is a mobile device, the antenna aperture range corresponds to the virtual aperture range formed by the measuring node. The virtual aperture range of the measuring device is determined based on the mobile range of the measuring node for perception measurement. Therefore, the virtual aperture range of the measuring device can also be called the mobile perception range; in this case, the antenna aperture range of the measuring device is less than or equal to the virtual aperture size of the measuring device.

[0132] The location information of the sensed point may include at least one of the following: the sensed distance between the measuring node and the sensed point, the azimuth angle formed by the measuring node and the sensed point, and the elevation angle formed by the measuring node and the sensed point. The sensed distance between the measuring node and the sensed point can be understood as the straight-line distance between the measuring node and the sensed point.

[0133] The sensing distance R between the measuring node and the sensed point can be expressed by formula (5): R = (R t +R r ) / 2 (5)

[0134] Among them, R t is the transmitting antenna T of the measurement node X The distance to the sensed point, R r is the receiving antenna R of the measurement node X The distance to the sensed point. When the measuring node works in the single-base sensing mode, the sensing signal sent by the measuring node to the sensed point is received by the sensed node in the sensing environment. The sensed point then sends an echo signal corresponding to the sensing signal. The echo signal is still received by the measuring node. Therefore, R t With R r When the measuring node works in the dual-base sensing mode, the sensing signal sent by the measuring node is received by the sensed node in the sensing environment, and the sensed node sends an echo signal corresponding to the sensing signal. The echo signal is received by the other measuring nodes connected to the processing node except the measuring node, so R t With R r Not equal.

[0135] S502: The processing node determines the upper limit of the resolution capability of the measurement node in each direction according to the sensing resource parameter and the sensing area parameter.

[0136] The processing node is consistent with the description of the processing node in the scenario of FIG. 6 or FIG. 7 ; the sensing resource parameters and sensing area parameters of the measurement node are consistent with the description of S501 .

[0137] The upper limit of the measurement node's resolution capability in each direction indicates the upper limit of the measurement node's perception capability in each direction and can be measured by the resolution in each direction. Specifically, the resolution in each direction is inversely proportional to the resolution capability in each direction. This means that the smaller the resolution in each direction of the measurement node, the stronger the resolution capability in each direction of the measurement node, and the stronger the perception capability in each direction of the measurement node. The resolution in each direction includes at least one of range resolution, azimuth resolution, and elevation resolution.

[0138] The processing node determines the upper limit of the resolution capability of the measuring node in each direction based on the perception resource and perception area parameters of the measuring node. The process is as follows: the processing node determines the optimal resolution of the measuring node in each direction based on the perception resource parameters and perception area parameters of the measuring node. The optimal resolution of the measuring node in each direction corresponds to the upper limit of the resolution capability of the measuring node in each direction.

[0139] For example, the perception resource parameters include the available bandwidth of the measurement node, which can be calculated based on the available bandwidth, the speed of light, and the constant k r Determine the optimal resolution in the distance direction. Specifically, the optimal resolution in the distance direction of the measuring node can be determined by formula (6). For example: the sensing resource parameters include the center frequency point and the azimuth antenna aperture size of the measuring node; the sensing area parameters include the sensing distance between the measuring node and the sensed point, and the azimuth angle formed by the measuring node and the sensed point; the sensing resource parameters, sensing area parameters, light speed, constant k can be used to determine the optimal resolution in the distance direction of the measuring node. a Determine the optimal resolution in azimuth. Specifically, the optimal resolution in azimuth of the measurement node can be determined by formula (7) and formula (9).

[0140] For example, the sensing resource parameters include the center frequency and the elevation antenna aperture size of the measuring node; the sensing area parameters include the sensing distance between the measuring node and the sensed point, and the elevation angle formed by the measuring node and the sensed point; the sensing resource parameters, sensing area parameters, light speed, and constant k can be used to e Determine the optimal resolution in the pitch direction. Specifically, the optimal resolution in the pitch direction of the measurement node can be determined by formula (8) and formula (9).

[0141] In formula (6) to formula (9), is the best range resolution, used to indicate the upper limit of range resolution capability; is the best azimuth resolution, which is used to indicate the upper limit of azimuth resolution capability; is the best elevation resolution, used to indicate the elevation resolution; c is the speed of light, equal to 3×10 8 m / s; k r is a constant, and its specific value is related to the signal waveform, etc.; k a With k e is a constant, and its specific value is related to the antenna oscillator pattern of the sensing device; 0 is the wavelength corresponding to the center frequency; B 0 The available bandwidth of the sensing device is in Hertz (Hz). The azimuth antenna aperture size of the sensing device, in meters; The antenna aperture size in the elevation direction of the sensing device, in meters; θ is the center frequency of the sensing device, in Hertz (Hz). a is the azimuth angle formed between the measuring node and the sensed point; θ e is the pitch angle formed between the measuring node and the sensed point; R is the straight-line distance between the measuring node and the sensed point, which can also be called the sensing distance.

[0142] In formula (7) to formula (8), and Different types of measurement nodes can correspond to different information. When the measurement node is a fixed node, The actual aperture size in azimuth corresponding to the measurement node The actual aperture size in the pitch direction of the corresponding measurement node When the measuring node is a mobile node, The virtual aperture size in the azimuth direction corresponding to the measurement node The virtual aperture size in the pitch direction of the corresponding measurement node

[0143] In formulas (7) and (8), R can correspond to different information depending on the working mode of the measuring node. When the measuring node works in single-base sensing, R corresponds to the sensing distance between the measuring node and the sensed point, which can be calculated by formula (5). When the measuring node works in dual-base sensing, the transmitting antenna T X The array is arranged in azimuth to provide azimuth resolution. The receiving antenna R X Arranged along the pitch direction, providing azimuth resolution. Therefore, formula (7) and formula (8) can be transformed into:

[0144] In formula (7.1) and formula (8.1), R t is the transmitting antenna T X The perceived distance from the perceived point, Rr is the transmitting antenna R X The perception distance between the perceived point and the other parameters are consistent with those described in formula (7) and formula (8).

[0145] The above formulas (6) to (9) correspond to the three-dimensional perception scenario, in which the processing node determines the upper limit of the resolution capability of the measurement node in each direction based on the perception resource parameters and perception area parameters sent by the measurement node.

[0146] In a two-dimensional perception scenario, the sensing resource parameters and sensing area parameters sent by the measuring node are also two-dimensional parameters. In this case, the upper limits of the measuring node's resolution capability in each direction include: the measuring node's range resolution capability upper limit and the measuring node's azimuth resolution upper limit. Therefore, the processing node can determine the measuring node's capability upper limit in each direction based on the sensing resource parameters and sensing area parameters sent by the measuring node, as well as formulas (6), (7), and (9).

[0147] For example, if the measurement node is a fixed sensing device and the antenna array type is a planar array type, the sensing resource parameters of the measurement device are as follows: the three-dimensional rectangular position coordinates of the center point of the antenna array are (-100, 0, 0), and the three-dimensional angular coordinates of the antenna array are (0 0 , 90 0 ,0 0 ), center frequency Available bandwidth B 0 =450Mhz, actual size of antenna azimuth aperture Actual size of antenna elevation aperture The sensing area parameters of the measuring device are as follows: the preset resolution requirement is δ0 = 1.2m, and the sensed points are evenly distributed in a cube with a side length of 12m and a center of (0,0,0). At this time, the sensing distance between the measuring node and the sensed point is R = 100m, and the azimuth angle between the measuring node and the sensed point is θ a =0 0 , the pitch angle θ between the measuring node and the sensed point e =0 0 , k r =k a =k e =1, the optimal distance resolution of the measurement node can be obtained from formula (6) to formula (9): Optimal azimuth resolution of the measurement node The best pitch resolution of the measurement node The upper limit of the range resolution capability of the measurement node for the sensed point at 100m is 1 / 3m, the upper limit of the azimuth resolution capability is 1m, and the upper limit of the elevation resolution capability is 1m.

[0148] The above-mentioned measurement node determines the upper limit of the resolution capability of the measurement node in each direction according to the perception resource parameters and the perception area parameters. This corresponds to the case where the upper limit of the resolution capability of the measurement node in each direction is expressed by the spherical coordinate system. Another possible case is that the upper limit of the resolution capability of the measurement node in each direction is expressed by the Cartesian coordinate system. In this case, the obtained best range resolution, best azimuth resolution, and best elevation resolution of the measurement node need to be converted into the best resolution of the measurement node in the x direction under the Cartesian coordinate system. Optimal resolution in the y direction Optimal resolution in the z direction

[0149] The above formulas (6) to (9) correspond to the three-dimensional perception scenario, in which the processing node determines the upper limit of the resolution capability of the measurement node in each direction based on the perception resource parameters and perception area parameters sent by the measurement node.

[0150] In a two-dimensional perception scenario, the sensing resource parameters and sensing area parameters sent by the measuring node are also two-dimensional parameters. In this case, the upper limits of the measuring node's resolution capability in each direction include: the measuring node's range resolution capability upper limit and the measuring node's azimuth resolution upper limit. Therefore, the processing node can determine the measuring node's capability upper limit in each direction based on the sensing resource parameters and sensing area parameters sent by the measuring node, as well as formulas (6), (7), and (9).

[0151] For example, if the measurement node is a mobile sensing device and the antenna array type is a planar array type, the sensing resource parameters of the measurement device are as follows: the three-dimensional rectangular position coordinates of the center point of the antenna array are (-100, 0, 0), and the three-dimensional angular coordinates of the antenna array are (0 0 , 90 0 ,0 0 ), center frequency Available bandwidth B 0 =75Mhz, the preset motion trajectory of the measurement node is linear motion along the y-axis, the azimuth virtual aperture size of the measurement node, that is, the azimuth movement sensing range of the measurement node The sensing area parameters of the measuring device are as follows: the preset resolution requirement is δ0 = 2.2m, and the sensed points are evenly distributed in a square with a side length of 12m and a center of (0,0,0) in the xy plane. At this time, the sensing distance between the measuring node and the sensed point is R = 100m, and the azimuth angle between the measuring node and the sensed point is θ. a =0 0 , k r =k a=1, the optimal distance resolution of the measurement node can be obtained from formula (6), formula (7), and formula (9): Optimal azimuth resolution of the measurement node The upper limit of the distance resolution capability of the measurement node for the sensed point at 100m is 2m, and the upper limit of the azimuth resolution capability is 0.5m.

