A communication method and a communication device

Abstract

This application discloses a communication method and a communication device. The method, applied in the field of communication, includes: acquiring first channel state information between access network devices and second channel state information between access network devices and terminal devices; receiving a first signal, the first signal including a first echo signal reflected by a target object from a first sensing signal; determining a first angle of arrival and a first departure angle based on the first and second channel state information; receiving a second signal, the second signal including a second echo signal reflected by a second sensing signal from a target object; the beamwidth of the first sensing signal is greater than the beamwidth of the second sensing signal, and the beam direction of the second sensing signal matches the first departure angle; processing the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain distance and speed information of the target object. This application helps improve sensing accuracy and ensures sensing performance.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a communication method and communication device. Background Technology

[0002] Communication refers to the transmission of information between two or more points; sensing refers to the detection of parameters of the physical environment, such as ranging and speed measurement. Integrated sensing and communications (ISAC) combines these two functions, enabling a communication system to simultaneously perform both communication and sensing functions. While transmitting information over a wireless channel, it actively recognizes and analyzes the channel's characteristics to perceive the physical features of the surrounding environment, thus enhancing the communication and sensing capabilities. ISAC possesses diverse capabilities such as high-precision positioning, environmental reconstruction, imaging, and recognition, which can greatly facilitate applications requiring ultra-high resolution and precision.

[0003] However, in integrated communication and sensing scenarios, various interferences (such as direct path interference (DPI) from the transmitting base station, uplink (UL) interference from the terminal, noise interference, etc.) and environmental complexity can lead to a decrease in sensing accuracy, thereby affecting sensing performance. Therefore, how to improve sensing accuracy and ensure sensing performance is an urgent problem to be solved. Summary of the Invention

[0004] This application provides a communication method and a communication device. Based on the method described in this application, it is beneficial to improve the sensing accuracy and ensure the sensing performance.

[0005] Firstly, embodiments of this application provide a communication method that can be applied to network-side devices, such as access network equipment or communication modules / processing modules within the access network equipment, or circuits or chips in the access network equipment responsible for communication functions (such as modem chips, also known as baseband chips, or system-on-chip (SoC) chips or system-in-package (SIP) chips containing modem cores), or circuits or chips in the access network equipment responsible for processing functions (such as graphics processing units (GPUs), artificial intelligence (AI) processors, or application-specific integrated circuits (ASICs)). Taking the application of this method to a first access network equipment as an example, in this method:

[0006] The first access network device obtains the first channel state information between the first access network device and the second access network device, and the second channel state information between the first access network device and the terminal device;

[0007] The first access network device receives a first signal; the first signal includes a first echo signal reflected by the target object after a first sensing signal sent by the second access network device.

[0008] The first access network device determines the first angle of arrival corresponding to the first echo signal and the first angle of departure corresponding to the first sensing signal based on the first channel state information and the second channel state information.

[0009] The first access network device receives a second signal; the second signal includes a second echo signal reflected by the target object after the second sensing signal sent by the second access network device is transmitted; the transmission beamwidth of the first sensing signal is greater than the transmission beamwidth of the second sensing signal, and the transmission beam direction of the second sensing signal is matched with the first departure angle;

[0010] The first access network device performs sensing processing on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement.

[0011] In this embodiment of the application, the first access network device and the second access network belong to a sensing unit. By adopting a multi-base station cooperative sensing method, multiple access network devices are combined into a sensing unit to carry out cooperative sensing of target objects (such as vehicles, pedestrians, etc.) within their signal coverage area.

[0012] Taking a first access network device as a receiving base station and a second access network device as a transmitting base station as an example, after the first access network device obtains the first channel state information and the second channel state information, in the detection mode, the second access network device first transmits a first sensing signal through a wide beam, enabling the first access network device to initially perform coarse detection of the target object; after determining the first angle of arrival and the first angle of departure, it can switch to the tracking mode; in the tracking mode, the second access network device transmits a second sensing signal through a focused beam. At this time, the transmission beam direction of the second sensing signal matches the first angle of departure, enabling the first access network device to perceive the target object using a fine tracking method, which is beneficial to improving the sensing accuracy and resource utilization of the ISAC system and ensuring sensing performance.

[0013] In one possible implementation, the first signal further includes other interference signals; when the first access network device determines the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the first channel state information and the second channel state information, the specific implementation may be as follows:

[0014] The first access network device performs interference suppression on the first signal based on the first channel state information and the second channel state information to obtain a spatial spectrum function; the first access network device determines the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the spatial spectrum function.

[0015] Based on this method, it is possible to achieve precise suppression of interference and efficient calculation of sensing parameters, which is conducive to improving sensing accuracy and ensuring sensing performance.

[0016] In one possible implementation, when the first access network device performs interference suppression on the first signal based on the first channel state information and the second channel state information to obtain the spatial spectrum function, the specific implementation method may be:

[0017] The first access network device performs direct path interference (DPI) cancellation on the first signal based on the first channel state information to obtain the third signal; the first access network device performs uplink subspace projection on the third signal based on the second channel state information to obtain the fourth signal; the first access network device determines the first sample covariance matrix based on the fourth signal; the first access network device determines the spatial spectrum function based on the first sample covariance matrix.

[0018] Based on this method, DPI and terminal uplink interference can be eliminated, which is beneficial for determining a more accurate spatial spectral function.

[0019] In one possible implementation, the method further includes: a first access network device acquiring the DPI calibration residual between the first access network device and a second access network device, the uplink channel estimation residual between the first access network device and a terminal device, and the original array manifold corresponding to the first sensing signal; the first access network device determining the interference covariance matrix based on the DPI calibration residual and the uplink channel estimation residual;

[0020] When the first access network device determines the spatial spectral function based on the first sample covariance matrix, the specific implementation method can be:

[0021] The first access network device performs whitening processing on the first sample covariance matrix and the original array manifold based on the interference covariance matrix to obtain the first whitening matrix and the first steering vector; the first access network device determines the spatial spectral function based on the first whitening matrix and the first steering vector.

[0022] This approach helps improve the accuracy of angle estimation and enhances the robustness of the algorithm under various residual disturbances.

[0023] In one possible implementation, the method further includes: the first access network device acquiring at least one second initial angle of arrival corresponding to the first echo signal; when the first access network device determines the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the spatial spectrum function, the specific implementation may be:

[0024] The first access network device determines the first initial angle of arrival corresponding to the first echo signal based on the spatial spectrum function; the first access network device determines the first angle of arrival corresponding to the first echo signal based on the first initial angle of arrival and at least one second initial angle of arrival; the first access network device determines the first departure angle corresponding to the first sensing signal based on the first angle of arrival corresponding to the first echo signal.

[0025] Based on this approach, the initial angles of arrival determined by multiple access network devices are fused, and more accurate first angles of arrival and first departure angles can be calculated through methods such as triangulation, which helps to improve sensing accuracy and ensure sensing performance.

[0026] In one possible implementation, the method further includes: a first access network device sending first indication information to a second access network device, the first indication information being used to indicate the first angle of arrival and the first angle of departure.

[0027] This can be understood as follows: once the first access network device determines the first angle of arrival and the first angle of departure, it can synchronize these first angles of arrival and departure with other access network devices. This approach helps reduce the complexity of the system equipment.

[0028] In one possible implementation, when the first access network device determines the first angle of arrival corresponding to the first echo signal and the first angle of departure corresponding to the first sensing signal based on the spatial spectrum function, the specific implementation method may be:

[0029] The first access network device determines the first initial angle of arrival corresponding to the first echo signal based on the spatial spectrum function; the first access network device sends the first initial angle of arrival to the fusion center; the first access network device receives first indication information from the fusion center, which is used to indicate the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal.

[0030] This can be understood as follows: after each access network device determines its initial angle of arrival, it sends the information to the fusion center. The fusion center processes this information uniformly to obtain the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal. The fusion center then synchronizes this information to each access network device. This approach helps reduce the processing burden on the access network devices and saves their power consumption.

[0031] In one possible implementation, the second signal also includes other interference signals; when the first access network device performs sensing processing on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement, the specific implementation may be as follows:

[0032] The first access network device performs interference suppression on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain the fifth signal; the first access network device performs Doppler processing on the fifth signal to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement.

[0033] Based on this method, it is possible to achieve precise suppression of interference and efficient calculation of sensing parameters, which is conducive to improving sensing accuracy and ensuring sensing performance.

[0034] In one possible implementation, when the first access network device performs interference suppression on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first angle of departure to obtain the fifth signal, the specific implementation method could be:

[0035] The first access network device performs DPI cancellation on the second signal based on the first channel state information to obtain the sixth signal; the first access network device performs uplink subspace projection on the sixth signal based on the second channel state information to obtain the seventh signal; the first access network device performs uplink subspace projection on the steering vector corresponding to the first angle of arrival to obtain the subspace vector; the first access network device processes the interference covariance matrix and the subspace vector based on the linearly constrained minimum variance (LCMV) algorithm to obtain the weighted vector; the first access network device filters the seventh signal based on the weighted vector to obtain the eighth signal; the first access network device normalizes the eighth signal based on the first departure angle to obtain the fifth signal.

[0036] Based on this approach, DPI and terminal uplink interference can be eliminated during the sensing process. Furthermore, to achieve robust multi-target spatial separation, a beamforming scheme based on LCMV is proposed. This scheme is built upon a robust interference suppression framework consistent with the detection mode. By applying multiple constraints, while maintaining the gain of the main target, other targets are explicitly treated as interference sources and spatially nulled.

[0037] In one possible implementation, the second signal further includes a communication signal sent by the terminal device to the first access network device, and the method further includes:

[0038] The first access network device determines the second sample covariance matrix based on the sixth signal; the first access network device processes the second sample covariance matrix, the sixth signal, and the second channel state information based on the minimum mean square error (MMSE) combiner to obtain MMSE weight values; the first access network device demodulates the sixth signal based on the MMSE weight values ​​to obtain the communication signal.

[0039] Based on this approach, during the communication processing, the robust MMSE strategy based on interference reconstruction effectively utilizes calibration information and the output of the sensing module, achieving high-performance communication in complex interference environments.

[0040] In one possible implementation, the first access network device and the second access network device belong to a sensing unit, which includes N access network devices. The N access network devices take turns transmitting sensing signals in N time slots, where N is an integer greater than 1.

[0041] In this embodiment, a half-duplex round-robin scheduling mechanism is adopted, which enables each access network device in the sensing unit to take turns acting as the transmitting base station and the receiving base station in continuous time slots. This ensures that all areas covered by the sensing unit can be periodically sensed and monitored, while meeting the latency requirements of the base station's external communication and guaranteeing the time window required for the sensing task, ultimately achieving coordinated optimization of communication and sensing.

[0042] In one possible implementation, the method further includes: a first access network device receiving first configuration information from a core network element, the first configuration information instructing the first access network device to transmit a sensing signal in a first time slot out of N time slots, and to receive sensing signals in the other time slots out of the N time slots. Based on this method, the first access network device can clearly define the transmission and reception order of the time slots, ensuring the effective execution of the sensing phase, thereby guaranteeing sensing performance.

[0043] Secondly, embodiments of this application provide a communication device that has the functions to implement the first aspect or any possible implementation of the first aspect. For example, the communication device includes modules, units or means corresponding to the operations involved in the first aspect or any possible implementation of the first aspect. The modules, units or means can be implemented by software, hardware or a combination of software and hardware.

[0044] Thirdly, embodiments of this application provide a communication device including a processing circuit for executing the method in the first aspect or any possible implementation thereof. The processing circuit executes a program stored in a memory, and when the program is executed, the method described in the first aspect or any possible implementation thereof is performed.

[0045] In one possible implementation, the memory is located outside the aforementioned communication device.

[0046] In one possible implementation, the memory is located within the aforementioned communication device.

[0047] In this embodiment, the processing circuitry and memory can also be integrated into a single device; that is, the processing circuitry and memory can be integrated together. For example, the communication device can be a chip.

[0048] In one possible implementation, the communication device further includes a transceiver circuit for receiving information (or inputting information) or sending information (or outputting information).

[0049] Fourthly, embodiments of this application provide a communication device, which includes a processing circuit and a transceiver circuit. The processing circuit can be a logic circuit, and the transceiver circuit can be an interface circuit. The logic circuit and the interface circuit are coupled. The interface circuit is used to input and / or output information, and the logic circuit is used to execute the method in the first aspect or any possible implementation of the first aspect.