[0152] S503: The processing node determines whether to trigger joint sensing according to the upper limit of the capability of the measurement node in each direction and the preset resolution requirement.

[0153] The description of the upper limit of the capability of the measurement node in each direction is consistent with the description in S502 and is obtained through S502.

[0154] The preset resolution requirement is included in the sensing area parameter sent by the measuring node to the processing node. For detailed description, see S501.

[0155] The joint sensing means that the sensing resources of the processing node cannot meet the resolution required by the sensed point, and the measurement node needs to combine with other sensing resources to perform joint sensing measurement on the sensed point. For detailed description, see S603.

[0156] The processing node determines whether to trigger joint sensing based on the measurement node's upper capability limits in each direction and the preset resolution requirement as follows: the processing node compares the preset resolution requirement with the maximum of the measurement node's upper capability limits in each direction. If the preset resolution requirement is greater than or equal to the maximum of the measurement node's upper capability limits in each direction, the measurement node does not trigger joint sensing and proceeds to S504. If the preset resolution requirement is less than the maximum of the measurement node's upper capability limits in each direction, the measurement node triggers joint sensing. If the measurement node triggers joint sensing, the specific sensing method is described in S601-S606.

[0157] For example, in a three-dimensional perception scenario, when the upper limit of the measurement node's capability in each direction is expressed in a spherical coordinate system, the preset resolution requirement is δ0, and the optimal distance resolution of the measurement node is The optimal azimuth resolution of the measurement node is The optimal pitch resolution of the measurement node is like This indicates that the measurement node has not triggered joint perception, which can be understood as the perception resources corresponding to the measurement node can meet the perception requirements of the perceived point; otherwise, it indicates that the measurement node has triggered joint perception.

[0158] One possible scenario is that the sensing resource parameters and sensing area parameters of the measurement node are expressed in a Cartesian coordinate system. In this case, the upper limit of the resolution of each direction of the measurement node obtained in S502 needs to be Resolution converted to Cartesian coordinate system Then determine whether the measurement node triggers joint sensing.

[0159] For example, in a three-dimensional perception scenario, the preset resolution requirement is δ0, the perception resource parameters and perception area parameters of the measurement node are expressed in a Cartesian coordinate system, and the upper limit of the resolution of each direction of the measurement node obtained in S502 is further calculated. Will The optimal resolution of the x-direction of the measurement node converted to the Cartesian coordinate system Optimal resolution in the y direction Optimal resolution in the z direction like This indicates that the measurement node has not triggered joint perception, which can be understood as the perception resources corresponding to the measurement node can meet the perception requirements of the perceived point; otherwise, it indicates that the measurement node has triggered joint perception.

[0160] S504: The processing node determines the target resolution in each direction of the measurement node according to the upper limit of the resolution capability in each direction.

[0161] The processing node determines the target resolution in each direction of the measurement node according to the upper limit of the resolution capability in each direction of the measurement node, including the following steps:

[0162] 1) Determine at least one set of resolution parameters based on the upper limit of the resolution capability of the measurement node in each direction.

[0163] Each set of resolution parameters in the at least one set of resolution parameters includes the resolution of each direction of the measurement node, and the maximum resolution in each set of resolution parameters is less than or equal to the preset resolution requirement. The specific process of obtaining the at least one set of resolution parameters is as follows:

[0164] (1.1) For the resolution of each direction of the measurement node, a set of candidate resolutions is obtained.

[0165] Exemplarily, a set of initial candidate resolutions may be obtained based on the upper limit of the resolution capability in each direction, and in this case, the candidate resolution parameters in each direction in the set of candidate resolutions correspond to the optimal resolution in each direction.

[0166] (1.2) Each time, a parameter of one candidate resolution in a group of candidate resolutions is adjusted to obtain multiple groups of candidate resolutions.

[0167] For example, the candidate resolution parameters in each direction of a set of candidate resolutions obtained according to (1.1) correspond to the best resolution in each direction, that is, a set of candidate resolutions is By comparing the range, azimuth, and elevation candidate resolutions within this set of candidate resolutions, the range candidate resolution is determined to have the smallest value. Adjusting the range candidate resolution parameters now yields another set of candidate resolutions. The adjusted range candidate resolution is then greater than or equal to the optimal range resolution. Similarly, by adjusting the minimum candidate resolution within a set of candidate resolutions, multiple sets of candidate resolutions are obtained, each with a value greater than or equal to the optimal resolution in the direction corresponding to the candidate resolution parameter.

[0168] (1.3) When there are candidate resolution parameters satisfying the first condition among the multiple sets of candidate resolutions, the candidate resolution parameters satisfying the first condition are used as at least one set of resolution parameters.

[0169] Among them, the candidate resolution parameters in each direction in a set of candidate resolutions are greater than or equal to the best resolution in each direction, and the best resolution in each direction corresponds to the upper limit of the perception capability in each direction; the first condition includes that the maximum resolution value in the candidate resolution parameters is less than or equal to the preset resolution requirement; a candidate resolution parameter corresponds to the minimum resolution value in a set of candidate resolutions.

[0170] For example, according to S503, the preset resolution δ0 is obtained, and two groups of candidate resolutions are obtained from (1.2), namely, group 1 candidate resolution and group 2 candidate resolution. The parameters of each candidate resolution in group 1 candidate resolution are Therefore, the candidate resolutions in group 1 can be used as at least one group of candidate resolutions; the parameters of each candidate resolution in group 2 are and Therefore, group 2 candidate resolutions can also serve as at least one group of candidate resolutions.

[0171] 2) Obtaining a target resolution parameter that satisfies a balanced perception principle from at least one set of resolution parameters; satisfying the balanced perception principle includes that a ratio of a maximum value of the target resolution parameter to a minimum value of the target resolution parameter is less than or equal to a preset threshold.

[0172] The balanced perception principle includes that the resolution of each direction of the measurement node is balanced and consistent. The balanced resolution of each direction of the measurement node means that the ratio of the maximum value to the minimum value of the resolution of each direction of the measurement node is within a limited threshold range. The specific expression information of the balanced perception principle is shown in formula (9)

[0173] Among them, δ r is the target resolution in the range direction, δ a is the target resolution distance in azimuth; δ eis the target resolution in the pitch direction; α is a variable used to control the degree of fluctuation of the resolution in each direction. A possible value is any number between 0% and 50%. It should be noted that α can also be greater than 50%, but generally does not exceed 100%.

[0174] Specifically, the target resolution in each direction should be greater than or equal to the optimal resolution in each direction, that is, The optimal resolution in each direction corresponds to the upper limit of the resolution capability in each direction. The smaller the optimal resolution value in each direction, the stronger the resolution capability in each direction.

[0175] The above balanced perception principle corresponds to the case where the resolution of each direction of the measurement node is expressed by a spherical coordinate system. One possible case is the case where the resolution of each direction of the measurement node is expressed by a Cartesian coordinate system. In this case, the specific expression information of the balanced perception principle is shown in formula (10):

[0176] Among them, δ x is the target resolution in the x direction, δ y is the target resolution in the y direction; δ z is the target resolution in the z direction; α is a variable used to control the degree of fluctuation of the resolution in each direction. A possible value is any number between 0% and 50%. It should be noted that α can also be greater than 50%, but generally does not exceed 100%.

[0177] 3) Determine the target resolution in each direction of the measurement node based on the target resolution parameter.

[0178] The target resolution parameters may include one or more groups. The specific steps corresponding to the two cases are as follows:

[0179] In the case where the target resolution parameter includes a group, the resolutions in each direction included in the target resolution parameter are used as the target resolution in each direction of the measurement node;

[0180] In the case where the target resolution parameters include multiple groups, the target resolution parameter with the smallest sum of resolutions among the multiple groups of target resolution parameters is obtained, and the resolutions in each direction included in the target resolution parameter with the smallest sum of resolutions are used as the target resolutions in each direction of the measurement node; wherein the sum of the resolutions is obtained by adding the resolutions in each direction.

[0181] For example, the target resolution of the measurement node is expressed by a spherical coordinate system, and the target resolution parameters include multiple sets of resolution parameters {δr i , δa i ,δe i}, when i = 2 to n, select min{δr i +δai +δe i The resolution in each direction corresponding to} is used as the target resolution in each direction of the measurement node.

[0182] For example, the target resolution of the measurement node is expressed by a Cartesian coordinate system, and the target resolution parameter includes multiple sets of resolution parameters {δx i ,δy i ,δz i}, when i=2~n, select min{δx i +δy i +δz i The resolution in each direction corresponding to} is used as the target resolution in the x, y, and z directions of the measurement node.

[0183] For example, the upper limit of the distance capability of the measurement node is obtained from steps S501-S503. Ability limit of direction Pitch capacity limit The preset resolution requirement is δ0=1.5, and the balanced perception principle is that the ratio of the maximum value of the target resolution parameter to the minimum value of the target resolution parameter is less than or equal to 1.1.

[0184] First, based on the above information, a group of candidate resolutions {1, 1, 1.2} can be obtained. This group of candidate resolutions can be called group 1 candidate resolution. The maximum resolution in group 1 candidate resolution is 1.2 corresponding to the pitch direction, which is less than or equal to the preset resolution 1.5, satisfying the first condition; therefore, group 1 candidate resolution can be at least one group of resolution parameters; then, determine whether the ratio of the maximum value to the minimum value in group 1 candidate resolution is less than or equal to the preset resolution requirement, 1.2 / 1=1.2>1.1, so group 1 candidate resolution is not the target resolution.