[0050] Fifthly, embodiments of this application provide a chip including a processing circuit and an interface circuit, the processing circuit and the interface circuit being coupled; the interface circuit is used for inputting and / or outputting information, and the processing circuit is used for executing code instructions to cause the method shown in the first aspect or any possible implementation of the first aspect to be executed.

[0051] Sixthly, embodiments of this application provide a computer-readable storage medium for storing a computer program that, when run on a computer, causes the method shown in the first aspect or any possible implementation thereof to be executed.

[0052] In a seventh aspect, embodiments of this application provide a computer program product that, when run on a computer, causes the method shown in the first aspect or any possible implementation thereof to be executed.

[0053] Eighthly, this application provides a communication system including a first access network device for performing the method shown in any possible implementation of the first aspect above. Attached Figure Description

[0054] Figure 1 This is a schematic diagram of the architecture of a communication system provided in an embodiment of this application;

[0055] Figure 2A This is a schematic diagram of a CU-DU separation architecture used in a RAN node according to an embodiment of this application;

[0056] Figure 2B This is a schematic diagram of the architecture of another communication system provided in an embodiment of this application;

[0057] Figure 3 This is a schematic diagram of the perception scene provided in the embodiments of this application;

[0058] Figure 4 This is a schematic diagram of a multi-base station cooperative sensing system architecture provided in an embodiment of this application;

[0059] Figure 5 This is a flowchart illustrating a communication method provided in an embodiment of this application;

[0060] Figure 6 This is a flowchart illustrating another communication method provided in an embodiment of this application;

[0061] Figure 7 This is a schematic diagram illustrating a process for determining the interference covariance matrix provided in an embodiment of this application;

[0062] Figure 8A This is a schematic diagram illustrating the root mean square error and signal-to-noise ratio of distance estimation provided in an embodiment of this application;

[0063] Figure 8B This is a schematic diagram of the root mean square error of distance estimation and the residual of uplink channel estimation provided in an embodiment of this application;

[0064] Figure 8C This is a schematic diagram of the root mean square error of distance estimation and the DPI residual provided in an embodiment of this application;

[0065] Figure 9A This is a schematic diagram illustrating a sensing performance provided in an embodiment of this application;

[0066] Figure 9B This is a schematic diagram of the sensing channel estimation noise and sensing signal-to-interference-plus-noise ratio provided in an embodiment of this application;

[0067] Figure 10 This is a schematic diagram illustrating a communication performance provided in an embodiment of this application;

[0068] Figure 11 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0069] Figure 12 This is a schematic diagram of another communication device provided in an embodiment of this application;

[0070] Figure 13 This is a schematic diagram of another communication device provided in an embodiment of this application. Detailed Implementation

[0071] To facilitate understanding of the technical solution of this application, the application will be further described below with reference to the accompanying drawings.

[0072] The terms "first" and "second," etc., used in the specification, claims, and drawings of this application are used only to distinguish different objects and not to describe a specific order. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or apparatuses.

[0073] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0074] In this application, "at least one (item)" refers to one or more, "more than" refers to two or more, "at least two (items)" refers to two or three or more, and "and / or" is used to describe the relationship between related objects, indicating that there can be three relationships. For example, "A and / or B" can mean: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. "Or" indicates that there can be two relationships, such as only A exists and only B exists; when A and B are not mutually exclusive, it can also mean that there are three relationships, such as only A exists, only B exists, and both A and B exist simultaneously. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items. For example, at least one (item) 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".

[0075] In this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which can include direct transmission via the air interface or indirect transmission via the air interface from other units or modules. "Receive information from YY" can be understood as the source of the information being YY, which can include direct reception from YY via the air interface or indirect reception from YY via the air interface from other units or modules. "Send" can also be understood as the "output" of a chip interface, and "receive" can also be understood as the "input" of a chip interface. In other words, sending and receiving can occur between devices, such as between network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via buses, traces, or interfaces.

[0076] To better understand the embodiments of this application, the communication system involved in the embodiments of this application will be described below:

[0077] The method provided in this application can be applied to various communication systems, such as: wireless local area network (WLAN) communication systems, wireless fidelity (Wi-Fi) systems, multiple-in multiple-out (MIMO) communication systems, long-term evolution (LTE) systems, internet of things (IoT) systems, narrowband internet of things (NB-IoT) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, 4th generation (4G) systems, 5th generation (5G) systems, new radio (NR) systems, 6th generation (6G) systems, and other future communication systems. Among these, IoT networks may include, but are not limited to, vehicle-to-everything (V2X) networks. The communication methods in V2X systems can be collectively referred to as vehicle-to-everything (V2X), where X can represent anything. For example, V2X can include vehicle-to-vehicle (V2V) communication, vehicle-to-infrastructure (V2I) communication, vehicle-to-pedestrian (V2P) communication, or vehicle-to-network (V2N) communication. The method provided in this application also supports communication systems that integrate multiple wireless technologies. For example, it can be applied to systems that integrate non-terrestrial networks (NTN) with terrestrial mobile communication networks, such as drones, satellite communication systems, and high altitude platform station (HAPS) communication. Additionally, it can be applied to low-frequency (sub-6GHz) and high-frequency (above 6GHz) communication scenarios. It is understood that the system architecture described in this application is for the purpose of more clearly illustrating the technical solutions of this application and does not constitute a limitation on the technical solutions provided in this application.

[0078] Figure 1 This is a schematic diagram of the architecture of a communication system applicable to embodiments of this application. For example... Figure 1As shown, the communication system 10 includes a radio access network (RAN) 100 and a core network (CN) 200. RAN 100 includes at least one RAN node (e.g., Figure 1 110a and 110b, collectively referred to as 110) and at least one terminal (such as Figure 1 RAN 100, denoted as RAN 120a-120j, is collectively referred to as RAN 120. RAN 100 may also include other RAN nodes, such as wireless relay equipment and / or wireless backhaul equipment. Figure 1 (Not shown in the image). Terminal 120 is connected to RAN node 110 wirelessly. RAN node 110 is connected to core network 200 wirelessly or via wired connection. The core network equipment in core network 200 and RAN node 110 in RAN 100 can be different physical devices, or they can be the same physical device integrating core network logical functions and radio access network logical functions.

[0079] RAN 100 can be a cellular system related to the 3rd Generation Partnership Project (3GPP), such as 4G, 5G mobile communication systems, or future-oriented evolution systems. RAN 100 can also be an open access network (O-RAN or ORAN), a cloud radio access network (CRAN), or a wireless fidelity (WiFi) system. RAN 100 can also be a communication system that integrates two or more of the above systems.

[0080] RAN node 110, sometimes also referred to as access network equipment, network device, RAN entity, or access node, constitutes part of the communication system and is used to help terminals achieve wireless access. Multiple RAN nodes 110 in communication system 10 can be of the same type or different types. In some scenarios, the roles of RAN node 110 and terminal 120 are relative, for example... Figure 1 Network element 120i can be a helicopter or a drone, and it can be configured as a mobile base station. For terminals 120j that access RAN 100 through network element 120i, network element 120i is a base station; however, for network element 110a, which is a base station, network element 120i is a terminal. RAN node 110 and terminal 120 are sometimes referred to as communication devices, for example... Figure 1 Network elements 110a and 110b can be understood as communication devices with base station functions, while network elements 120a-120j can be understood as communication devices with terminal functions.

[0081] In one possible scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), non-terrestrial access network equipment (also known as non-terrestrial network equipment or non-terrestrial access network nodes, such as satellites), a base station in a future mobile communication system, or an access node in a WiFi system, etc. A RAN node can also be a macro base station (such as... Figure 1 110a), micro base stations or indoor stations (such as Figure 1 The RAN node can be a relay node or donor node (e.g., 110b), or a wireless controller in a CRAN scenario. Optionally, the RAN node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, the access network equipment in vehicle-to-everything (V2X) technology can be a roadside unit (RSU). All or part of the functions of the RAN node in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The RAN node can also be equipped with communication modules, circuits, or chips that perform corresponding communication functions. The RAN node can also be configured with program instructions for performing corresponding communication functions and corresponding program instructions. The RAN node in this application can also be a logical node, logical module, or software capable of implementing all or part of the RAN node functions. In this embodiment, the RAN node is described as a non-terrestrial access network node.

[0082] In another possible scenario, multiple RAN nodes collaborate to assist terminals in achieving wireless access, with different RAN nodes each implementing a portion of the base station's functions. For example, RAN nodes can be central units (CUs), distributed units (DUs), CU-control plane (CPs), CU-user plane (UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). The processing unit in a BBU that implements baseband functions is called a baseband high (BBH) unit, and the processing unit in an RRU / AAU / RRH that implements baseband functions is called a baseband low (BBL) unit.

[0083] CU and DU can be distinguished based on the protocol layer functions of the wireless network. For example, a CU is configured to implement the functions of the Packet Data Convergence Protocol (PDCP) layer and above (e.g., the Radio Resource Control (RRC) layer and / or the Service Data Adaptation Protocol (SDAP) layer). A DU is configured to implement the functions of protocol layers below the PDCP layer (e.g., the Radio Link Control (RLC) layer, the Media Access Control (MAC) layer, and / or the Physical Layer (PHY) layer).

[0084] RAN nodes can adopt a CU-DU separation architecture, which can also be called a distributed deployment architecture. For example, ... Figure 2A As shown, Figure 2AThis is a schematic diagram of a CU-DU separation architecture adopted by a RAN node according to an embodiment of this application. Logically, a RAN node may include one CU and one or more DUs. Each DU can be connected to the CU via an F1 interface, and information exchange between different DUs can be completed based on CU forwarding. The CU and DU can be physically set together or physically separated; there is no limitation. The CU can support the functions of RRC layer protocols, PDCP layer protocols, and SDAP layer protocols; the DU can support the functions of RLC layer protocols, MAC layer protocols, and PHY layer protocols.

[0085] like Figure 2B As shown, Figure 2B This is a schematic diagram of another communication system architecture provided in an embodiment of this application. The access network device (RAN, such as an eNB, gNB, or next-generation access network device) communicates with the core network device via a backhaul link and with the terminal device via an air interface. Specifically, the baseband unit (BBU) in the access network device communicates with the core network device via the backhaul link, and the radio frequency unit (RU) in the access network device communicates with at least one terminal device via an air interface. The BBU communicates with at least one RU via a fronthaul link; the BBU and RU may or may not be co-located. The BBU includes at least one control unit (CU) and at least one distributed unit (DU), which can communicate via at least one midhaul link.

[0086] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules.

[0087] A terminal can be a device or module that accesses the aforementioned communication system and has corresponding communication functions. A terminal can also be called a terminal device, terminal unit, user equipment (UE), mobile station, mobile terminal, etc. Terminals can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), extended reality (ER), virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, etc. Terminals can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices (such as smartwatches, smart bracelets, pedometers, etc.), vehicles, drones, helicopters, airplanes, ships, robots, robotic arms, smart home devices, transportation vehicles with wireless communication capabilities, communication modules, etc. The embodiments of this application do not limit the device form of the terminal. Terminals typically contain communication modules, circuits, or chips that perform the corresponding communication functions. They may also contain program instructions configured to perform these functions.

[0088] Core network 200 is the control center of the entire network. Core network equipment provides service support to terminal devices and is mainly responsible for registration, call setup, billing, mobility management, providing user connections, managing users, and carrying out service delivery, data processing, and routing. Core network equipment can correspond to different devices in different communication systems. For example, in a 4G communication system, it can correspond to one or more of the following: Mobility Management Entity (MME), Serving Gateway (S-GW), etc. In a 5G communication system, it can correspond to one or more of the following: Access and Mobility Management Function (AMF) network elements, Session Management Function (SMF) network elements, User Plane Function (UPF) network elements, etc. In next-generation or future communication systems, it can correspond to one or more network elements, devices, or entities that provide service support to terminal devices.

[0089] It should be noted that, Figure 1 The communication system shown is not limited to the terminal equipment, RAN node and core network equipment shown in the figure, but may also include other equipment not shown in the figure. These will not be listed here.

[0090] The solution provided in this application can be applied to integrated sensing and communications (ISAC) scenarios. Integrated sensing and communications can also be called joint communications and sensing (JCAS), or simply integrated sensing and communication.

[0091] Communication refers to the transmission of information between two or more points; perception refers to detecting parameters of the physical environment, such as distance measurement and speed measurement. Perception is also known as wireless perception, which uses wireless signals for sensing. Perception is the process of collecting, processing, and generating perception results from data. For example, data collected can be used to determine the distance, speed, shape, or type of surrounding obstacles (i.e., target objects). Or, data collected can be used to determine the breathing rate and / or heart rate of a monitored object. The collected data can be data acquired through sensors or data acquired through wireless signals.

[0092] Both wireless sensing and wireless communication are based on electromagnetic wave theory. At the transmitting end, electromagnetic wave signals are modulated to carry source information. During propagation, these signals are affected by the wireless environment, meaning they are influenced by the environment and can also carry environmental information. At the receiving end, by analyzing the electromagnetic wave signals, not only can the carried source information be obtained, but also sensing information reflecting the characteristics of the propagation environment can be extracted. In other words, electromagnetic waves inherently possess both communication and sensing capabilities, making ISAC (Integrated Sensor Communication) possible. Simply put, ISAC integrates communication and sensing functions, enabling a communication system to simultaneously perform both communication and sensing functions. While transmitting information over a wireless channel, it actively recognizes and analyzes the channel's characteristics to perceive the physical features of the surrounding environment, achieving mutual enhancement of communication and sensing functions. ISAC possesses diverse capabilities such as high-precision positioning, environmental reconstruction, imaging, and recognition, greatly promoting applications requiring ultra-high resolution and precision.

[0093] Perception scenarios can be categorized into three types: perception scenarios based on access network devices, perception scenarios based on both access network devices and terminals, and perception scenarios based on terminals. For example, Figure 3 Scenario 1 and Scenario 2 describe perception scenarios based on access network devices. Figure 3 Scenario 3 and Scenario 4 describe perception scenarios based on access network devices and terminals. Figure 3 Scenario 5 and Scenario 6 describe terminal-based perception scenarios. It should be noted that... Figure 3 The number of access network devices and terminals is only illustrative and should not be regarded as a specific limitation on this application.

[0094] exist Figure 3 In Scenario 1, the access network device acts as both the transmitter (TX) and receiver (RX) of the sensing signal. For example, the sensing signal 1 transmitted by the access network device reaches the target object (e.g., a person). Subsequently, the sensing signal 1 is reflected by the target object to obtain (or become) the sensing signal 2. The access network device can receive the sensing signal 2 and process it to obtain the sensing result.

[0095] exist Figure 3 In scenario 2, one access network device acts as the transmitter (TX) of the sensing signal, and the other access network device acts as the receiver (RX) of the sensing signal. For example, the sensing signal 1 transmitted by the access network device acting as TX reaches the target object. Subsequently, the sensing signal 1 is reflected by the target object to obtain (or become) sensing signal 2. The access network device acting as RX can receive sensing signal 2, and then process sensing signal 2 to obtain the sensing result.

[0096] exist Figure 3 In scenario 3, the access network device acts as the transmitter of the sensing signal, and the terminal acts as the receiver of the sensing signal. For example, the sensing signal 1 sent by the access network device reaches the target object. Subsequently, the sensing signal 1 is reflected by the target object to obtain (or become) sensing signal 2. The terminal can receive sensing signal 2, and then the terminal can process sensing signal 2 to obtain the sensing result.

[0097] exist Figure 3 In scenario 4, the terminal acts as the transmitter of the sensing signal, and the access network device acts as the receiver of the sensing signal. For example, the sensing signal 1 sent by the terminal reaches the target object. Subsequently, the sensing signal 1 is reflected by the target object to obtain (or become) sensing signal 2. The access network device can receive sensing signal 2, and then process sensing signal 2 to obtain the sensing result.

[0098] exist Figure 3 In scenario 5, the terminal acts as both the sender and receiver of the sensing signal. For example, sensing signal 1 sent by the terminal reaches the target object. Subsequently, sensing signal 1 is reflected by the target object to obtain (or become) sensing signal 2. The terminal can receive sensing signal 2 and process it to obtain the sensing result.

[0099] exist Figure 3 In scenario 6, one terminal acts as the transmitter of the sensing signal, and the other terminal acts as the receiver of the sensing signal. For example, sensing signal 1, transmitted by the terminal acting as TX, reaches the target object. Subsequently, sensing signal 1 is reflected by the target object to obtain (or become) sensing signal 2. The terminal acting as RX can receive sensing signal 2, and then process sensing signal 2 to obtain the sensing result.

[0100] It is understandable that the sensing signal 2 in scenarios 1 to 6 above can be understood as the echo signal of the sensing signal 1 (or the reflected signal, or in other words, the sensing signal 2 is the signal obtained after the sensing signal 1 is reflected). The sensing signal 2 carries more information than the sensing signal 1. For example, the sensing signal 2 can carry source information and environmental information.

[0101] In one possible implementation, the target object in scenarios 1 to 6 above can be any object, person, or animal that can be perceived by network access devices or terminals, and this application does not limit this.

[0102] In one possible implementation, the perception results in scenarios 1 to 6 above may include at least one of the following: the distance between the target object and the corresponding device (such as the receiving end of the sensing signal 2, including a terminal or access network device), the angle of the target object relative to the corresponding device, the Doppler frequency shift of the target object relative to the corresponding device, the moving speed of the target object, or the signal strength of the sensing signal 2, etc., which are not limited here.

[0103] In particular, the solution provided in this application can be applied to a system architecture for multi-base station cooperative sensing. For example... Figure 4 As shown, the system architecture includes multiple access network devices, at least one terminal device, core network elements (such as AMF), and a perception scheduler. Figure 4 The example uses three access network devices (access network device 1, access network device 2, and access network device 3) and two terminal devices (terminal device 1 and terminal device 2). It should be noted that... Figure 4 The number of terminal devices and access network devices mentioned is just an example; there could be fewer or more.

[0104] Access network device 1, access network device 2, and access network device 3 can form a sensing unit for collaborative sensing of target objects (such as vehicles and pedestrians) within their signal coverage area. Access network device 1, access network device 2, and access network device 3 can communicate with each other, and terminal devices 1 and 2 within the coverage area can also communicate with access network device 1, access network device 2, and access network device 3. The AMF can communicate with access network device 1, access network device 2, and access network device 3, and can also communicate with the sensing scheduler.

[0105] The perception scheduler (ISAC scheduler) is also deployed on the core network side and can be considered a core network element. It is responsible for initiating perception tasks and sending TDD configuration and perception mode instructions to relevant access network devices through radio resource control (RRC) signaling. At the same time, the perception scheduler can also plan key parameters such as time slot rotation scheduling order and time slot type in real time based on network service load and actual perception needs.

[0106] To achieve coordinated optimization of communication and sensing, this application adopts a coordinated half-duplex operation mechanism: within an ISAC cycle (also known as an ISAC superframe), the working roles of each access network device in a sensing unit are coordinated and allocated. For example, one access network device acts as a transmitter (Tx-BS) (i.e., transmitting base station), which can synchronously transmit communication signals and / or sensing signals through time division multiplexing or frequency division multiplexing during the transmission cycle; the other access network devices act as receivers (Rx-BS) (i.e., receiving base stations), which simultaneously receive the echo signal reflected by the target object and / or the uplink communication signal of the terminal during the reception cycle.

[0107] This application defines an ISAC cycle as consisting of at least four time slots, and performs unified management of the TDD configuration of each access network device in the sensing unit at the time slot boundaries. Within an ISAC cycle, the system configures different working roles for each access network device according to the time slot rotation rules. The functional definitions of various time slots are as follows:

[0108] Downlink sensing slot (D slot): This slot is multiplexed into a unified sensing and communication slot. The transmitting base station simultaneously transmits sensing signals and communication signals in this slot; the receiving base station simultaneously receives the echo signal reflected by the target object and the user's uplink communication signal, thus realizing parallel processing of communication and sensing.

[0109] Silent / fusion slot (S slot): It serves as a protection interval within the sensing cycle. On the one hand, it allows access network equipment to complete the parsing and processing of received signals. On the other hand, it enables the fusion of the sensing information from the previous round of detection and sensing, and completes the timing synchronization for the next sensing cycle.

[0110] Communication time slot: Access network devices follow the existing TDD protocol configuration to execute uplink or downlink communication processes and do not participate in any sensing tasks.

[0111] For example, the specific process of time slot rotation can be as follows: the access network equipment in the sensing unit is divided into three groups, and each group takes turns to assume the roles of transmitting base station (Tx-BS) and receiving base station (Rx-BS) in continuous D time slots, so as to ensure that all areas covered by the sensing unit can obtain periodic sensing and monitoring.

[0112] The core advantage of this mechanism is that it enables multiple base stations operating in half-duplex mode to virtually construct a full-duplex sensing system without self-interference. While meeting the latency requirements of base station external communication, it also ensures the time window required for sensing tasks, ultimately achieving coordinated optimization of communication and sensing.

[0113] It should be noted that the network application architecture and business scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network application architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0114] To facilitate understanding of the solutions provided in the embodiments of this application, the following is a description of the technical terms involved in the embodiments of this application:

[0115] 1. Beam

[0116] An antenna beam refers to the main lobe of an antenna pattern. It can also be understood as a waveform in which electromagnetic wave energy is concentrated and propagates in a specific direction in space, characterized by strong directionality and concentrated energy. In the NR protocol, the beam can be represented as a spatial domain filter, spatial parameter, spatial domain setting, spatial setting, quasi-colocation (QCL) information, QCL assumption, QCL indication, etc. The beam can be indicated by transmission configuration indication state (TCI-state) parameters or by spatial relation parameters. Therefore, in this application, "beam" can be replaced by spatial domain filter, spatial filter, spatial parameter, spatial parameter, spatial setting, spatial setting, QCL information, QCL assumption, QCL indication, TCI-state (DL TCI-state, UL TCI-state), spatial relation, etc. These terms are also equivalent to each other. The term "beam" can be replaced with other beam terms, which are not limited in this application.

[0117] The beam used to transmit signals can be called the transmission beam (Tx beam), or it can be referred to as the spatial domain transmission filter, spatial transmission filter, spatial domain transmission parameter, spatial transmission setting, or spatial transmission setting. The downlink transmission beam can be indicated by TCI-state.

[0118] The beam used to receive signals can be called a reception beam (Rx beam), a spatial domain reception filter, a spatial reception filter, a spatial domain reception parameter, a spatial reception setting, or a spatial reception setting. The uplink transmit beam can be indicated by a spatial relation, an uplink transmission configuration indicator state (TCI-state), or a sounding reference signal (SRS) resource (indicating the transmit beam using that SRS). Therefore, the uplink beam can also be replaced by an SRS resource.

[0119] Furthermore, the beam can be a wide beam, a narrow beam, or other types of beam. The beamforming technology can be beamforming technology or other technologies. Specifically, beamforming technology can be digital beamforming technology, analog beamforming technology, or hybrid digital / analog beamforming technology, etc.

[0120] As an example, a beam is a directional signal beam generated by a cell through beamforming technology. It is the physical carrier for a cell to achieve spatial signal radiation. The overall coverage of a cell consists of the spatial coverage set of all its subordinate beams. The parameter configuration, activation and deactivation, and resource binding of the beam are all uniformly managed by the home cell. Moreover, a beam cannot exist independently of a cell. Terminal devices need to complete access through the cell's synchronous beam and then transmit data through the optimal service beam allocated by the cell. Beam switching within a cell does not change the cell affiliation of the terminal device. Cross-cell handover is only triggered when the terminal device leaves the coverage of all beams in that cell.

[0121] Beams are generally associated with resources. For example, during beam measurement, network devices transmit different beams through different resources. The terminal provides feedback on the signal quality carried on the channel corresponding to the resource, allowing the network device to determine the quality of the corresponding beam. During data transmission, beam information is also indicated through its corresponding resource. For instance, network devices use the TCI field in downlink control information (DCI) to indicate the beam information of the physical downlink shared channel (PDSCH).

[0122] Optionally, multiple beams with the same or similar communication characteristics can be considered as a single beam. Alternatively, multiple beams that are QCL-related can be considered as a single beam. A beam may include one or more antenna ports for transmitting data channels, control channels, and probe signals, etc. One or more antenna ports forming a beam can also be considered as a set of antenna ports.

[0123] In the embodiments of this application, unless otherwise specified, a beam refers to the transmit beam of a network device. In beam measurement, each beam of a network device corresponds to a resource, and therefore the beam corresponding to that resource can be uniquely identified by the resource index.

[0124] Beam coverage can refer to the projection range of the beam on the ground, or it can refer to the range where the received signal power transmitted through the beam exceeds a preset threshold. By adjusting the weights of each antenna element in the antenna array, the base station can direct the beam transmitted by the base station in different directions, resulting in different coverage ranges. The beam coverage range discussed in this embodiment refers to the area covered by the beam on the ground. As the satellite moves and the weights are adjusted, the coverage area will change.