[0185] Secondly, adjust the minimum candidate resolution parameter in the candidate resolutions of group 1 {1, 1, 1.2}. The minimum candidate resolution parameter in the candidate resolutions of group 1 is the candidate resolution parameter corresponding to the range direction and the candidate resolution parameter corresponding to the azimuth direction. Select and adjust the candidate resolution parameter corresponding to the azimuth direction to obtain the candidate resolutions of group 2 {1, 1.2, 1.2}. The maximum resolution in the candidate resolutions of group 2 is the candidate resolution parameter 1.2 in the azimuth direction and the candidate resolution parameter 1.2 in the elevation direction, both of which are less than or equal to the preset resolution 1.5, satisfying the first condition; therefore, the candidate resolutions of group 2 {1, 1.2, 1.2} can be at least one set of resolution parameters; then, determine whether the ratio of the maximum value to the minimum value in the candidate resolutions of group 2 is less than or equal to the preset resolution requirement, 1.2 / 1=1.2>1.1, so the candidate resolutions of group 2 are not the target resolutions.

[0186] Continue to adjust the minimum candidate resolution parameter in group 2 candidate resolutions {1, 1.2, 1.2}. The minimum candidate resolution parameter in group 2 candidate resolutions is the candidate resolution parameter corresponding to the range direction. Adjust the candidate resolution parameters in the range direction to obtain group 3 candidate resolutions {1.1, 1.2, 1.2}. The maximum resolution in group 3 candidate resolutions is the candidate resolution parameter 1.2 in the azimuth direction and the candidate resolution parameter 1.2 in the elevation direction, both of which are less than or equal to the preset resolution 1.5. Therefore, group 3 candidate resolutions {1.1, 1.2, 1.2} can also be at least one set of resolution parameters. Subsequently, determine that the ratio of the maximum value to the minimum value in group 3 candidate resolutions is less than or equal to the preset resolution requirement, 1.2 / 1.1=1.09<1.1. Therefore, group 3 candidate resolution parameters can be the target resolution parameters.

[0187] Continue to adjust the minimum candidate resolution parameter in group 3 candidate resolutions {1.1, 1.2, 1.2}. The minimum candidate resolution parameter in group 3 candidate resolutions is the candidate resolution parameter corresponding to the range parameter. Adjust the range candidate resolution parameter to obtain group 4 candidate resolutions {1.2, 1.2, 1.2}. At this time, the maximum resolutions in each direction in group 4 candidate resolutions are equal, both 1.2, which are still less than or equal to the preset resolution 1.5, meeting the first condition. Subsequently, determine the ratio of the maximum value to the minimum value in group 4 candidate resolutions, that is, 1.2 / 1.2=1<1.1. Therefore, the candidate resolution parameters in group 4 can also be the target resolution parameters.

[0188] Based on the above process, two groups of target resolution parameters are obtained, namely group 3 candidate resolution {1.1, 1.2, 1.2} and group 4 candidate resolution {1.2, 1.2, 1.2}. The target resolution parameter with the smallest sum of the resolution parameters is selected as the target resolution in each direction of the measurement node. The sum of the resolution parameters corresponding to group 3 candidate resolution {1.1, 1.2, 1.2} is 3.5, and the sum of the resolution parameters corresponding to group 4 candidate resolution {1.2, 1.2, 1.2} is 3.6. Therefore, it can be determined that the target resolution parameters in group 3 candidate resolution {1.1, 1.2, 1.2} correspond to the target resolution in each direction of the measurement node. For example, the target resolution in range is 1.1, the target resolution in azimuth is 1.2, and the target resolution in elevation is 1.2.

[0189] S505: The processing node determines balanced sensing resources according to the relationship between the resolution and the sensing parameter, and the target resolution in each direction of the measurement node.

[0190] The relationship between resolution and perception parameters corresponds to the proportional relationship between the resolution and perception parameters in each direction of the measurement node in formula (11) to formula (15); the perception parameters may include at least one of the following parameters: the bandwidth range of the measurement node, the antenna aperture size, the center frequency, the wavelength corresponding to the center frequency, the azimuth angle between the measurement node and the perceived point, and the elevation angle between the measurement node and the perceived point.

[0191] For example, the bandwidth resources in the balanced sensing resources can be determined based on the target resolution, speed of light and constant k of the distance to the measuring node. r Determine the bandwidth resources in the balanced sensing resources. Specifically, the bandwidth resources in the balanced sensing resources of the measurement node can be determined by formula (11).

[0192] For example, the azimuth antenna aperture resources in the balanced sensing resources can be calculated based on the target resolution of the azimuth direction of the measuring node, the speed of light, the center frequency, the sensing distance between the measuring node and the sensed point, the azimuth angle formed by the measuring node and the sensed point, and the constant k. a Determine the azimuth antenna aperture resources in the balanced sensing resources; specifically, the azimuth antenna aperture resources in the balanced sensing resources of the measurement node can be determined by formula (12), formula (14), and formula (15).

[0193] For example, the elevation antenna aperture resource in the balanced sensing resource can be calculated based on the target resolution of the measuring node in the elevation direction, the speed of light, the center frequency, the sensing distance between the measuring node and the sensed point, the elevation angle formed by the measuring node and the sensed point, and the constant k. e Determine the elevation antenna aperture resources in the balanced sensing resources; specifically, the elevation antenna aperture resources in the balanced sensing resources of the measurement node can be determined by formula (13), formula (14), and formula (15).

[0194] If the measurement node works in the single-base sensing mode, the relationship between the resolution and the sensing parameter is shown in Figure 8. At this time, the transmitting antenna T of the measurement node X The distance R to the sensed point t , and the receiving antenna R of the measurement node X The distance R to the sensed point r Equal, so the position information between the sensed point and the measuring node can be expressed in a spherical coordinate system. Assume that the position of the measuring node is the origin (0,0,0), the sensing distance between the measuring node and the sensed point is R, and the azimuth angle between the measuring node and the sensed point is θ a , the pitch angle between the measuring node and the sensed point is θ e , at this time, the position information of the sensed point relative to the measurement node can be expressed as (R, θ a ,θ e). Therefore, the bandwidth resources of the measurement node can determine the range resolution of the measurement node, the azimuth antenna aperture resources of the measurement node, the perception distance between the measurement node and the sensed point, and the azimuth angle can determine the azimuth resolution of the measurement node, and the elevation antenna aperture resources of the measurement node, the perception distance between the measurement node and the sensed point, and the elevation angle can determine the elevation resolution of the measurement node.

[0195] If the measuring node works in the dual-base sensing mode, the measuring node 1 that sends the sensing signal is different from the measuring node 2 that receives the echo signal sent by the sensed point. At this time, the transmitting antenna T of the measuring node 1 is X The distance R to the sensed point t , and the receiving antenna R of measurement node 2 X The distance R to the sensed point r The position information between the sensed point and the measuring node can be expressed as an ellipsoid, so the relationship between the resolution and the sensing parameter is shown in Figure 9. Assume that the position of the measuring node 1 is (0, -T X ,0) measure the position of node 2 as (0, R X ,0) At this time, the sensing distance between the measuring node 1 and the sensed point is equivalent to (R t +R r ) / 2; when the transmitting antenna array of measurement node 1 is arranged in azimuth and the receiving antenna array of measurement node 2 is arranged in elevation, the transmitting antenna of measurement node 1 provides azimuth resolution; the receiving antenna of measurement node 2 provides elevation resolution.

[0196] In formula (1) to formula (4), the resolution of each direction of the measurement node is expressed in the spherical coordinate system. Therefore, if the target resolution of the measurement node is expressed in the Cartesian coordinate system, it is necessary to convert the target resolution distance in the x direction, the target resolution in the y direction, and the target resolution in the z direction of the selected measurement node into the target resolution δ of the distance to the measurement node in the spherical coordinate system. r , azimuth target resolution δ a , pitch target resolution δ e ; Then, based on the relationship between resolution and perception parameters, as well as the target resolution in each direction of the measurement node, the balanced perception resources are determined.

[0197] In spherical coordinates, the azimuth, elevation, and range resolutions of a measurement node are uncoupled. In other words, range resolution is solely dependent on the measurement node's bandwidth resources; changing the antenna aperture does not affect range resolution. This allows us to directly translate range resolution requirements into required bandwidth resources. In contrast, in a Cartesian coordinate system, the resolutions in the x, y, and z directions are coupled. This means that the x-direction resolution is dependent on the measurement node's bandwidth, azimuth aperture size, and elevation aperture size. Therefore, it's impossible to uniquely determine bandwidth or aperture resources from the x-direction resolution.

[0198] When the proportional relationship between resolution and perception parameters and the target resolution of each direction of the measurement node are known, the balanced perception resource of the measurement node can be calculated according to formulas (11) to (15). The balanced perception resource can correspond to different information depending on the type of measurement node.

[0199] Specifically, when the measuring node is a fixed node, the balanced perception resources include the center frequency and at least one of the following: antenna aperture range, bandwidth range; when the measuring node is a mobile node, the balanced perception resources include the center frequency and at least one of the following: mobile perception range, bandwidth range. F a =R*k a *λ / (δ a *cosθ a ) (12) F e =R*k e *λ / (δ e *cosθ e ) (13)

[0200] In formula (11)-formula (15), δ r The target resolution in the range direction determined in the above steps, δ a is the target resolution in azimuth determined in the above steps, δ e The target resolution in the elevation direction determined in the above steps, c, k e , k a , k r ,θ a ,θ e , B 0 The meaning is the same as that in formula (6)-formula (9), and the value is also consistent; f c Corresponding to the center frequency point in the balanced sensing resource, as the bandwidth range of the measurement node changes, the center frequency point of the measurement node also changes accordingly; λ is f cThe corresponding wavelength is a variable and is not restricted. One possible scenario is to select the shortest λ under the conditions of satisfying formulas (11) to (15). B corresponds to the bandwidth range in the balanced sensing resource; F a With F e This corresponds to the antenna aperture range or mobile sensing range in the balanced sensing resource.

[0201] In formula (12) and formula (13), R can correspond to different information according to the different working modes of the measuring node. When the measuring node works in the case of single-base sensing, R corresponds to the sensing distance between the measuring node and the sensed point, which can be calculated by formula (5). When the measuring node works in the case of dual-base sensing, the transmitting antenna T X The array is arranged in azimuth to provide azimuth resolution. The receiving antenna R X Arranged along the pitch direction, it provides azimuth resolution. Therefore, formula (12) and formula (13) can be transformed into: F a =R t *k a *λ / (δ a *cosθ a ) (12.1) F e =R r *k e *λ / (δ e *cosθ e ) (13.1)

[0202] In formula (7.1) and formula (8.1), R t is the transmitting antenna T X The perceived distance from the perceived point, R r is the transmitting antenna R X The perception distance between the perceived point and the other parameters are consistent with those described in formula (12) and formula (13).