[0125] 2. Direct path interference (DPI)

[0126] In a sensing-communication integrated scenario, Direct Interference Point (DPI) refers to the phenomenon where, when a base station simultaneously carries communication and sensing functions, the communication signal transmitted from the transmitting end is directly leaked to the sensing and receiving link without being reflected by the target object, suppressing and interfering with the echo signal reflected from the target object. Because the power of this directly leaked communication signal is much higher than the weak echo signal after propagation attenuation, coupled with the characteristics of spectrum sharing and hardware (such as antennas and RF front-ends) coupling under the sensing-communication integrated architecture, this interference significantly suppresses and masks the echo signal, obfuscating the effective signal characteristics of the sensing and receiving link. Ultimately, this leads to a decrease in the accuracy of core sensing functions such as target detection and tracking, and may even cause target misses. DPI is one of the core interference sources restricting the sensing performance of the system.

[0127] 3. Terminal uplink (UL) interference

[0128] In a sensing-integrated system, terminal uplink interference (UL) refers to the phenomenon where multiple terminals simultaneously send uplink communication signals to the base station. These signals overlap with the echo signals that the sensing system needs to capture in the spectrum, time domain, or spatial domain, thus interfering with the detection, parameter estimation, and target feature extraction of the sensing signals. Because the sensing and communication functions share the base station's receiving link, spectrum resources, and signal processing unit in a sensing-integrated architecture, a large number of concurrent uplink communication signals not only occupy the effective receiving resources of the sensing signals, but their signal power may also be significantly higher than the weak echo signals attenuated by multipath propagation, causing the sensing signals to be suppressed or confused. Simultaneously, the modulation methods and frame structures of the uplink signals from different terminals overlap with the characteristics of the sensing echo signals, further increasing the difficulty for the sensing system to distinguish between valid echoes and interference signals. This ultimately leads to a decrease in target ranging and velocity measurement accuracy, and even problems such as false target identification or target loss. Terminal uplink interference is also one of the core interference sources restricting the system's sensing performance.

[0129] Based on the above, in integrated sensing scenarios, various interferences (such as DPI of the transmitting base station, uplink interference from the terminal, noise interference, etc.) and environmental complexity can lead to a decrease in sensing accuracy, thereby affecting sensing performance. Therefore, how to improve sensing accuracy and ensure sensing performance is an urgent problem to be solved.

[0130] In view of this, in order to suppress interference, improve sensing accuracy, and ensure sensing performance, this application provides a communication method and a communication device. The following is a further detailed description of a communication method and communication device provided by an embodiment of this application.

[0131] It is understood that the illustrative flowcharts provided in this application mainly use different devices (such as core network devices, first access network devices, second access network devices, terminal devices, perception schedulers, and fusion centers) as examples of the execution entities for the interaction to illustrate the method. However, this application does not limit the execution entities for the interaction. For example, the devices in the illustrative flowcharts (such as core network devices, first access network devices, second access network devices, terminal devices, perception schedulers, and fusion centers) can also be chips, chip systems, or processors that support the implementation of the method by the device, or logic modules or software that can implement all or part of the functions of the device. It is uniformly stated here that the message or signaling interactions involved in the interaction flow of the embodiments of this application can adopt standard messages or signaling, or they can be newly introduced messages or signaling. The embodiments of this application do not specifically limit them in this regard.

[0132] Figure 5This is a flowchart illustrating a communication method provided in an embodiment of this application. For example... Figure 5 As shown, the communication method includes the following steps S501~S505. Figure 5 The method shown can be implemented by either the first access network device or the second access network device mentioned above. Alternatively, Figure 5 The device executing the method shown can be a device in the first access network device (e.g., a processor, chip, or chip system) or a device in the second access network device (e.g., a processor, chip, or chip system), and this application embodiment does not limit the scope of the device. Figure 5 The method will be illustrated using the first access network device and the second access network device as examples. Optionally, Figure 5 The entities that execute the method shown may also include terminal equipment, core network equipment, and sensing schedulers.

[0133] S501, the first access network device obtains the first channel status information between the first access network device and the second access network device, and the second channel status information between the first access network device and the terminal device.

[0134] In this embodiment, for the integrated sensing scenario, the communication system not only needs to provide high-throughput data services but also aims to utilize wireless infrastructure for environmental perception. Traditional single-base station sensing requires the base station to simultaneously transmit communication signals and receive sensing echoes on the same frequency band, necessitating a full-duplex operating mode. This leads to uncontrollable self-interference and limits transmit power. Another approach is to reserve additional receive time slots for sensing echoes in TDD mode, but this consumes significant communication resources and reduces system throughput.

[0135] Therefore, the embodiments of this application adopt a multi-base station cooperative sensing method, as described above. Figure 4The described method involves assembling multiple access network devices into a sensing unit for collaborative sensing of target objects (such as vehicles and pedestrians) within its signal coverage area. Furthermore, this embodiment employs a half-duplex round-robin scheduling mechanism. Within an ISAC cycle (also known as an ISAC superframe), the working roles of each access network device in the sensing unit are coordinated and allocated. For example, one access network device acts as a transmitter (Tx-BS) (i.e., a transmitting base station), simultaneously transmitting communication signals and sensing signals via time-division multiplexing or frequency-division multiplexing during the transmission cycle. The remaining access network devices act as receivers (Rx-BS) (i.e., receiving base stations), simultaneously receiving echo signals reflected from target objects and user uplink communication signals during the reception cycle. Moreover, each access network device takes turns acting as both a transmitting base station (Tx-BS) and a receiving base station (Rx-BS) in consecutive D time slots, thereby ensuring that all areas covered by the sensing unit can receive periodic sensing and monitoring. This approach allows multiple base stations operating in half-duplex mode to virtually construct a full-duplex sensing system free from self-interference. While meeting the latency requirements for external communication from the base stations, it also ensures the time window needed for sensing tasks, ultimately achieving coordinated optimization of communication and sensing. One ISAC cycle contains at least four time slots.

[0136] In one possible implementation, the sensing unit includes N access network devices that take turns transmitting sensing signals in N time slots, where N is an integer greater than 1. For example, a first access network device receives first configuration information from a core network element (such as an AMF), which instructs the first access network device to transmit a sensing signal in a first time slot out of the N time slots, and to receive sensing signals in the other time slots out of the N time slots.

[0137] This can be understood as taking a sensing unit composed of a first access network device, a second access network device, and a third access network device as an example, such as... Figure 6 As shown, in Step 1, the perception scheduler initiates an ISAC task request to the AMF. This ISAC task request may include information such as the identifier of the access network device (e.g., the identifier of the first access network device, the identifier of the second access network device, and the identifier of the third access network device), TDD configuration, the length of the ISAC period, round-robin scheduling rules, ISAC superframe structure, activation time, and the location of the D time slot / S time slot. The identifier of the access network device can be in the form of a list.

[0138] In Step 2, the AMF sends an ISAC configuration request to the first access network device, the second access network device, and the third access network device. The ISAC configuration request includes information such as TDD configuration, the length of the ISAC period, round-robin scheduling rules, superframe structure, activation time, and the location of D time slot / S time slot.

[0139] In Step 3, the first, second, and third access network devices perform collaborative synchronization confirmation and parameter exchange. Additionally, these devices periodically measure each other at intervals of T to obtain channel state information. T is a positive integer. It should be noted that when the sensing task involves cross-cell communication or requires coordination of network-wide resources, the access network devices can request unified superframe configuration from the network side via the AMF; otherwise, ordinary sensing commands can be completed through transparent transmission between access network devices.

[0140] In Step 4, after the access network devices complete the coordination and synchronization confirmation and parameter exchange, the first access network device, the second access network device, and the third access network device send an ISAC configuration response to the AMF.

[0141] In Step 5, the first access network device, the second access network device, and the third access network device provide a slot format indicator (SFI) to the terminal device. In Step 6, the terminal device adjusts its transmit and receive timings according to the slot format indicator.

[0142] Assume that the ISAC period contains four time slots: time slot t+1, time slot t+2, time slot t+3, and time slot t+4. These four time slots constitute an ISAC superframe. Here, t is a positive integer and can be flexibly configured according to the sensing speed and accuracy required in the actual scenario. For example, as shown in Table 1, the ISAC superframe structure and time slot format are indicated as follows:

[0143] When the time slot index is T (periodic calibration), the perception scheduler manages the TDD configuration in a unified manner. At this time, the status of the first access network device, the second access network device, and the third access network device is "variable". Periodic measurements and calibrations are performed between the access network devices, and the main function is to perform channel estimation and updates between the access network devices.

[0144] When the time slot index is t+1, all access network devices maintain uplink mode (U), the terminal device transmits SRS, and all access network devices acquire uplink channel state information (UL CSI).

[0145] When the time slot index is t+2 / t+3 / t+4 (i.e., time slot D), a half-duplex round-robin scheduling mechanism is executed. That is, the three access network devices take turns acting as transmitters (downlink mode (D)) to synchronously transmit communication signals and / or sensing signals; in addition, the two access network devices act as receivers (downlink mode (U)) to simultaneously receive echo signals and / or terminal uplink communication signals. In other words, the three access network devices take turns transmitting sensing signals and / or communication signals in three time slots, which can be regarded as three sensing phases.

[0146] For example, when the time slot index is t+2, the second access network device acts as the transmitter (downlink mode (D)) and needs to switch between detection mode and tracking mode to send sensing signals and / or communication signals according to sensing requirements; the first access network device and the third access network device act as the receiver (downlink mode (U)) to receive echo signals and / or terminal uplink communication signals.

[0147] When the time slot index is t+3, the third access network device acts as the transmitter (downlink mode (D)) and needs to switch between detection mode and tracking mode to send sensing signals and / or communication signals according to sensing requirements; the first access network device and the second access network device act as the receiver (downlink mode (U)) to receive echo signals and / or terminal uplink communication signals.

[0148] When the time slot index is t+4, the first access network device acts as the transmitter (downlink mode (D)) and needs to switch between detection mode and tracking mode to send sensing signals and / or communication signals according to sensing requirements; the second access network device and the third access network device act as the receiver (downlink mode (U)) to receive echo signals and / or terminal uplink communication signals.

[0149] During the S-slot (i.e., the post-processing interval), all access network devices suspend communication / sensing activities, fuse the measurement data from the three sensing phases to calculate the target position (detection) or update the trajectory (tracking), and prepare angle information for the next cycle.

[0150] Table 1

[0151]

[0152] Furthermore, in Step 7, after the terminal device adjusts the transmit and receive timing, it executes the ISAC superframe.

[0153] Specifically, the first, second, and third access network devices perform periodic measurements and calibrations with a period of T to obtain channel state information (CSI) between the first and second access network devices, between the second and third access network devices, and between the first and third access network devices. This method enables continuous and accurate acquisition of channel state information between access network devices. On the one hand, it allows for real-time tracking of the time-varying characteristics of the channels between multiple devices, providing dynamic and reliable channel parameter support for beamforming optimization, interference coordination, and elimination in integrated sensing scenarios, ensuring the stability of signal transmission and the accuracy of sensing data. On the other hand, the periodic calibration mechanism effectively reduces measurement errors introduced by factors such as device hardware deviations and environmental changes, improving the synchronization accuracy and resource scheduling efficiency when multiple access network devices work collaboratively, thereby enhancing the robustness and quality of service of the entire communication system.

[0154] In time slot t+1, the terminal device sends SRS. The first access network device, the second access network device, and the third access network device measure the SRS to obtain the uplink channel state information between the terminal device and the first access network device, the uplink channel state information between the terminal device and the second access network device, and the uplink channel state information between the terminal device and the third access network device.

[0155] In time slot t+2 (sensing phase 1), the second access network device, acting as the transmitter (downlink mode (D)), needs to switch between detection and tracking modes to send sensing signals and / or communication signals according to sensing requirements. The first and third access network devices, acting as receivers (downlink mode (U)), receive echo signals and / or terminal uplink communication signals in detection and tracking modes. Furthermore, in detection mode, the second and third access network devices perform interference suppression and angle search on the received signals, and in tracking mode, they perform interference suppression and target object tracking (such as determining the distance information and speed information of the target object).