[0203] F in formula (12), formula (13), formula (12.1) and formula (13.1) a With F e It can correspond to the antenna aperture range or the mobile sensing range in the balanced sensing resource.

[0204] In one possible scenario, the measurement node operates in a single-base sensing mode, and when the measurement node is a fixed sensing device, the antenna aperture range in the balanced sensing resource may include at least one of the following items, depending on the spatial dimension of the sensing scenario: the azimuth antenna aperture range and the elevation antenna aperture range. In the case of a three-dimensional sensing scenario, the antenna aperture range in the balanced sensing resource includes the azimuth antenna aperture range and the elevation antenna aperture range. In the case of a two-dimensional sensing scenario, the antenna aperture range in the balanced sensing resource includes the azimuth antenna aperture range. The range of the antenna aperture is less than or equal to the size of the antenna aperture.

[0205] In one possible scenario, when the measurement node operates in single-base sensing mode and is a mobile sensing device, the mobile sensing range in the balanced sensing resource may include at least one of the following, depending on the spatial dimension of the sensing scene: an azimuth mobile sensing range and an elevation mobile sensing range. In a three-dimensional sensing scenario, the mobile sensing range in the balanced sensing resource includes both the azimuth mobile sensing range and the elevation mobile sensing range. In a two-dimensional sensing scenario, the mobile sensing range in the balanced sensing resource includes the azimuth mobile sensing range. The mobile sensing range is equal to or less than the virtual aperture size formed by the mobile sensing device.

[0206] In one possible scenario, when the measurement nodes operate in a dual-static sensing mode, as shown in FIG7 , measurement node 1 is a measurement node that sends a sensing signal and is a mobile sensing device; measurement node 2 is a measurement node that receives an echo signal corresponding to the sensing signal and is a fixed sensing device;

[0207] Depending on the spatial dimension of the perception scene, the antenna aperture range corresponding to measurement node 1 in the balanced perception resource may include at least one of the following: azimuth antenna aperture range, elevation antenna aperture range; the mobile perception range corresponding to measurement node 2 may include at least one of the following: azimuth mobile perception range, elevation mobile perception range.

[0208] In a 3D sensing scenario, the antenna aperture range corresponding to measurement node 1 in the balanced sensing resource includes the azimuth antenna aperture range and the elevation antenna aperture range; the motion sensing range corresponding to measurement node 2 includes the azimuth motion sensing range and the elevation motion sensing range. The motion sensing range in each direction is less than or equal to the virtual aperture size in each direction formed by the motion sensing device corresponding to measurement node 2; and the antenna aperture range in each direction is less than or equal to the real aperture size in each direction of the antenna corresponding to measurement node 1.

[0209] In a two-dimensional sensing scenario, the antenna aperture range corresponding to measurement node 1 in the balanced sensing resource includes the azimuth antenna aperture range, and the mobility sensing range corresponding to measurement node 2 includes the azimuth mobility sensing range. The mobility sensing range in each direction is less than or equal to the virtual aperture size in each direction formed by the mobility sensing device corresponding to measurement node 2, and the antenna aperture range in each direction is less than or equal to the real aperture size in each direction of the antenna corresponding to measurement node 1.

[0210] S506: The processing node sends the first information to the measuring node. Correspondingly, the measuring node receives the first information.

[0211] The first information indicates the balanced sensing resource of the measuring node. The processing node compares the balanced sensing resource of the measuring node with the sensing resource parameter of the measuring node, sends the balanced sensing resource corresponding to the changed sensing resource parameter to the measuring node, and instructs the measuring node to perform sensing measurement on the sensed point based on the balanced sensing resource.

[0212] Correspondingly, the measuring node receives the first information sent by the processing node, and performs sensing measurement on the sensed point according to the balanced sensing resources in the first information.

[0213] For example, in a three-dimensional perception scenario, the measurement node and the processing node are fixed perception devices, and the antenna array type of the measurement node is a planar array type. At this time, the perception resource parameters of the measurement device are as follows: the three-dimensional rectangular position coordinates of the center point of the antenna array are (-100, 0, 0), and the three-dimensional angular coordinates of the antenna array are (0 0 , 90 0 ,0 0 ), center frequency Available bandwidth B 0 =450Mhz, actual size of antenna azimuth aperture Actual size of antenna elevation aperture The perception area parameters of the measuring device are as follows: the preset resolution requirement is δ0 = 1.2m, the perceived points are evenly distributed in a cube with a side length of 12m and centered at (0,0,0), and the balanced perception principle is set so that the maximum value and the minimum value of the target resolution parameters are less than or equal to the preset threshold value of 1.1.

[0214] At this time, the sensing distance between the measuring node and the sensed point is R = 100m, and the azimuth angle between the measuring node and the sensed point is θ a =0 0 , the pitch angle θ between the measuring node and the sensed point e =0 0 , k r =k a =k e=1, the optimal distance resolution of the measurement node can be obtained from formula (5) to formula (8): Optimal azimuth resolution of the measurement node The best pitch resolution of the measurement node The upper limit of the distance resolution of the measurement node for the sensed point at 100m is 1 / 3m, the upper limit of the azimuth resolution is 1m, and the upper limit of the elevation resolution is 1m.

[0215] At this point, a set of candidate resolutions in each direction is {1 / 3m, 1m, 1m}, which can be called candidate resolution group 1. The maximum resolution parameter in this set of candidate resolutions is max{1 / 3m, 1m, 1m} = 1m < 1.2m, so joint perception is not triggered. Continuing to determine whether the parameters of this set of candidate resolutions meet the balanced perception principle, max{1 / 3m, 1m, 1m} / min{1 / 3m, 1m, 1m} = 3, which is greater than the preset threshold. Therefore, the resolution parameters in each direction corresponding to this set of candidate resolution parameters are not the target resolution.

[0216] The processing node adjusts the parameters of the smallest candidate resolution in group 1 to obtain group 2 candidate resolutions {1m, 1m, 1m}. The maximum resolution parameter in group 2 is max{1m, 1m, 1m} = 1m < 1.2m, so joint sensing is not triggered. The processing node then determines whether the parameters of this group of candidate resolutions meet the balanced sensing principle. The result is max{1m, 1m, 1m} / min{1m, 1m, 1m} = 1, which is less than the preset threshold. Therefore, the resolution parameters in each direction corresponding to the parameters of group 2 candidate resolutions are the target resolutions in each direction.

[0217] Based on the above steps, the target resolution in range is 1m, the resolution in azimuth is 1m, and the resolution in elevation is 1m. Substituting the target resolution in each direction into formula (11)-formula (15), it can be determined that the balanced sensing resources of the measurement node include: the antenna aperture range in azimuth is 1m, the antenna aperture range in elevation is 1m, the bandwidth range is 150MHz, and the center frequency is 30GHz.

[0218] The balanced sensing resource of the measurement node is then compared with the sensing resource parameters of the measurement node to determine the content of the first information, and the first information is sent to the measurement node. By comparing the balanced sensing resource of the measurement node with the sensing resource parameters of the measurement node, it can be determined that the bandwidth range of the measurement node has changed from 450 MHz to 150 MHz, saving two-thirds of the bandwidth resources. Therefore, the first information includes the bandwidth range of the measurement node, 150 MHz. The first information is sent to the measurement node, instructing the measurement node to use a 150 MHz bandwidth, a 1-meter antenna aperture in azimuth, a 1-meter antenna aperture in elevation, and a 30 GHz center frequency to perform sensing measurements on the sensed point.

[0219] Figure 10a shows the perception results when the measurement node is operating at 450 MHz, with an aperture range of 1 m in azimuth and an aperture range of 1 m in elevation. At this point, the amplitudes of the range resolution, azimuth resolution, and elevation resolution of the measurement node at the same distance vary. The range resolution is much better than the azimuth and elevation resolutions, resulting in blurred and distorted target imaging results.

[0220] Figure 10b shows the perception results when the measurement node is operating at 150 MHz, with an azimuth aperture of 1 meter and an elevation aperture of 1 meter. At this point, the amplitudes corresponding to the range resolution, azimuth resolution, and elevation resolution of the measurement node remain essentially consistent at the same distance, ensuring the actual geometric shape of the sensed point and preventing distortion of the perception results.

[0221] For example, in a three-dimensional perception scenario, the measurement node and the processing node are fixed perception devices, and the antenna array type of the measurement node is a planar array type. At this time, the perception resource parameters of the measurement device are as follows: the three-dimensional rectangular position coordinates of the center point of the antenna array are (-100, 0, 0), and the three-dimensional angular coordinates of the antenna array are (0 0 , 90 0 ,0 0 ), center frequency Available bandwidth B 0 =75Mhz, actual size of antenna azimuth aperture Actual size of antenna elevation aperture The perception area parameters of the measuring device are as follows: the preset resolution requirement is δ0 = 2.2m, the perceived points are evenly distributed in a cube with a side length of 12m and centered at (0,0,0), and the balanced perception principle is set so that the maximum value and the minimum value of the target resolution parameters are less than or equal to the preset threshold value of 1.1.

[0222] At this time, the sensing distance between the measuring node and the sensed point is R = 100m, and the azimuth angle between the measuring node and the sensed point is θ a =00 , the pitch angle θ between the measuring node and the sensed point e =0 0 , k r =k a =k e =1, the optimal distance resolution of the measurement node can be obtained from formula (5) to formula (8): Optimal azimuth resolution of the measurement node The best pitch resolution of the measurement node The upper limit of the distance resolution capability of the measurement node for the sensed point at 100m is 2m, the upper limit of the azimuth resolution capability is 1m, and the upper limit of the elevation resolution capability is 1m.