[0156] In time slot t+3 (sensing phase 2), the third access network device, acting as the transmitter (downlink mode (D)), needs to switch between detection mode and tracking mode to send sensing signals and / or communication signals according to sensing requirements; the first and second access network devices, acting as receivers (downlink mode (U)), receive echo signals and / or terminal uplink communication signals in detection mode and tracking mode. Furthermore, in detection mode, the first and third access network devices perform interference suppression and angle search on the received signals, and in tracking mode, they perform interference suppression and target object tracking (such as determining the distance information and speed information of the target object).

[0157] In time slot t+4 (sensing phase 3), the first access network device, acting as the transmitter (downlink mode (D)), needs to switch between detection mode and tracking mode to send sensing signals and / or communication signals according to sensing requirements; the second and third access network devices, acting as receivers (downlink mode (U)), receive echo signals and / or terminal uplink communication signals in detection mode and tracking mode. Furthermore, in detection mode, the first and second access network devices perform interference suppression and angle search on the received signals, and in tracking mode, they perform interference suppression and target object tracking (such as determining the distance information and speed information of the target object).

[0158] The following example uses time slot t+2 (sensing phase 1), with the second access network device acting as the transmitter and the first and third access network devices acting as receivers. Taking the first access network device as an example, the following details how it performs interference suppression and angle search on the received signal in probe mode, and interference suppression and target object tracking on the received signal in tracking mode:

[0159] First, the first access network device obtains the latest first channel state information between itself and the second access network device through periodic measurements, which is called... . This is used to characterize direct interference from the transmitting base station (i.e., the second access network device) to the receiving base station (i.e., the first access network device). Since the location of the access network devices is relatively fixed, Typically highly stable and dominated by a single strong line-of-sight (LoS) component. The acquisition process involves the second access network device transmitting a known pilot sequence (such as a channel state information reference signal (CSI-RS)) during periodically scheduled calibration periods (e.g., maintenance windows or periods of low traffic load). The first access network device monitors this sequence and estimates the channel matrix using the least squares method to obtain the first channel state information. ).because Stable, therefore Frequent updates are not required; periodic measurements are sufficient.

[0160] Then, in time slot t+1, the first access network device can also obtain the uplink channel state information (UL CSI) between the terminal device and the first access network device by measuring the SRS sent by the terminal device, which is the second channel state information, referred to as... Due to mobility and fading, the channel state between the terminal device and the first access network device is dynamically changing, requiring frequent updates for accurate interference management and data decoding. Furthermore, to ensure that CSI is timely and effective for subsequent sensing phases, The signal must be acquired immediately before the sensing phase begins. When the sensing phase begins, the second access network device sends a sensing signal to the first access network device. The first access network device can receive the sensing signal from the second access network device and the uplink communication signal from the terminal device. At this time, DMRS estimation of communication can also be performed. The DMRS estimation of communication can also obtain the CSI of the target channel. Then, the CSI obtained by SRS and the CSI obtained by communication DMRS are fused to obtain a more accurate and real-time CSI.

[0161] S502, the second access network device sends a first sensing signal. Correspondingly, the first access network device receives a first signal; the first signal includes a first echo signal reflected by the target object from the first sensing signal sent by the second access network device.

[0162] In this embodiment of the application, the first step is to consider the sensing time slots (i.e., time slot t+2, time slot t+3, and time slot t+4) in the following way: m The OFDM symbol, the first k The signal model on each subcarrier is explained as follows:

[0163] Assuming the transmitting base station and the receiving base station are equipped with Root antenna, sensing area has L There are target objects, and there are Q An active terminal device that receives services from a receiving base station. The signal transmitted by the transmitting base station can be represented as: ,in Represents the perceptual symbol vector, This represents the transmitted beamforming matrix.

[0164] Received signal from base station It consists of the following four superimposed parts:

[0165]

[0166] (1) Sensing echo ( )

[0167]

[0168] in, Represents complex coefficients; and These are the receiving base stations (Angle of Arrival, AOA) as follows: ) and the transmitting base station (angle of departure (AOD) is The guiding vector of ) This indicates the phase shift caused by time delay and Doppler.

[0169] (2) Direct path interference )

[0170]

[0171] in, It is the channel matrix (i.e., channel state information) between the transmitting base station and the receiving base station.

[0172] (3) Uplink communication signal ( )

[0173]

[0174] in, It is the first The channel vector between a terminal device and the receiving base station, and It is the symbol for uplink data.

[0175] (4) Noise (e.g., additive white Gaussian noise)

[0176]

[0177] in, This represents the probability distribution form of the complex Gaussian distribution.

[0178] Based on the above, taking time slot t+2 as an example, the second access network device first enters the detection mode (initial acquisition) and sends a first sensing signal to the first and third access network devices using a wide-beam or omnidirectional mode. The first access network device receives the first signal from the second access network device. This first signal is a mixed signal, including the first echo signal reflected by the target object from the first sensing signal sent by the second access network device (i.e., sensing echo), the uplink communication signal sent by the terminal device, and other interference signals (such as DPI, noise, etc.). At this time, the first signal can be represented as... .

[0179] S503. The first access network device determines the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the first channel state information and the second channel state information.

[0180] In this embodiment of the application, after the first access network device receives the first signal, it needs to utilize the previously acquired first channel state information ( ) and second channel state information ( The angle information is determined, namely the first angle of arrival corresponding to the first echo signal. ) and the first departure angle corresponding to the first sensing signal ( ).

[0181] In one possible implementation, when the first access network device determines the first angle of arrival corresponding to the first echo signal and the first angle of departure corresponding to the first sensing signal based on the first channel state information and the second channel state information, the specific implementation may include the following steps s11 and s12.

[0182] s11. The first access network device performs interference suppression on the first signal based on the first channel state information and the second channel state information to obtain the spatial spectrum function.

[0183] One possible implementation may include the following steps A through D.

[0184] Step A: The first access network device performs DPI cancellation on the first signal based on the first channel state information to obtain the third signal.

[0185] In practical implementation, the DPI component is the strongest interference, utilizing the first channel state information ( Reconstruct the DPI component and from the first signal ( Subtract from ). This requires the first access network device to know in advance the sensing waveform transmitted by the second access network device ( (For example, coordinating predefined synchronization sequences among access network devices). Specifically, the following formula is used:

[0186]

[0187] in, Indicates the third signal. Indicates the first signal. This indicates the use of the first channel state information ( Reconstruct the DPI components.

[0188] Step B: The first access network device performs uplink subspace projection (i.e., zeroing uplink interference) on the third signal based on the second channel state information to obtain the fourth signal.

[0189] In specific implementation, the third signal ( It includes echo signals and uplink communication signals (of which uplink data symbols ( (The signal is unknown) and noise. To separate the echo signal, it is projected onto a subspace orthogonal to the uplink channel. Assume... It is the estimated uplink channel matrix.

[0190] First of all Perform Singular Value Decomposition (SVD): .

[0191] in, The column vector spans The range of values, taking the complete matrix The latter half, obtained Their column vectors form an orthonormal basis for the orthogonal complement space. In this case, the projection matrix can be expressed as:

[0192]

[0193] Then, using Multiply by the data after DPI elimination (i.e., the third signal) on the left. ), to achieve dimensionality reduction and noise whitening, to obtain the fourth signal ( ):

[0194]

[0195] Step C: The first access network device determines the first sample covariance matrix based on the fourth signal.

[0196] In specific implementation, from the fourth signal ( Collected in ) A snapshot of the processed data: Calculate the covariance matrix of the first sample ( ): .

[0197] In summary, the dimensionality-reduced data model after DPI elimination and uplink subspace projection is as follows (dimensions). ):

[0198]

[0199] in, It is the total interference plus noise term.

[0200] Step D: The first access network device determines the spatial spectral function based on the first sample covariance matrix.

[0201] Optionally, the specific implementation may include the following steps a and b.

[0202] Step a: The first access network device performs whitening processing on the first sample covariance matrix and the original array manifold based on the interference covariance matrix to obtain the first whitening matrix and the first steering vector.

[0203] In the specific implementation, the residual interference structure and covariance are first analyzed:

[0204] The standard block fading assumption is used, meaning the channel remains constant within an ISAC superframe. Correspondingly, the CSI estimation error... and This is also a fixed implementation during this period.

[0205] First, using based on The obtained orthogonal basis Perform projection (satisfying) Total disturbance term This can be expanded to (residual leakage):

[0206]

[0207] The covariance matrix of the total disturbance is The expectation here is for rapidly changing random variables (upstream data symbols) and noise (The result is obtained from this.)

[0208] Assuming each component is independent and the signal is normalized (e.g., ...), ),but:

[0209]

[0210] in, and These are the covariances of UL leakage and DPI residual in the compressed domain, respectively.

[0211] Based on the above analysis, the first access network device also needs to obtain the latest DPI calibration residual between the first access network device and the second access network device in period T. The uplink channel estimation residual between the terminal device and the first access network device is obtained in time slot t+1. Additionally, it is necessary to obtain the original array manifold corresponding to the first signal in time slot t+2. Then, the first access network device calibrates the residual based on the DPI ( ); ) and uplink channel estimation residuals ( Determine the interference covariance matrix ( ).

[0212] like Figure 7As shown, the process for determining the interference covariance matrix is ​​as follows:

[0213] Part A: UL Leakage Covariance Reconstruction

[0214] Input uplink channel estimation residual ( ), calculate the residual covariance after projection ( Then, power scaling and noise cancellation are performed, and the UL leakage covariance is output ( ).

[0215] Part B: DPI Residual Covariance Reconstruction

[0216] Input DPI calibration residual ( - ), calculate the original spatial residual covariance ( = Then project it onto the UL orthogonal complement space, and output the DPI residual and noise covariance ( ).

[0217] Furthermore, utilizing UL leakage covariance ( ) and DPI residuals and noise covariance ( The total interference covariance is synthesized, i.e., the interference covariance matrix ( ).

[0218] Then, using the interference covariance matrix ( ) for the first sample covariance matrix ( ) and the original array manifold ( Whitening is performed to obtain the first whitening matrix ( ) and the first guide vector ( ):

[0219]

[0220] in, It is by The exported whitening matrix.

[0221] Step b: The first access network device determines the spatial spectrum function based on the first whitening matrix and the first steering vector.

[0222] In the specific implementation, the first whitening matrix ( Eigenvalue decomposition is performed to divide its eigenvectors into signal subspaces. ) and noise subspace ( Multiple signal classification (MUSIC) spatial spectrum function ( ) is defined as:

[0223]

[0224] in, It is the whitened guide vector, i.e., the first guide vector.

[0225] s12. The first access network device determines the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the spatial spectrum function.

[0226] In the specific implementation, through all possible angles Search The peak value can be used to obtain the estimated AOA, which is the first initial angle of arrival (AOA). After an ISAC superframe ends, the AOA estimation results from different access network devices in the S-slot will be sent to the fusion center, where the first angle of arrival (AOA) corresponding to the first echo signal will be calculated using methods such as triangulation. ) and the first departure angle corresponding to the first sensing signal ( ).

[0227] Optionally, the convergence center can be deployed on a single access network device or on another separate device; this is not a limitation. The two methods are described below:

[0228] Method 1: The convergence center is deployed on a specific access network device.

[0229] Taking the first access network device as an example, the first access network device determines the first initial angle of arrival (Angle of Arrival) based on the spatial spectrum function. After that, it can also receive at least one second initial angle of arrival corresponding to the first echo signal sent by other access network devices (such as the second access network device and the third access network device). For example, the at least one second initial angle of arrival here includes the second initial angle of arrival corresponding to the first echo signal determined by the second access network device in time slots t+3 and t+4 with reference to the first echo signal determined by the third access network device in time slots t+2 and t+4 with reference to the first echo signal determined by the third access network device in time slots t+2 and t+4 with reference to the first echo signal determined by the third access network device in time slots t+2 and t+4 with reference to the first echo signal determined by the third access network device in time slots t+3 and t+4, which is not limited here.

[0230] Then, the first access network device calculates the first initial angle of arrival and at least one second initial angle of arrival using methods such as triangulation to determine the precise first angle of arrival corresponding to the first echo signal. Furthermore, the first access network device, based on the first angle of arrival (Angle of Arrival), This can be used to deduce the first departure angle corresponding to the first sensing signal. Of course, other access network devices can also obtain multiple initial angles of arrival (AQAs), and determine the precise first angle of arrival corresponding to the first echo signal by fusing multiple AQAs, and inversely deduce the first departure angle corresponding to the first sensing signal.

[0231] Optionally, the first access network device sends first indication information to the second access network device, the first indication information being used to indicate the first angle of arrival and the first angle of departure. This can be understood as the first access network device determining the first angle of arrival and the first angle of departure, and then synchronizing these angles with other access network devices (such as the second access network device and the third access network device). This approach helps reduce the complexity of the system equipment.

[0232] Option 2: The fusion center is deployed on a separate device.

[0233] Taking the first access network device as an example, the first access network device determines the first initial angle of arrival (Angle of Arrival) based on the spatial spectrum function. After that, the first initial angle of arrival (AOA) is sent to the fusion center. Other access network devices (such as the second access network device and the third access network device) can also refer to steps s11 and s12 above to determine at least one second initial angle of arrival (AOA) and then send it to the fusion center. The fusion center can calculate the first initial angle of arrival (AOA) and at least one second initial angle of arrival (AOA) using methods such as triangulation to determine the precise first angle of arrival (AOA) corresponding to the first echo signal. ); and according to the first angle of arrival ( This can be used to deduce the first departure angle corresponding to the first sensing signal. Furthermore, the convergence center sends the first angle of arrival and the first angle of departure to each access network device. This approach helps reduce the processing burden on the access network devices and saves their power consumption.

[0234] like Figure 8A As shown, for the first signal (i.e., the original signal), The root mean square error of distance estimation (RMSE), the RMSE after subtracting DPI, the RMSE after compression, and the RMSE after steps A to D in this scheme (i.e., the RMSE of G-MUSIC pre-whitening) were simulated and tested. Among them, (a) curve is the relationship between the RMSE of the first signal and the signal-to-noise ratio (SNR), (b) curve is the relationship between the RMSE after subtracting DPI and the SNR, (c) curve is the relationship between the RMSE after compression and the SNR, and (d) curve is the relationship between the RMSE of G-MUSIC pre-whitening and the SNR.

[0235] Depend on Figure 8A As can be seen (RMSE vs target_snr_db), for the signal-to-noise ratio (SNR), the target SNR increases from -5dB to 20dB. In curve (d), when the SNR increases, the RMSE of the AOA drops rapidly from approximately 27° to near 0°, and is almost 0° when the SNR ≥ 15dB, demonstrating extremely strong SNR adaptability. The RMSE of curves (a), (b), and (c) consistently remains above 25°, almost unaffected by the increase in SNR. Therefore, the G-MUSIC pre-whitening algorithm proposed in this scheme can effectively utilize the high SNR condition, significantly improve the angle estimation accuracy, and achieve remarkable residual elimination.

[0236] like Figure 8B As shown, for the first signal (i.e., the original signal), The RMSE of the first signal, the RMSE after subtracting DPI, the RMSE after compression, and the RMSE after steps A to D in this scheme (i.e., the RMSE of G-MUSIC pre-whitening) were simulated and tested. Among them, (a) curve is the relationship between the RMSE of the first signal and the UL channel estimation residual, (b) curve is the relationship between the RMSE after subtracting DPI and the UL channel estimation residual, (c) curve is the relationship between the RMSE after compression and the UL channel estimation residual, and (d) curve is the relationship between the RMSE of G-MUSIC pre-whitening and the UL channel estimation residual.

[0237] Depend on Figure 8B As can be seen (RMSE vs nmseH_db), for the UL channel estimation residual, the UL channel estimation residual (NMSE-H) changes from -35dB to -5dB (residual enhancement, channel quality deterioration). In curve (d), when the residual is weak (-35~-20dB), the RMSE is always below 1°; only when the residual is extremely strong (-10~-5dB) does the RMSE rise to about 15°, showing extremely strong robustness. The RMSE of curve (c) fluctuates drastically with the enhancement of the residual, rising from 7° to 30°, and is most affected by the residual. The RMSE of curves (a) and (b) is always above 25°, indicating poor performance. Therefore, the G-MUSIC pre-whitening processing algorithm proposed in this scheme has a strong resistance to UL channel estimation residuals, and the residual elimination mechanism effectively improves robustness.

[0238] like Figure 8C As shown, for the first signal (i.e., the original signal), The RMSE of the first signal, the RMSE after subtracting DPI, the RMSE after the compression domain, and the RMSE after steps A to D in this scheme (i.e., the RMSE of G-MUSIC pre-whitening) were simulated and tested. Among them, (a) curve is the relationship between the RMSE of the first signal and the DPI residual, (b) curve is the relationship between the RMSE after subtracting DPI and the DPI residual, (c) curve is the relationship between the RMSE after the compression domain and the DPI residual, and (d) curve is the relationship between the RMSE of G-MUSIC pre-whitening and the DPI residual.

[0239] Depend on Figure 8C As can be seen (RMSE vs nmseG_db), for DPI residuals, the DPI residual (NMSE-G) changes from -45dB to -10dB (residual enhancement leads to worse DPI performance). In curve (d), the RMSE fluctuates between 0° and 10°, never exceeding 10° even when the residual is strongest, demonstrating extremely high robustness to DPI residuals. The RMSEs of curves (a), (b), and (c) are all above 25°, and increase significantly with increasing residuals. Therefore, the G-MUSIC pre-whitening algorithm proposed in this scheme can effectively suppress the interference of DPI residuals and significantly improve the stability of the algorithm in residual environments.

[0240] Table 2 shows the comparison of RMSE under different residuals and signal-to-noise ratios:

[0241] Table 2

[0242]

[0243] Therefore, the proposed G-MUSIC pre-whitening algorithm exhibits significantly lower RMSE than the original and compressed domain schemes across all scenarios. In particular, the RMSE drops to 0° at high SNR (20dB), and remains at an extremely low level of 0.3°~0.5° even with UL channel estimation residuals and DPI residuals. This demonstrates that the residual elimination mechanism not only significantly improves angle estimation accuracy but also substantially enhances the algorithm's robustness under various residual interferences.

[0244] S504. The second access network device sends a second sensing signal. Correspondingly, the first access network device receives the second signal; the second signal includes a second echo signal reflected by the target object from the second sensing signal sent by the second access network device; the transmission beamwidth of the first sensing signal is greater than the transmission beamwidth of the second sensing signal, and the transmission beam direction of the second sensing signal matches the first departure angle.

[0245] In this embodiment of the application, the first angle of arrival is determined ( ) and the first departure angle ( Following this, in the next ISAC superframe, in time slot t+1, the first access network device obtains the uplink channel state information (UL CSI) between the terminal device and the first access network device again by measuring the SRS sent by the terminal device. This is the second channel state information, referred to as... .

[0246] During the sensing phase in time slots t+2, t+3, and t+4, taking time slot t+2 as an example, the second access network device enters tracking mode and uses focused beamforming. Pointing to the first departure angle ( ), and sends a second sensing signal to the first access network device and the third access network device. In tracking mode, when the first departure angle ( When known, Focus energy in the target direction:

[0247]

[0248] Furthermore, the first access network device receives a second signal from the second access network device. This second signal is a mixed signal, including the second echo signal (i.e., the sensing echo) reflected by the target object from the second sensing signal sent by the second access network device, the uplink communication signal sent by the terminal device, and other interference signals (such as DPI, noise, etc.). In this case, the second signal is represented as... .

[0249] It should be noted that the transmit beamwidth of the first sensing signal is greater than that of the second sensing signal. This can be understood as follows: in detection mode, coarse detection is performed using the wide beam (i.e., the beam corresponding to the first sensing signal) to determine the first angle of arrival and the first angle of departure. Then, the system can switch to tracking mode, where fine tracking (i.e., tracking mode) is used to sense the signal using the focused beam (i.e., the beam corresponding to the second sensing signal, where the transmit beam direction of the second sensing signal matches the first angle of departure). This facilitates accurate suppression of interference and efficient calculation of sensing parameters, significantly improving the sensing accuracy and resource utilization of the ISAC system and ensuring sensing performance.

[0250] S505, the first access network device performs sensing processing on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement.

[0251] In this embodiment of the application, since the second signal is a mixed signal, the first access network device uses separate processing links for the sensing signal and the communication signal.

[0252] (a) Perceptual processing

[0253] In tracking mode, obtaining high-precision target parameters (range, velocity) depends on effectively separating the echo signals reflected by each target object from a highly interfering environment. While traditional minimum variance distortionless response (MVDR) beamformers can suppress interference, they have limitations in multi-target scenarios. Specifically, MVDR only guarantees distortion-free reception of signals in the desired direction but cannot guarantee the formation of nulls in other known target directions. When multiple targets are angularly close, this leads to severe inter-target interference, reducing the accuracy of parameter estimation.

[0254] To achieve robust multi-target spatial separation, a beamforming scheme based on linearly constrained minimum variance (LCMV) is proposed. This scheme is built upon a robust interference suppression framework consistent with the detection mode. By applying multiple constraints, it explicitly treats other targets as interference sources and spatially nulls them while maintaining the gain of the main target.

[0255] In one possible implementation, the processing of the sensed signal (i.e., sense processing) may specifically include the following steps s21 and s22.

[0256] s21. The first access network device performs interference suppression on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain the fifth signal.

[0257] Optionally, the specific implementation may include the following steps 1 to 6.

[0258] Step 1: The first access network device performs DPI cancellation on the second signal based on the first channel state information to obtain the sixth signal.

[0259] In the specific implementation, consistent with the detection mode, the inter-base station channel estimation obtained in the periodic calibration time slot (T=0) is first utilized. From the second signal ( Subtracting the DPI component from the signal yields the sixth signal. ).

[0260]

[0261] Step 2: The first access network device projects the sixth signal into the uplink subspace based on the second channel state information to obtain the seventh signal.

[0262] In the specific implementation, the uplink channel estimate is obtained in time slot t+1. Construct the orthonormal basis matrix of its orthogonal complement space. ,in It is the effective aperture after dimensionality reduction. (This is achieved through left multiplication.) The signal after DPI cancellation is projected onto this subspace to suppress uplink communication interference, thus obtaining the seventh signal. ).

[0263]

[0264] Step 3: The first access network device performs uplink subspace projection on the steering vector corresponding to the first angle of arrival to obtain the subspace vector.

[0265] In the specific implementation, the steering vector corresponding to the first angle of arrival ( ) is also mapped to this In a dimensional subspace, we obtain the subspace vector ( ).

[0266]

[0267] After the first two steps of processing, the dimension-reduced signal (i.e., the seventh signal) is obtained. The model is ,in It is caused by CSI estimation error ( and The interference from colored residuals (DPI residuals and UL leakage) caused by this is superimposed with thermal noise. To achieve optimal beamforming, its covariance matrix must be accurately estimated. As in step a of the above detection mode. Figure 7 The description utilizes the interference statistics learned at time slots T=0 and t+1 (i.e., DPI calibration residuals). ) and uplink channel estimation residuals ( The disturbance covariance matrix was accurately estimated. ).

[0268]

[0269] in, This indicates that UL leaks covariance. This represents the DPI residual and noise covariance.

[0270] It should be noted that, Accurately capturing the colored interference structure caused by CSI imperfections is key to subsequent robust beamforming.

[0271] Step 4: The first access network device processes the interference covariance matrix and subspace vector based on the LCMV algorithm to obtain the weighted vector.

[0272] In practical implementation, the first access network device needs to use the LCMV algorithm to determine the weighting vector ( ):

[0273] (1) Modeling the LCMV problem.

[0274] In all known Approximate angle of arrival for each target Under the premise of, for the first A target design beamformer Its optimization objective is:

[0275] a. Minimize the residual interference and noise (from The output variance caused by (description).

[0276] b. Regarding the expected goals direction Maintain unity gain response.

[0277] c. For all other objectives direction Achieve zero-gain response (space zeroing).

[0278] (2) Constraint matrix and response vector.

[0279] Integrate the above constraints into matrix form. Define the reduced-dimensional manifold matrix (constraint matrix). :

[0280]

[0281] And define the desired response vector. , its first One element is 1, and the rest are 0:

[0282]

[0283] The optimization problem can be concisely formulated as:

[0284]

[0285] The condition that this problem has a solution is: And the constraint matrix The ranks are full.

[0286] (3) LCMV optimal solution.

[0287] The closed-ended solution to this constrained optimization problem is:

[0288]

[0289] in, This is the weighted vector (also known as the LCMV weighted vector).

[0290] Step 5: The first access network device performs filtering on the seventh signal based on the weighted vector to obtain the eighth signal.

[0291] In the specific implementation, the calculated optimal LCMV weighted vector (i.e., the weighted vector) is used. The received signal after dimensionality reduction (i.e., the seventh signal) )) Perform filtering to extract the first Signals for each target:

[0292]

[0293] Due to the constraints of LCMV: When the angle estimation is accurate, the output signal Effectively separates the target The echo is suppressed while the leakage of other targets is inhibited, that is, the residual of the desired signal is minimized:

[0294]

[0295] in, This indicates that LCMV successfully separated the target signal from the spatial dimension, laying the foundation for subsequent high-precision parameter estimation.