[0223] At this point, a set of candidate resolutions in each direction is {2m, 1m, 1m}, and this set of candidate resolutions can be called candidate resolution set 1. The maximum resolution parameter in this set of candidate resolutions is max{2m, 1m, 1m} = 2m < 2.2m, so joint perception is not triggered. Continuing to determine whether the parameters of this set of candidate resolutions meet the balanced perception principle, max{2m, 1m, 1m} / min{2m, 1m, 1m} = 2, which is greater than the preset threshold. Therefore, the resolution parameters in each direction corresponding to this set of candidate resolution parameters are not the target resolution.

[0224] The processing node adjusts the parameters of the smallest candidate resolution in group 1 to obtain group 2 candidate resolutions {2m, 2m, 1m}. The maximum resolution parameter in group 2 is max{2m, 2m, 1m} = 2m < 2.2m, so joint sensing is not triggered. The processing node then determines whether the parameters of this group of candidate resolutions meet the balanced sensing principle. The result, max{2m, 2m, 1m} / min{2m, 2m, 1m} = 2, is still greater than the preset threshold. Therefore, the resolution parameters in each direction corresponding to the group 2 candidate resolution parameters are not the target resolution.

[0225] The processing node adjusts the parameters of the smallest candidate resolution in group 2 to obtain group 3 candidate resolution {2m, 2m, 2m}. The maximum resolution parameter in group 3 is max{2m, 2m, 2m} = 2m < 2.2m, so joint sensing is not triggered. The processing node then determines whether the parameters of this group of candidate resolutions meet the balanced sensing principle. The result is max{2m, 2m, 2m} / min{2m, 2m, 2m} = 1, which is less than the preset threshold. Therefore, the resolution parameters in each direction corresponding to the parameters of group 3 candidate resolutions are the target resolutions in each direction.

[0226] Based on the above steps, the target resolution in range is 2m, the resolution in azimuth is 2m, and the resolution in elevation is 2m. Substituting the target resolution in each direction into formula (11)-formula (15), it can be determined that the balanced sensing resources of the measurement node include: the antenna aperture range in azimuth is 0.5m, the antenna aperture range in elevation is 0.5m, the bandwidth range is 75MHz, and the center frequency is 30GHz.

[0227] Then, the balanced sensing resource of the measurement node is compared with the sensing resource parameter of the measurement node to determine the content of the first information, and the first information is sent to the measurement node. By comparing the balanced sensing resource of the measurement node with the sensing resource parameter of the measurement node, it can be determined that the antenna aperture range of the measurement node has changed. The aperture range of the antenna azimuth is reduced from 1m to 0.5m, and the aperture range of the antenna elevation is reduced from 1m to 0.5m. The antenna aperture resource of the measurement node is saved by 2 / 3. Therefore, the first information includes the aperture range of the antenna azimuth of the measurement node, which is 0.5m, and the aperture range of the antenna elevation is 0.5m. The first information is sent to the measurement node, indicating that the measurement node uses a bandwidth of 75MHz, an antenna aperture of 0.5m in azimuth, an antenna aperture of 0.5m in elevation, and a center frequency of 30GHz to perform sensing measurements on the sensed point.

[0228] Figure 11a shows the perception results when the measurement node has a bandwidth of 75 MHz, an azimuth aperture of 1 m, and an antenna elevation aperture of 1 m. At this time, the amplitudes corresponding to the range resolution, azimuth resolution, and elevation resolution of the measurement node at the same distance are different. The azimuth resolution and elevation resolution are much better than the range resolution, resulting in blurred and distorted target imaging results.

[0229] Figure 11b shows the perception results when the measurement node has a bandwidth of 75 MHz, an aperture range of 0.5 m in azimuth, and an aperture range of 0.5 m in elevation. At this time, the amplitudes corresponding to the range resolution, azimuth resolution, and elevation resolution of the measurement node at the same distance are basically consistent, which can ensure the actual geometric shape of the sensed point and prevent distortion of the perception results.

[0230] For example, the measurement node is a mobile sensing device, and the antenna array type is a planar array type. In this case, the sensing resource parameters of the measurement device are as follows: the three-dimensional rectangular position coordinates of the center point of the antenna array are (-100, 0, 0), and the three-dimensional angular coordinates of the antenna array are (0 0 , 90 0 ,0 0 ), center frequency Available bandwidth B 0=75Mhz, the preset motion trajectory of the measurement node is linear motion along the y-axis, the azimuth virtual aperture size of the measurement node, that is, the azimuth movement sensing range of the measurement node The sensing area parameters of the measuring device are as follows: the preset resolution requirement is δ0 = 2.2m, and the sensed points are evenly distributed in a square with a side length of 12m and a center of (0,0,0) in the xy plane. At this time, the sensing distance between the measuring node and the sensed point is R = 100m, and the azimuth angle between the measuring node and the sensed point is θ. a =0 0 , k r =k a =1, the optimal distance resolution of the measurement node can be obtained from formula (6), formula (7), and formula (9): Optimal azimuth resolution of the measurement node The upper limit of the distance resolution capability of the measurement node for the sensed point at 100m is 2m, and the upper limit of the azimuth resolution capability is 1m.

[0231] According to S503-S505, determining the balanced sensing resources of the measuring node includes: the azimuth moving sensing range L of the measuring node a =0.5m, the bandwidth is 75MHz, and the center frequency is 30GHz. Therefore, compared with the measurement node using all sensing resources to sense the sensed point, the measurement node's antenna virtual aperture resources (mobile sensing range) are saved by 3 / 4.

[0232] Figure 12a shows the sensing range of the measurement node with a bandwidth of 75 MHz and azimuth movement. The perception results during perception: at this time, the amplitudes corresponding to the range resolution and azimuth resolution of the measurement node at the same distance are different. The azimuth resolution is much better than the range resolution, resulting in blurred and distorted target imaging results.

[0233] Figure 12b shows the sensing range of the measurement node with a bandwidth of 75 MHz and azimuth movement. The perception result during perception: at this time, the amplitude corresponding to the range resolution and azimuth resolution of the measuring node at the same distance is basically consistent, which can ensure the actual geometric shape of the perceived point and the perception result is not easily distorted.

[0234] It can be determined from the above example that when the measuring node performs perception measurement on the perceived point according to balanced perception resources, compared with the measuring node using all perception resources to perform perception measurement on the perceived point, the perception resources of the measuring node are saved, so that the measuring node uses the least perception resources to achieve better perception effect and maximize the utilization of the perception resources of the measuring node.

[0235] At the same time, when the measuring node performs perception measurement on the perceived point according to balanced perception resources, the measuring node's range target resolution, azimuth target resolution, and elevation target resolution are the same, which can keep the imaging effect of the perceived point consistent with the actual geometric shape of the perceived point and prevent the imaging effect of the perceived point from being distorted. When the measuring node performs perception measurement on the perceived point according to perception resources, the measurement node's range target resolution is far different from the measurement node's azimuth target resolution and the measurement node's elevation target resolution, resulting in distortion and blurring of the imaging effect of the perceived point, affecting the subsequent analysis and processing of the perception results.

[0236] Furthermore, when a measuring node performs sensing measurements on a perceived point using the sensing method proposed in this solution, it achieves lower latency, better measurement conditions, and higher data quality than when the measuring node performs sensing measurements on a perceived point using the existing technology. This is because, in this solution, the measuring node pre-aligns its balanced sensing resources based on the first information sent by the processing node before performing sensing measurements on the perceived point. In contrast, in the existing technology, the measuring node determines the sensing resource parameters required for sensing the perceived point when it needs to perform sensing measurements on the perceived point. This results in a longer latency for the measuring node to perform sensing measurements on the perceived point, and the perceived effect of the perceived point is easily affected by the current measurement conditions.

[0237] The following describes the process of the measuring node shown in FIG4 performing perception measurement on the sensed point, assuming that there are multiple measuring nodes in FIG3 , and that the measuring nodes include the fixed node shown in FIG13 , the mobile node shown in FIG14 , or the fixed and mobile nodes shown in FIG15 . FIG16 shows a perception method provided in an embodiment of the present application, which is applicable to situations where the perception resources of any measuring node connected to a processing node fail to meet a preset resolution requirement, triggering joint perception.

[0238] In the perception scenario shown in Figure 13, there is a processing node, a sensed point, and measuring nodes 1, 2, and 3. Each measuring node is a fixed node operating in single-base perception mode, responsible for sensing parameters of the sensed point. The processing node is responsible for determining the balanced sensing resources of the measuring node based on its sensing resource parameters and sensing area parameters, in accordance with the principle of balanced perception. The sensed point is the physical object that the measuring node performs sensing measurement on. The measuring node can be any fixed sensing device that supports interawareness integration, such as access points (APs) and user equipment (UEs). The processing node can be any access network device that supports interawareness integration, such as base stations (BSs), access points (APs), and station (STAs). The sensed point can be a physical object such as a building, car, or truck.

[0239] The perception scenario shown in Figure 14 includes a processing node, a sensed point, and measurement nodes 1 and 2. Each measurement node is a mobile node operating in single-base perception mode. The measurement node performs perception measurements on the sensed point and can be any mobile sensing device supporting synaesthesia, such as drones, cars, and mobile phones. The functional descriptions of the processing node and sensed point, as well as possible specific synaesthesia devices, are similar to those in the perception scenario shown in Figure 13.

[0240] In the perception scenario shown in Figure 15, there is a processing node, a perceived point, and measuring nodes 1, 2, and 3. Measuring nodes 1 and 2 are mobile nodes, while 3 is a fixed node, with 3 serving as the processing node. Each measuring node operates in a dual-base perception mode, performing perception measurements on the perceived point. Each measuring node is configured with multiple antennas. The processing node determines the balanced perception resources of the measuring node based on its perception resource parameters and perception area parameters, in accordance with the balanced perception principle. The perceived point is the physical object on which the measuring node performs perception measurements. The aforementioned processing node (also known as measuring node 3) also has the capability to perform perception measurements on the perceived point, which can be various access network devices supporting interawareness integration, such as base stations, access points, and station-based access points. The perceived point can be a physical object such as a building, car, or truck. Measuring nodes 1 and 2 can be mobile devices supporting interawareness integration, such as smartphones, drones, and cars. The measuring node works in the dual-base sensing mode, which means that the sensing signal sent by the measuring node to the sensed point is received by the sensed point in the sensing environment. The sensed point then sends an echo signal corresponding to the sensing signal. The echo signal is received by the remaining measuring nodes connected to the processing node, except the measuring node itself.