[0296] Step 6: The first access network device normalizes the eighth signal based on the first departure angle to obtain the fifth signal.

[0297] In practical implementation, in order to perform coherent accumulation, known modulation terms at the transmitter must be eliminated. The influence can be determined using known AOD estimates (i.e., the first departure angle). To calculate its estimated value The extracted signal is then divided element-wise, i.e., the residual is normalized, to obtain the fifth signal. ).

[0298]

[0299] s22. The first access network device performs Doppler processing on the fifth signal to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement.

[0300] In the specific implementation, the normalized signal matrix Perform a two-dimensional Fourier transform to generate the target object. Distance-Doppler Map (RDM):

[0301] Furthermore, by performing a spectral peak search on the distance-Doppler graph, the distance information between the first access network device and the target object, as well as the speed information of the target object's movement, are determined.

[0302] like Figure 9A As shown in the simulation test, Figure 9A (a) shows the curve of perceived signal-to-interference-plus-noise ratio (SINR) as a function of input SNR. As the input SNR increases from -10dB to 30dB, the perceived SINR shows a clear upward trend, but there is a certain offset due to interference. Figure 9A Figures (b) and (c) show the variation curves of the distance estimation RMSE and velocity estimation RMSE of the two target objects with the input SNR, respectively. Under the interference assumptions of UL interference of 20dB and DPI of 25dB, the RMSE decreases significantly with the increase of SNR, which verifies the effectiveness of residual elimination. Figure 9B This demonstrates the effect of sensing channel estimation noise (NMSE) G When the input SNR changes, the perceived SINR performance at a fixed input SNR=20dB is shown in the curve, indicating that even at -25dB NMSE... G The system can still maintain a high SINR.

[0303] (ii) Communication Processing

[0304] In one possible implementation, the processing method for communication signals (i.e., communication processing) may specifically include the following steps s31 to s34.

[0305] s31. The first access network device performs DPI cancellation on the second signal based on the first channel state information to obtain the sixth signal.

[0306] In the specific implementation, the inter-base station channel estimation obtained in the periodic calibration time slot (T=0) is first utilized. From the second signal ( Subtracting the DPI component from the signal yields the sixth signal. ).

[0307]

[0308] s32. The first access network device determines the second sample covariance matrix based on the sixth signal.

[0309] In the specific implementation, data is collected in the current sensing time slot (e.g., time slot t+2). A snapshot is taken to calculate the spatial channel model (SCM) of the signal after DPI removal (i.e., the sixth signal). ):

[0310]

[0311] It should be noted that by eliminating strong DPI in advance, The reduced dynamic range makes matrix inversion more stable, especially with a higher snapshot number. Limited time.

[0312] s33. The first access network device processes the second sample covariance matrix, the sixth signal, and the second channel state information based on the minimum mean square error (MMSE) combiner to obtain the MMSE weight value.

[0313] In specific implementation, for the sixth signal ( Design an MMSE merger. The optimization objective of the MMSE merger is:

[0314]

[0315] The solution is (using the estimated uplink channel (i.e., the second channel state information)). )),Right now The q Column) MMSE weight values ​​( ):

[0316]

[0317] It should be noted that this MMSE combiner can adaptively form nulls in the direction of interference, thereby maximizing the received quality of the desired signal while suppressing DPI residuals and sensed echoes.

[0318] s34, The first access network device is based on the MMSE weight value ( ) for the sixth signal ( Demodulate the signal to obtain the communication signal.

[0319] In the specific implementation, the MMSE weight value is used ( ) for the sixth signal ( Demodulation is performed, and the final decoded uplink data symbols (i.e., communication signals) are obtained. )for:

[0320]

[0321] By employing this robust MMSE strategy based on interference reconstruction, the communication processing effectively utilizes calibration information and the output of the sensing module, achieving high-performance communication in complex interference environments.

[0322] like Figure 10 As shown in the simulation test, assuming the sensed echo intensity is 10dB and the DPI remains at 25dB, for the communication side, Figure 10 (a) shows that the communication SINR approaches ideal linearity with the increase of the input SNR, and tends to saturate when it increases to above 25 dB; Figure 10 Figure (b) shows the variation of symbol error rate (SER) with input SNR. The simulation results are consistent with the theoretical lower bound, indicating that interference cancellation has a relatively small impact on communication reliability. The so-called theoretical lower bound refers to the optimal limit value that the performance index can reach under ideal conditions. This limit value is derived from physical laws or mathematical principles, and the performance of any practical algorithm cannot exceed this lower bound.

[0323] Based on the above, for time slot t+2, the second access network device sends a sensing signal. The first access network device and the third access network device can refer to the above steps S501~S505 to determine the distance information of the target object and the speed information of the target object's movement. They can also effectively demodulate the communication signal sent by the terminal device.

[0324] Similarly, in time slot t+3, the third access network device sends a sensing signal, and the first and second access network devices can also refer to the above steps S501~S505 to determine the distance information of the target object and the speed information of the target object's movement, and can also effectively demodulate the communication signal sent by the terminal device.

[0325] Similarly, in time slot t+4, the first access network device sends a sensing signal, and the second and third access network devices can also refer to the above steps S501~S505 to determine the distance information of the target object and the speed information of the target object's movement, and can also effectively demodulate the communication signal sent by the terminal device.

[0326] Furthermore, such as Figure 6As shown, after the ISAC superframe execution is completed, in Step 8, the first access network device, the second access network device, and the third access network device send second indication information to the terminal devices they serve. This second indication information is used to indicate the restoration of normal TDD configuration. In Step 9, the first access network device, the second access network device, and the third access network device send the sensing results (i.e., sensing result reporting) to the AMF. The sensing results include the distance information of the target object and the speed information of the target object's movement. The AMF further forwards the sensing results (i.e., sensing result reporting) to the sensing scheduler, thereby completing the ISAC task. This allows the sensing scheduler to dynamically adjust sensing parameters (such as sensing beam direction, signal bandwidth, and measurement period) based on the sensing results, optimizing sensing coverage and resolution, while avoiding resource conflicts and interference between sensing tasks.

[0327] It can be seen that, based on Figure 5 The described method employs a multi-base station cooperative sensing approach, grouping multiple access network devices into a sensing unit to collaboratively sense target objects (such as vehicles and pedestrians) within its signal coverage area. Furthermore, a half-duplex round-robin scheduling mechanism is used, allowing each access network device in the sensing unit to take turns acting as both a transmitting and receiving base station in consecutive time slots. This ensures that all areas covered by the sensing unit can receive periodic sensing and monitoring, meeting the latency requirements of base station communication while guaranteeing the time window required for sensing tasks, ultimately achieving coordinated optimization of communication and sensing. In addition, sensing is performed using a wide-beam (i.e., the beam corresponding to the first signal) coarse detection (i.e., detection mode) and a focused beam (i.e., the beam corresponding to the second signal) fine tracking (i.e., tracking mode). This simultaneously achieves precise interference suppression and efficient calculation of sensing parameters, significantly improving the sensing accuracy and resource utilization of the ISAC system and ensuring sensing performance.

[0328] The apparatus provided in the embodiments of this application will be described below.

[0329] This application divides the device into functional modules according to the above method embodiments. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. It should be noted that the module division in this application is illustrative and only represents one logical functional division; other division methods may be used in actual implementation. The following will combine... Figures 11 to 13 The apparatus of the embodiments of this application is described in detail.

[0330] Figure 11 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application, such as... Figure 11As shown, the communication device includes a processing module 1101 and a transceiver module 1102. The transceiver module 1102 can implement corresponding communication functions, and the processing module 1101 is used to implement corresponding processing functions. The transceiver module 1102 can also be referred to as an interface, a communication interface, or a communication module, etc.

[0331] In some embodiments of this application, the communication device can be used to perform the actions performed by the terminal device in the above method embodiments. In this case, the communication device can be the terminal device itself or a chip or functional module configurable within the terminal device. The transceiver module 1102 is used to perform transceiver-related operations of the terminal device in the above method embodiments, and the processing module 1101 is used to perform processing-related operations of the terminal device in the above method embodiments.

[0332] For example, the processing module 1101 can be used to obtain first channel status information between the first access network device and the second access network device, and second channel status information between the first access network device and the terminal device;

[0333] The transceiver module 1102 can be used to receive a first signal; the first signal includes a first echo signal reflected by a target object after a first sensing signal sent by a second access network device.

[0334] The processing module 1101 can also be used to determine the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the first channel state information and the second channel state information.

[0335] The transceiver module 1102 can also be used to receive a second signal; the second signal includes a second echo signal reflected by the target object after the second sensing signal sent by the second access network device; the transmission beamwidth of the first sensing signal is greater than the transmission beamwidth of the second sensing signal, and the transmission beam direction of the second sensing signal is matched with the first departure angle;

[0336] The processing module 1101 can also be used to perform sensing processing on the second signal based on the first channel state information, the second channel state information, the first angle of arrival and the first departure angle, to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement.

[0337] In one possible implementation, the first signal further includes other interference signals; the processing module 1101, when determining the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the first channel state information and the second channel state information, can specifically be used to: suppress interference on the first signal based on the first channel state information and the second channel state information to obtain a spatial spectrum function; and determine the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the spatial spectrum function.

[0338] In one possible implementation, when processing module 1101 performs interference suppression on the first signal based on the first channel state information and the second channel state information to obtain the spatial spectrum function, it can specifically be used to: perform DPI cancellation on the first signal based on the first channel state information to obtain the third signal; perform uplink subspace projection on the third signal based on the second channel state information to obtain the fourth signal; determine the first sample covariance matrix based on the fourth signal; and determine the spatial spectrum function based on the first sample covariance matrix.

[0339] In one possible implementation, the processing module 1101 can also be used to: obtain the DPI calibration residual between the first access network device and the second access network device, the uplink channel estimation residual between the first access network device and the terminal device, and the original array manifold corresponding to the first sensing signal; determine the interference covariance matrix based on the DPI calibration residual and the uplink channel estimation residual; when determining the spatial spectrum function based on the first sample covariance matrix, the processing module 1101 can specifically be used to: perform whitening processing on the first sample covariance matrix and the original array manifold based on the interference covariance matrix to obtain a first whitening matrix and a first steering vector; determine the spatial spectrum function based on the first whitening matrix and the first steering vector.

[0340] In one possible implementation, the processing module 1101 can also be used to: acquire at least one second initial angle of arrival corresponding to the first echo signal; when determining the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the spatial spectrum function, the processing module 1101 can specifically be used to: determine the first initial angle of arrival corresponding to the first echo signal based on the spatial spectrum function; determine the first angle of arrival corresponding to the first echo signal based on the first initial angle of arrival and at least one second initial angle of arrival; and determine the first departure angle corresponding to the first sensing signal based on the first angle of arrival corresponding to the first echo signal.

[0341] In one possible implementation, the transceiver module 1102 can also be used to: send first indication information to the second access network device, the first indication information being used to indicate the first angle of arrival and the first angle of departure.

[0342] In one possible implementation, the processing module 1101, when determining the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the spatial spectrum function, may specifically be used to: determine the first initial angle of arrival corresponding to the first echo signal based on the spatial spectrum function; send the first initial angle of arrival to the fusion center; and receive first indication information from the fusion center, the first indication information being used to indicate the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal.

[0343] In one possible implementation, the second signal further includes other interference signals; the processing module 1101, when performing sensing processing on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement, can specifically be used to: suppress interference on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain a fifth signal; and perform Doppler processing on the fifth signal to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement.

[0344] In one possible implementation, the processing module 1101, when performing interference suppression on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain the fifth signal, can specifically be used to: perform DPI cancellation on the second signal based on the first channel state information to obtain the sixth signal; perform uplink subspace projection on the sixth signal based on the second channel state information to obtain the seventh signal; perform uplink subspace projection on the steering vector corresponding to the first angle of arrival to obtain the subspace vector; process the interference covariance matrix and the subspace vector based on the LCMV algorithm to obtain the weighted vector; perform filtering processing on the seventh signal based on the weighted vector to obtain the eighth signal; and perform normalization processing on the eighth signal based on the first departure angle to obtain the fifth signal.