[0241] Based on the perception scenarios shown in Figures 13, 14, and 15, if the perception resources of any measurement node connected to the processing node cannot meet the preset resolution requirements, the measurement node triggers joint perception. The processing node needs to re-determine the upper limit of the resolution capability of the measurement node in each direction based on the joint perception resources, and further determine the target resolution of each measurement node in each direction based on the balanced perception principle. The specific perception method is shown in Figure 16 and includes the following steps:

[0242] S601: Multiple measurement nodes connected to a processing node send sensing resource parameters and sensing area parameters to the processing node. Correspondingly, the processing node receives the sensing resource parameters and sensing area parameters sent by each measurement node.

[0243] Among them, the types of multiple measurement nodes, processing nodes, and sensed points connected to the processing node are consistent with the descriptions in Figures 13, 14, and 15; the sensing resource parameters and sensing area parameters sent by each measurement node are consistent with the description in 501.

[0244] Optionally, when the processing node is a processing and measurement node, the processing and measurement node obtains its own sensing resource parameters and sensing area parameters.

[0245] S602: The processing node receives the sensing resource parameters and the sensing area parameters of the measuring node, and determines the upper limit of the resolution capability of the measuring node in each direction according to the sensing resource parameters and the sensing area parameters.

[0246] Specifically, the determination process of S602 is consistent with that of S502 , and the detailed process is shown in S502 .

[0247] S603: The processing node determines whether to trigger joint sensing according to the upper limit of the capability of the measurement node in each direction and the preset resolution requirement.

[0248] Joint sensing means that if the sensing resources of the processing node cannot meet the resolution required by the sensed point, the measurement node needs to combine with other sensing resources to perform joint sensing measurement on the sensed point. The resolution required by the sensed point corresponds to the preset resolution requirement.

[0249] Specifically, the processing node determines that the measuring node has not triggered the joint sensing method according to the upper limit of the capability of the measuring node in each direction and the preset resolution requirement, see S503.

[0250] Specifically, the processing node determines the method of triggering joint perception based on the capability upper limit of each direction of the measuring node and the preset resolution requirement: the processing node compares the preset resolution requirement with the maximum value of the capability upper limit of each direction of the measuring node; when the preset resolution requirement is less than the maximum value of the capability upper limit of each direction of the measuring node, the measuring node triggers joint perception.

[0251] For example, the processing node obtains the upper limit of the resolution of each direction of the measurement node according to S602. The preset resolution requirement is δ0, It indicates that the sensing resources of the measuring node cannot meet the sensing resolution requirements of the sensed point. In this case, the measuring node performs joint sensing measurement on the sensed point.

[0252] In the above case, the upper limit of the resolution capability in each direction determined by S602 is expressed in a spherical coordinate system. One possible case is that the sensing resource parameters and sensing area parameters of the measurement node are expressed in a Cartesian coordinate system. In this case, the upper limit of the resolution capability in each direction of the measurement node obtained by S602 needs to be expressed in a spherical coordinate system. Resolution converted to Cartesian coordinate system Then determine whether the measurement node triggers joint sensing.

[0253] For example, in a three-dimensional perception scenario, the preset resolution requirement of the measurement node is δ0, the perception resource parameters and perception area parameters of the measurement node are expressed in a Cartesian coordinate system, and the upper limit of the resolution of each direction of the measurement node obtained in S602 is further calculated. Will The optimal resolution of the x-direction of the measurement node converted to the Cartesian coordinate system Optimal resolution in the y direction Optimal resolution in the z direction like Indicates that the measurement node triggers joint perception.

[0254] S604: When the measurement node triggers joint sensing, the processing node obtains joint sensing resources.

[0255] Specifically, the processing node determines according to S603 that, when the measurement node triggers joint sensing, the processing node needs to obtain the joint sensing resources of the measurement node.

[0256] The joint sensing resources obtained by the processing node can be bandwidth resources corresponding to the available bandwidth and / or antenna aperture resources corresponding to the antenna aperture. The antenna aperture resources can correspond to the real aperture resources of the antenna of a fixed measurement node or the virtual aperture resources of the antenna of a mobile measurement node, i.e., the mobile sensing range of the measurement node.

[0257] Specifically, when other resources are bandwidth resources, the processing node will combine bandwidth resources from multiple different frequency bands of the same measurement node to perform joint perception measurements on the sensed point. For example, the measurement node supports frequency bands of 10 GHz, 26 GHz, and 100 GHz. The available bandwidth of the 10 GHz band is 400 MHz, the available bandwidth of the 26 GHz band is 400 MHz, and the available bandwidth of the 100 GHz band is 2000 MHz. If the distance resources corresponding to the available bandwidth of the measurement node's 10 GHz band cannot meet the resolution required by the sensed point, the processing node can combine the bandwidth resources of the measurement node's 26 GHz band and / or 100 GHz band to perform joint perception measurements on the sensed point.

[0258] One possible situation is that the processing node obtains the upper limit of the resolution of each direction of the measurement node according to S602. The preset resolution requirement is δ0, This means that the bandwidth resources in the sensing resources of the measuring node cannot meet the sensing resolution requirements of the sensed point. At this time, the processing node will combine the bandwidth resources of multiple different frequency bands of the measuring node to perform joint sensing measurement on the sensed point.

[0259] Specifically, when the other resources are antenna aperture resources, the processing node selects the antenna aperture resources of at least one measurement node from among the measurement nodes connected to it, excluding the measurement node, to perform joint sensing measurements on the sensed point. For example, if the processing node is connected to measurement nodes 1, 2, and 3, and the antenna aperture resources of measurement node 1 cannot meet the resolution required by the sensed point, the processing node may select the antenna aperture resources of at least one measurement node from measurement nodes 2 and 3 to perform joint sensing measurements on the sensed point.

[0260] One possible situation is that the processing node obtains the upper limit of the resolution of each direction of the measurement node according to S602. The preset resolution requirement is δ0, or It indicates that the antenna aperture resources in the sensing resources of the measurement node cannot meet the sensing resolution requirements of the sensed point. At this time, the processing node will jointly connect with the processing node, output the antenna aperture resources of the remaining measurement nodes of this measurement node, and perform joint sensing measurement on the sensed point.

[0261] For example, in a three-dimensional perception scenario, the measurement nodes connected to the processing node include measurement node 1 and measurement node 2. Both measurement node 1 and measurement node 2 are fixed perception devices and work in a single-base perception mode. When the upper limit of the ability of measurement node 1 in each direction is expressed in a spherical coordinate system, the optimal distance resolution of measurement node 1 is The optimal azimuth resolution of measurement node 1 is The optimal pitch resolution of measurement node 1 is like This indicates that measurement node 1 triggers joint sensing.

[0262] exist In the case of , it means that the bandwidth resources in the sensing resources of measurement node 1 cannot meet the sensing resolution requirements of the sensed point. At this time, the processing node will jointly measure the bandwidth resources of multiple different frequency bands of measurement node 1 to perform joint sensing measurement on the sensed point.

[0263] exist or In the case of , it means that the antenna aperture resources in the sensing resources of measurement node 1 cannot meet the sensing resolution requirements of the sensed point. At this time, the processing node will combine the antenna aperture resources of measurement node 1 and measurement node 2 to perform joint sensing measurement on the sensed point.

[0264] S605: The processing node determines the target resolution of each direction of the measurement node according to the re-determined upper limit of the resolution of each direction of the measurement node.

[0265] The processing node obtains the joint sensing resource of the measurement node according to S604, and then re-determines the upper limit of the resolution in each direction corresponding to the joint sensing resource of the measurement node according to S602;

[0266] The further processing node determines whether the capability upper limit of each direction corresponding to the joint sensing resource of the measurement node meets the preset resolution requirement. If the capability upper limit of each direction corresponding to the joint sensing resource of the measurement node meets the preset resolution requirement, S606 and S607 are executed.

[0267] One possible situation is that the processing node combines the sensing resources of all available measurement nodes and still cannot meet the sensing requirements of the sensed point. In this case, the processing node sets the target resolution in each direction to zero.

[0268] For example, in a three-dimensional perception scenario, the measurement nodes connected to the processing node include measurement node 1 and measurement node 2. The processing node determines the upper limit of the resolution of each direction of measurement node 1 as at this time, Therefore, measurement node 1 triggers joint sensing;

[0269] The processing node will jointly measure the antenna aperture resources of node 1 and node 2. At this time, the upper limit of the capacity of each direction corresponding to the joint antenna aperture resources is

[0270] like This means that the processing node combined with the sensing resources of all available measurement nodes still cannot meet the sensing requirements of the sensed point. In this case, the processing node will Leave blank.

[0271] like It indicates that the joint aperture resource corresponding to measurement node 1 and measurement node 2 and the corresponding azimuth capability upper limit meet the preset resolution requirement, and S504 is executed to determine the target resolution in each direction corresponding to measurement node 1 and measurement node 2.

[0272] S606: The processing node determines balanced sensing resources according to the relationship between the resolution and the sensing parameter, and the target resolution in each direction of the measurement node.

[0273] The execution process of the above S606 is the same as the execution process of S505, and can be executed with reference to S505, and will not be repeated here.

[0274] S607: The processing node sends the first information to the measuring node. Correspondingly, the measuring node receives the first information.

[0275] The execution process of the above S607 is the same as the execution process of S506, and can be executed with reference to S506, which will not be repeated here.

[0276] Optionally, in the case where the processing node is a processing and measurement node, the processing and measurement node directly obtains the first information and instructs the processing and measurement node to sense the sensed point according to the first information.

[0277] Based on the methods shown in Figures 5 and 16, when the measuring node performs perception measurement on the perceived point according to balanced perception resources, compared with the case where the measuring node uses all perception resources to perform perception measurement on the perceived point, the perception resources of the measuring node are saved, so that the measuring node uses the least perception resources to achieve better perception effect and maximize the utilization of the perception resources of the measuring node.

[0278] At the same time, when the measuring node performs perception measurement on the perceived point according to the balanced perception resources, the distance target resolution, azimuth target resolution, and elevation target resolution of the measuring node are balanced and consistent, which can make the imaging effect of the perceived point consistent with the actual geometric shape of the perceived point, and the imaging effect of the perceived point is not easily distorted, achieving a better perception effect.

[0279] In addition, the measuring node measures the sensed point according to the balanced sensing resource in the first information, saving the signaling overhead of the processing node sending the balanced sensing resource of the measuring node.

[0280] At the same time, in this solution, the measuring node obtains balanced perception resources in advance based on the first information to perform perception measurement on the perceived point. Compared with the prior art in which the measuring node temporarily triggers a perception request and then determines the measurement parameters, this solution has lower latency and better measurement conditions, and therefore can achieve better perception effects and perception performance.

[0281] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of interaction between each node. It is understandable that each node, such as a terminal, a network device, etc., includes a hardware structure and / or software module corresponding to the execution of each function in order to realize the above functions. Those skilled in the art should easily appreciate that, in combination with the algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in a hardware or computer software driven hardware manner depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0282] In the embodiment of the present application, functional modules of terminals, network devices, etc. can be grouped according to the above method examples. For example, each functional module can be grouped according to each function, or two or more functions can be integrated into one processing module. The above-mentioned integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the grouping of modules in the embodiment of the present application is schematic and is only a logical functional grouping. In actual implementation, other grouping methods may be used.

[0283] Figure 17 shows a structural diagram of a communication device 170. The communication device 170 can be a sensing device, a chip in a sensing device, or a system-on-chip. The communication device 170 can be used to perform the functions of the sensing device involved in the above embodiments. As an implementation method, the communication device 170 shown in Figure 17 includes: a receiving unit 1701, a processing unit 1702, and a sending unit 1703;

[0284] The receiving unit 1701 is configured to receive the sensing resource parameters and sensing area parameters of the measurement node. For example, the receiving unit may support the communication device 170 to execute S501 or S601.

[0285] The processing unit 1702 is configured to determine the balanced sensing resources of the measurement node based on the sensing area parameter and the sensing resource parameter of the measurement node. For example, the processing unit 1702 may be configured to support the communication device 170 in executing S502 to S505, or may be configured to support the communication device 170 in executing S602 to S606.

[0286] The sending unit 1703 is configured to send the first information to the measurement node. For example, the sending unit 1703 may support the communication device 170 to execute S506 or S607.

[0287] Among them, the description related to the sensing resource parameters and sensing area parameters of the measurement node, balanced sensing resources, and the first information can refer to the description in the above method embodiment.

[0288] A measurement node connected to a processing node sends sensing resource parameters and sensing area parameters to the processing node. The processing node determines the balanced sensing resources of the measurement node based on the received sensing area parameters and sensing resource parameters of the measurement node and in accordance with the balanced sensing principle, and sends first information to the measurement node connected to the processing node. The first information indicates the balanced sensing resources of the measurement node. Accordingly, after receiving the first information, the measurement node can sense the sensed point based on the balanced sensing resources indicated by the first information.

[0289] Optionally, the processing node may be a processing and measurement node, in which case the processing node has both sensing and processing capabilities. In this case, the processing and measurement node must obtain its own sensing resource parameters and sensing area parameters. After determining balanced sensing resources, the processing and measurement node obtains first information and perceives the sensed point based on the first information.

[0290] Specifically, all relevant content of each step involved in the method embodiments shown in Figures 7 and 16 can be referenced in the functional descriptions of the corresponding functional modules and will not be repeated here. Communication device 170 is used to perform the functions of the sensing device in the communication method shown in Figures 7 or 16, thereby achieving the same effect as the above communication method.

[0291] As another possible implementation, the communication device 170 shown in FIG17 includes: a processing module and a communication module. The processing module is used to control and manage the actions of the communication device 170. For example, the processing module can integrate the functions of the processing unit 1702 and can be used to support the communication device 170 to execute S502 to S505, or can be used to support the communication device to execute S602 to S606. And other processes of the technology described herein. The communication module can integrate the functions of the receiving unit 1701 and the sending unit 1703 and can be used to support the communication device 170 to execute S501 and S506 or can be used to support the communication device 170 to execute S601 and S607 and communicate with other network entities, such as communication between the functional modules or network entities shown in FIG7 and FIG16. The communication device 170 may also include a storage module for storing program code and data of the communication device 170.

[0292] Among them, the processing module can be a processor or a controller. It can implement or execute various exemplary logic blocks, modules and circuits described in combination with the contents disclosed in this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of DSP and microprocessors, and so on. The communication module can be a transceiver circuit or a communication interface, etc. The storage module can be a memory. When the processing module is a processor, the communication module is a communication interface, and the storage module is a memory, the communication device 170 involved in the embodiment of the present application can be the communication device 180 shown in Figure 18. For example, the above-mentioned perception device can adopt the composition structure shown in Figure 18 or include the components shown in Figure 18. Figure 18 is a schematic diagram of the composition of a communication device 180 provided in an embodiment of the present application. As shown in Figure 18, the communication device 180 may include a processor 1801, a communication line 1802 and a communication interface 1803.

[0293] Furthermore, the communication device 180 may further include a memory 1804 , wherein the processor 1801 , the memory 1804 and the communication interface 1803 may be connected via a communication line 1802 .

[0294] The processor 1801 may be a central processing unit (CPU), a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 1801 may also be other communication devices with processing capabilities, such as circuits, devices, or software modules.

[0295] The communication line 1802 is used to transmit information between the components included in the communication device 180.

[0296] Communication interface 1803 is used to communicate with other devices or other communication networks. The other communication network can be Ethernet, a radio access network (RAN), a wireless local area network (WLAN), etc. Communication interface 1803 can be a radio frequency module, a transceiver, or any communication device capable of achieving communication. The embodiment of the present application is described using the communication interface 1803 as an example of a radio frequency module, wherein the radio frequency module may include an antenna, a radio frequency circuit, etc., and the radio frequency circuit may include a radio frequency integrated chip, a power amplifier, etc.

[0297] The memory 1804 is used to store instructions, where the instructions may be computer programs.

[0298] Among them, the memory 1804 can be a read-only memory (ROM) or other types of static storage devices that can store static information and / or instructions, or a random access memory (RAM) or other types of dynamic storage devices that can store information and / or instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage, magnetic disk storage media or other magnetic storage devices, and optical disc storage includes compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.

[0299] It should be noted that memory 1804 can exist independently of processor 1801 or can be integrated with processor 1801. Memory 1804 can be used to store instructions, program code, or data. Memory 1804 can be located within or outside of communication device 180, without limitation. Processor 1801 is configured to execute instructions stored in memory 1804 to implement the communication methods provided in the following embodiments of this application.

[0300] In one example, the processor 1801 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 18 .

[0301] As an optional implementation, the communication device 180 includes multiple processors. For example, in addition to the processor 1801 in FIG. 18 , it may also include a processor 1807 .

[0302] As an optional implementation, the communication device 180 further includes an output device 1805 and an input device 1806. The input device 1806 is a keyboard, a mouse, a microphone, or a joystick, and the output device 1805 is a display screen, a speaker, or other devices.

[0303] It should be noted that the communication device 180 can be a desktop computer, a portable computer, a network server, a mobile phone, a tablet computer, a wireless terminal, an embedded device, a chip system, or a device having a structure similar to that shown in FIG18 . Furthermore, the structure shown in FIG18 does not limit the communication device. In addition to the components shown in FIG18 , the communication device may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0304] In the embodiment of the present application, the chip system can be composed of chips, or can include chips and other discrete devices.

[0305] The embodiments of the present application also provide a computer-readable storage medium. All or part of the processes in the above-mentioned method embodiments can be completed by a computer program to instruct the relevant hardware, and the program can be stored in the above-mentioned computer-readable storage medium. When the program is executed, it can include the processes of the above-mentioned method embodiments. The computer-readable storage medium can be a terminal in any of the above-mentioned embodiments, such as: an internal storage unit including a data transmission end and / or a data receiving end, such as a hard disk or memory of the terminal. The above-mentioned computer-readable storage medium can also be an external storage device of the above-mentioned terminal, such as a plug-in hard disk equipped on the above-mentioned terminal, a smart memory card (smart media card, SMC), a secure digital (secure digital, SD) card, a flash card (flash card), etc. Further, the above-mentioned computer-readable storage medium can also include both the internal storage unit of the above-mentioned terminal and an external storage device. The above-mentioned computer-readable storage medium is used to store the above-mentioned computer program and other programs and data required by the above-mentioned terminal. The above-mentioned computer-readable storage medium can also be used to temporarily store data that has been output or is to be output.

[0306] It should be understood that the collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution of this application complies with relevant laws and regulations and does not violate public order and good morals. For example, in the technical solution of this application, the processing of user personal information is carried out with the user's authorization, and the same description is not repeated here.

[0307] It should be noted that the terms "first" and "second" in the specification, claims, and drawings of this application are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units that are not listed, or may optionally include other steps or units that are inherent to these processes, methods, products, or devices.

[0308] It should be understood that in the present application, "at least one (item)" refers to one or more, "more than one" refers to two or more, "at least two (items)" refers to two or three and more than three, and "and / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0309] It should be understood that in the embodiments of the present application, "B corresponding to A" means that B is associated with A. For example, B can be determined based on A. It should also be understood that determining B based on A does not mean determining B based solely on A; B can also be determined based on A and / or other information. In addition, the "connection" in the embodiments of the present application refers to various connection methods, such as direct connection and indirect connection, to achieve communication between devices, and the embodiments of the present application do not impose any limitations on this.

[0310] Unless otherwise specified, the "transmission" (transmit / transmission) appearing in the embodiments of the present application refers to bidirectional transmission, including the actions of sending and / or receiving. Specifically, the "transmission" in the embodiments of the present application includes the sending of data, the receiving of data, or the sending of data and the receiving of data. In other words, the data transmission here includes uplink and / or downlink data transmission. Data may include channels and / or signals, uplink data transmission is uplink channel and / or uplink signal transmission, and downlink data transmission is downlink channel and / or downlink signal transmission. The "network" and "system" appearing in the embodiments of the present application express the same concept, and the communication system is the communication network.

[0311] Through the description of the above implementation methods, technical personnel in the relevant field can clearly understand that for the convenience and simplicity of description, only the grouping of the above-mentioned functional modules is used as an example. In actual applications, the above-mentioned functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be grouped into different functional modules to complete all or part of the functions described above.

[0312] In the several embodiments provided in this application, it should be understood that the disclosed communication devices and methods can be implemented in other ways. For example, the communication device embodiments described above are merely illustrative. For example, the grouping of the modules or units is merely a logical functional grouping. In actual implementation, there may be other grouping methods, such as multiple units or components can be combined or integrated into another device, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed can be through some interface, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0313] The units described as separate components may or may not be physically separate, and the components shown as units may be one physical unit or multiple physical units, that is, they may be located in one place or distributed in multiple different places. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0314] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0315] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a device, such as a single-chip microcomputer, a chip, etc., or a processor to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media for storing program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0316] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A sensing method, characterized in that: The method comprises: Acquire a sensing resource parameter of a measuring node and a sensing area parameter of the measuring node; the sensing resource parameter is used to indicate the available sensing resource of the measuring node; the sensing area parameter is used to indicate the location information of the sensed point; Determine, according to the sensing resource parameter of the measuring node and the sensing area parameter of the measuring node, a balanced sensing resource of the measuring node; the balanced sensing resource is within the range of the available sensing resources; the balanced sensing resource is used to make the resolution of each direction of the measuring node when sensing the sensed point meet the preset resolution requirement and the balanced sensing principle, and the balanced sensing principle includes that the resolution of each direction of the measuring node is balanced and consistent; Sending first information to the measurement node, where the first information is used to indicate the balance sensing resource.

2. The method according to claim 1, characterized in that Determining the balanced sensing resource of the measurement node according to the sensing resource parameter of the measurement node and the sensing area parameter of the measurement node includes: Determine the upper limit of the resolution capability of each direction of the measurement node according to the sensing resource parameter of the measurement node and the sensing area parameter of the measurement node; wherein the each direction includes at least one of the following: range direction, azimuth direction, and elevation direction; Determining the target resolution of the measurement node in each direction according to the upper limit of the resolution capability of the measurement node in each direction; the target resolution of the measurement node in each direction meets the preset resolution requirement and the balanced perception principle; The balanced perception resources are determined according to the relationship between the resolution and the perception parameters, and the target resolution in each direction of the measurement node; the relationship between the resolution and the perception parameters is used to indicate the relationship between the range resolution and the measurement node bandwidth, the relationship between the azimuth resolution and the azimuth aperture size of the measurement node, and the relationship between the elevation resolution and the elevation aperture size of the measurement node.

3. The method according to claim 2, characterized in that The sensing resource parameters include the central frequency of the measuring node, the available bandwidth of the measuring node, and the aperture size of the measuring node, and the aperture size may include at least one of the following: an aperture size in azimuth and an aperture size in elevation; the sensing area parameters include the preset resolution requirement, the sensing distance between the measuring node and the sensed point, the azimuth angle formed by the measuring node and the sensed point, and the elevation angle formed by the measuring node and the sensed point; The determining, according to the sensing resource parameter of the measuring node and the sensing area parameter of the measuring node, the upper limit of the resolution capability in each direction of the measuring node includes: Determining the upper limit of the resolution capability of the measuring node in the distance direction according to the available bandwidth of the measuring node; the available bandwidth of the measuring node is in direct proportion to the upper limit of the resolution capability of the measuring node in the distance direction; Determine the upper limit of the azimuth resolution of the measuring node according to the azimuth aperture size of the measuring node, the azimuth angle formed by the measuring node and the sensed point, the wavelength corresponding to the central frequency point, and the sensing distance between the measuring node and the sensed point; The upper limit of the resolution in the elevation direction of the measuring node is determined according to the elevation aperture size of the measuring node, the elevation angle formed by the measuring node and the sensed point, the wavelength corresponding to the center frequency point, and the sensing distance between the measuring node and the sensed point.

4. The method according to claim 3, characterized in that: In the case where the measurement node is a fixed node, the aperture size of the measurement node corresponds to the actual aperture size of the measurement node; In the case that the measuring node is a mobile node, the aperture size of the measuring node corresponds to the virtual aperture size formed by the measuring node, and the virtual aperture size formed by the measuring node is determined according to the moving range of the measuring node for sensing measurement.

5. The method according to claim 2 or 3, characterized in that: The determining, according to the upper limit of the resolution capability in each direction of the measurement node, the target resolution in each direction of the measurement node comprises: Determine at least one set of resolution parameters according to the upper limit of the resolution capability in each direction of the measurement node; wherein each set of resolution parameters includes the resolution in each direction, and the maximum resolution in each set of resolution parameters is less than or equal to the preset resolution requirement; Obtain a target resolution parameter that satisfies the balanced perception principle from the at least one set of resolution parameters; the balanced perception principle includes that the ratio of the maximum value of the target resolution parameter to the minimum value of the target resolution parameter is less than or equal to At the preset threshold The target resolution of each direction of the measurement node is determined according to the target resolution parameter.

6. The method according to claim 5, characterized in that The target resolution parameters include one or more groups, and determining the target resolution of each direction of the measurement node according to the target resolution parameters includes: In the case where the target resolution parameter includes a group, the resolutions in each direction included in the target resolution parameter are used as the target resolution in each direction of the measurement node; In the case where the target resolution parameter includes multiple groups, the target resolution parameter with the smallest sum of resolutions among the multiple groups of target resolution parameters is obtained, and the resolutions in each direction included in the target resolution parameter with the smallest sum of resolutions are used as the target resolutions in each direction of the measurement node; wherein the sum of the resolutions is obtained by adding the resolutions in each direction.

7. The method according to claim 5 or 6, characterized in that: The determining of at least one set of resolution parameters according to the upper limit of the resolution capability of each direction of the measurement node includes: For the resolution of each direction of the measurement node, a set of candidate resolutions is obtained, wherein a candidate resolution parameter of each direction in the set of candidate resolutions is greater than or equal to an upper limit of the resolution capability of the direction; Adjusting a parameter of one candidate resolution in a group of candidate resolutions each time to obtain multiple groups of candidate resolutions, wherein the parameter of one candidate resolution corresponds to a minimum value of the resolution in the group of candidate resolutions; When there are candidate resolution parameters satisfying the first condition in the multiple groups of candidate resolutions, the candidate resolution parameters satisfying the first condition are used as the at least one group of resolution parameters; wherein the first condition includes that the maximum resolution value in the candidate resolution parameters is less than or equal to the preset resolution requirement.

8. The method according to claim 7, characterized in that In the case that there is no candidate resolution parameter satisfying the first condition in the multiple sets of candidate resolution parameters, the method further includes: Acquire a joint sensing resource; wherein the joint sensing resource includes a joint bandwidth or a joint aperture; Re-determining the upper limit of the resolution capability of the measurement node in each direction according to the joint sensing resource; According to the re-determined upper limits of the resolution capabilities of the measurement nodes in each direction, the target resolutions of the measurement nodes in each direction are determined.

9. The method according to claim 8, characterized in that The acquiring of the joint sensing resource comprises: When the maximum resolution value among the multiple sets of candidate resolution parameters is the resolution in the azimuth direction, or when the maximum resolution value among the multiple sets of candidate resolution parameters is the resolution in the elevation direction, combining the apertures of multiple measurement nodes including the measurement node to obtain the combined aperture; In a case where the maximum resolution value among the multiple groups of candidate resolution parameters is the resolution in the range direction, the joint bandwidth is obtained by combining bandwidth resources of multiple frequency bands of the measurement node.

10. The method according to any one of claims 2 to 9, characterized in that: In the case where the measuring node is a single-base sensing node, the sensing distance between the measuring node and the sensed point is determined according to the distance between the center position of the measuring node and the sensed node; In the case where the measuring node is dual-base sensing, the sensing distance between the measuring node and the sensed point is determined according to the distance between the transmitting antenna of the measuring node and the sensed point and the distance between the receiving antenna of the measuring node and the sensed node.

11. The method according to any one of claims 2 to 10, characterized in that: The target resolution of each direction of the measurement node is a resolution under Cartesian coordinates; and determining the balanced sensing resource according to a relationship between the resolution and the sensing parameter and the target resolution of each direction of the measurement node includes: Convert the target resolution of each direction of the measurement node into the resolution in the spherical coordinate system; The balanced perception resources are determined according to the relationship between the resolution and the perception parameter and the target resolution in each direction after the conversion.

12. The method according to any one of claims 1 to 11, characterized in that: In the case where the measurement node is a fixed node, the first information includes a center frequency point and at least one of the following: an antenna aperture range and a bandwidth range; In the case where the measurement node is a mobile node, the first information includes a central frequency point and at least one of the following: a mobile perception range and a bandwidth range.

13. A communication device, characterized in that: include: A receiving unit, configured to obtain a sensing resource parameter of a measuring node and a sensing area parameter of the measuring node; The sensing resource parameter is used to indicate the available sensing resource of the measurement node; The sensing area parameter is used to indicate the position information of the sensed point; A processing unit, configured to determine the balanced sensing resource of the measuring node according to the sensing resource parameter of the measuring node and the sensing area parameter of the measuring node, and to determine the balanced sensing resource according to the proportional relationship between the target resolution in each direction and the sensing parameter; The balanced sensing resource is within the range of the available sensing resources; The balanced sensing resource is used to make the resolution of each direction of the measuring node when sensing the sensed point meet the preset resolution requirement and the balanced sensing principle, and the balanced sensing principle includes that the resolution of each direction of the measuring node is balanced and consistent; A sending unit is used to send first information to the measurement node, where the first information is used to indicate the balance sensing resource.

14. A communication device, characterized in that: The communication device comprises a processor and a communication interface, and the processor and the communication interface are used to support the communication device to execute the communication method according to any one of claims 1-12.

15. A communication system, characterized in that: The communication system comprises a network device and the communication apparatus according to claim 13 or 14.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and when the computer instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 12.

17. A computer program product, characterized in that The computer program product comprises computer instructions, and when the computer instructions are executed on a computer, the computer is caused to perform the method according to any one of claims 1 to 12.

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