[0345] In one possible implementation, the second signal further includes a communication signal sent by the terminal device to the first access network device. The processing module 1101 can also be used to: determine the second sample covariance matrix based on the sixth signal; process the second sample covariance matrix, the sixth signal, and the second channel state information based on the MMSE combiner to obtain the MMSE weight value; and demodulate the sixth signal based on the MMSE weight value to obtain the communication signal.

[0346] In one possible implementation, the first access network device and the second access network device belong to a sensing unit, which includes N access network devices. The N access network devices take turns transmitting sensing signals in N time slots, where N is an integer greater than 1.

[0347] In one possible implementation, the transceiver module 1102 can also be used to: receive first configuration information from a core network element, the first configuration information instructing the first access network device to transmit a sensing signal in a first time slot out of N time slots, and to receive sensing signals in other time slots out of N time slots besides the first time slot.

[0348] The embodiments of this application and the method embodiments shown above are based on the same concept and have the same technical effects. For the specific principles, please refer to the description of the embodiments shown above, which will not be repeated here.

[0349] For example, transceiver module 1102 may include radio frequency module, antenna module, etc. For example, transceiver module 1102 may include pin module, etc.

[0350] Optionally, in the above embodiments, the communication device may further include a storage module, which can be used to store instructions and / or data. The processing module 1101 can read the instructions and / or data in the storage module to enable the device to implement the aforementioned method embodiments. For example, the storage module may also store the first channel state information, second channel state information, first angle of arrival, first departure angle, spatial spectral function, first sample covariance matrix, second sample covariance matrix, DPI calibration residual, uplink channel estimation residual, original array manifold, interference covariance matrix, etc., as shown above.

[0351] For details regarding the terms or steps in each of the above embodiments, such as ISAC, SRS, UL CSI, AMF, DPI, terminal UL interference, TDD configuration, LCMV, and MMSE, please refer to the descriptions in the above method embodiments. They will not be detailed here.

[0352] The specific descriptions of the transceiver module and processing module shown in the above embodiments are merely examples. For the specific functions or execution steps of the transceiver module and processing module, please refer to the above method embodiments, which will not be described in detail here.

[0353] The apparatus of the embodiments of this application has been described above. The possible product forms of the described apparatus are described below. Any device possessing the above-described features... Figure 11 Any form of product that incorporates the functionality of the described device falls within the protection scope of the embodiments of this application. The following description is merely illustrative and does not limit the product form of the device in the embodiments of this application to this specific example.

[0354] In one possible implementation, Figure 11In the communication device shown, the processing module 1101 can be one or more processing circuits, and the transceiver module 1102 can be a transceiver circuit, or the transceiver module 1102 can also be a transmitting module and a receiving module. The transmitting module can be a transmitting circuit, and the receiving module can be a receiving circuit, which are integrated into one device, such as a transceiver circuit. In the embodiments of this application, the processing circuit and the transceiver circuit can be coupled, etc., and the connection method of the processing circuit and the transceiver circuit is not limited in the embodiments of this application. In the process of performing the above method, the process of sending information in the above method can be the process of the processing circuit outputting the above information. When outputting the above information, the processing circuit outputs the above information to the transceiver circuit so that the transceiver circuit can transmit (or output). After the above information is output by the processing circuit, it may need to undergo other processing before reaching the transceiver circuit. Similarly, the process of receiving information in the above method can be the process of the processing circuit receiving the input above information. When the processing circuit receives the input information, the transceiver circuit receives the above information and inputs it into the processing circuit. Furthermore, after the transceiver circuit receives the aforementioned information, the information may need to undergo further processing before being input into the processing circuit.

[0355] Figure 12 This is a schematic diagram of another communication device provided in an embodiment of this application. For example... Figure 12 As shown, the communication device 1200 includes one or more processing circuits 1220 and transceiver circuits 1210.

[0356] In some embodiments of this application, the communication device can be used to perform the steps, methods, or functions performed by the first access network device described above, such as the processing circuit 1220 being used to perform... Figure 11 The transceiver circuit 1210 can be used to perform the functions or steps implemented by the processing module 1101 shown. Figure 11 The transceiver module 1102 shown herein implements the functions or steps. For detailed descriptions of the processing circuit 1220 and the transceiver circuit 1210, please refer to [link / reference needed]. Figure 11 Alternatively, the method embodiments shown above will not be described in detail here.

[0357] For example, the processing circuitry may be one or more processors, or all or part of the circuitry of one or more processors. The transceiver circuitry may be a transceiver, or input / output circuitry, or interface circuitry, etc.

[0358] For example, in Figure 12 In various implementations of the illustrated apparatus, the transceiver circuitry may include a receiver for performing a receiving function (or operation) and a transmitter for performing a transmitting function (or operation). The transceiver circuitry is also used for communicating with other devices / appliances via a transmission medium.

[0359] Optionally, the communication device 1200 may further include one or more memories 1230 for storing program instructions and / or data. The memories 1230 are coupled to the processing circuitry 1220. The coupling in this embodiment is an indirect coupling or communication connection between devices, units, or modules, and can be electrical, mechanical, or other forms, used for information exchange between devices, units, or modules. The processing circuitry 1220 may operate in conjunction with the memories 1230. The processing circuitry 1220 can execute the program instructions stored in the memories 1230. Optionally, at least one of the aforementioned memories may be included in the processing circuitry.

[0360] This application embodiment does not limit the specific connection medium between the transceiver circuit 1210, the processing circuit 1220, and the memory 1230. This application embodiment... Figure 12 The memory 1230, processing circuit 1220, and transceiver circuit 1210 are connected via a bus 1240. Figure 12 The connections between other components are shown in bold and are for illustrative purposes only, not as limiting information. The bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, Figure 12 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0361] In the embodiments of this application, the processing circuit may be a general-purpose processing circuit, a digital signal processing circuit, an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component, etc., and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processing circuit may be a microprocessor circuit or any conventional processing circuit, etc. The steps of the methods disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processing circuit, or being executed by a combination of hardware and software modules in the processing circuit, etc.

[0362] In this application embodiment, the memory may include, but is not limited to, non-volatile memory such as hard disk drive (HDD) or solid-state drive (SSD), random access memory (RAM), erasable programmable read-only memory (EPROM), read-only memory (ROM), or compact disc read-only memory (CD-ROM), etc. Memory is any storage medium capable of carrying or storing program code in the form of instructions or data structures, and capable of being read and / or written by a computer (such as the device shown in this application), but is not limited to this. The memory in this application embodiment may also be a circuit or any other device capable of implementing storage functions, used to store program instructions and / or data.

[0363] For example, the processing circuit 1220 is mainly used to process communication protocols and communication data, control the entire device, execute software programs, and process the data of the software programs. The memory 1230 is mainly used to store software programs and data. The transceiver circuit 1210 may include a control circuit and an antenna. The control circuit is mainly used for converting baseband signals to radio frequency signals and processing radio frequency signals. The antenna is mainly used for transmitting and receiving radio frequency signals in the form of electromagnetic waves. Input / output devices, such as touch screens, displays, and keyboards, are mainly used to receive user input data and output data to the user.

[0364] When the device is powered on, the processing circuit 1220 can read the software program in the memory 1230, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processing circuit 1220 performs baseband processing on the data to be transmitted and outputs the baseband signal to the radio frequency (RF) circuit. The RF circuit performs RF processing on the baseband signal and transmits the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processing circuit 1220. The processing circuit 1220 converts the baseband signal into data and processes the data.

[0365] In another implementation, the radio frequency circuit and antenna can be set up independently of the processing circuit that performs baseband processing. For example, in a distributed scenario, the radio frequency circuit and antenna can be arranged remotely, independent of the device.

[0366] The apparatus shown in the embodiments of this application may also have a higher... Figure 12This application does not limit the use of other components or other related elements. The methods performed by the processing circuit and transceiver circuit shown above are merely examples; the specific steps performed by the processing circuit and transceiver circuit can be found in the methods described above.

[0367] In another possible implementation, Figure 11 In the device shown, the processing module 1101 can be one or more logic circuits, and the transceiver module 1102 can be an input / output interface, or a communication interface, or an interface circuit, or an interface, etc. Alternatively, the transceiver module 1102 can also be a transmitting module and a receiving module. The transmitting module can be an output interface, and the receiving module can be an input interface. The transmitting module and the receiving module are integrated into one module, such as an input / output interface.

[0368] Figure 13 This is a schematic diagram of another communication device provided in an embodiment of this application. For example... Figure 13 As shown, Figure 13 The communication device shown includes logic circuit 1301 and interface circuit 1302. That is, the processing module 1101 can be implemented using logic circuit 1301, and the transceiver module 1102 can be implemented using interface circuit 1302. The logic circuit 1301 can be a chip, processing circuit, integrated circuit, or system-on-chip (SoC) chip, etc., and the interface circuit 1302 can be a communication interface, input / output interface, pins, etc. For example, Figure 13 The above-mentioned communication device is used as an example of a chip, which includes a logic circuit 1301 and an interface circuit 1302.

[0369] In this embodiment, the logic circuit and the interface can also be coupled to each other. The specific connection method between the logic circuit and the interface is not limited in this embodiment. For example, the logic circuit 1301 can be used to perform... Figure 11 The interface circuit 1302 can be used to execute the functions or steps implemented by the processing module 1101 shown. Figure 11 The transceiver module 1102 shown herein implements the functions or steps. For detailed descriptions of the logic circuit 1301 and the interface circuit 1302, please refer to [link / reference needed]. Figure 11 Alternatively, the method embodiments shown above will not be described in detail here.

[0370] The apparatus shown in the embodiments of this application can be implemented in hardware or software, and the embodiments of this application do not limit this.

[0371] This application also provides a communication system, which includes a first access network device that can be used to execute the methods in any of the foregoing embodiments.

[0372] Optionally, the communication system further includes terminal equipment, core network elements (such as AMF), and a perception scheduler, which can be used to perform the methods in any of the foregoing embodiments.

[0373] Optionally, the communication system further includes a fusion center, which can be used to execute the methods in any of the foregoing embodiments. The fusion center can be deployed on the core network side or on the access network equipment side.

[0374] In addition, this application also provides a computer program for implementing the operations and / or processes performed by various devices in the method provided in this application.

[0375] This application also provides a computer-readable storage medium storing computer code that, when executed on a computer, causes the computer to perform the operations and / or processes performed by the various devices in the methods provided in this application.

[0376] This application also provides a computer program product comprising computer code or a computer program that, when run on a computer, causes the operations and / or processes performed by various entities in the method provided in this application to be executed.

[0377] In the embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple modules or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be indirect couplings or communication connections through some interfaces, devices, or modules, or they may be electrical, mechanical, or other forms of connection.

[0378] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical modules; that is, they may be located in one place or distributed across multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the technical effects of the solutions provided in the embodiments of this application.

[0379] Furthermore, the functional modules in the various embodiments of this application can be integrated into one processing module, or each module can exist physically separately, or two or more modules can be integrated into one module. The integrated modules described above can be implemented in hardware or as software functional modules.

[0380] If the integrated module is implemented as a software functional module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, 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. This computer software product is stored in a readable storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned readable storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0381] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A communication method, characterized in that, The method includes: Obtain first channel status information between the first access network device and the second access network device, and second channel status information between the first access network device and the terminal device; Receive a first signal; the first signal includes a first echo signal reflected by the target object after a first sensing signal sent by the second access network device; Based on the first channel state information and the second channel state information, the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal are determined. Receive a second signal; the second signal includes a second echo signal reflected by the target object after the second sensing signal sent by the second access network device; the transmission beamwidth of the first sensing signal is greater than the transmission beamwidth of the second sensing signal, and the transmission beam direction of the second sensing signal matches the first departure angle; Based on the first channel state information, the second channel state information, the first angle of arrival, and the first angle of departure, the second signal is processed to obtain the distance information between the first access network device and the target object, and the speed information of the target object's movement.

2. The method according to claim 1, characterized in that, The first signal also includes other interference signals; determining the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensing signal based on the first channel state information and the second channel state information includes: Based on the first channel state information and the second channel state information, interference suppression is performed on the first signal to obtain the spatial spectrum function; The first angle of arrival corresponding to the first echo signal and the first angle of departure corresponding to the first sensing signal are determined based on the spatial spectrum function.

3. The method according to claim 2, characterized in that, The step of performing interference suppression on the first signal based on the first channel state information and the second channel state information to obtain a spatial spectrum function includes: Based on the first channel state information, the first signal is subjected to direct path interference (DPI) cancellation to obtain the third signal; The third signal is projected into the uplink subspace based on the second channel state information to obtain the fourth signal; The first sample covariance matrix is ​​determined based on the fourth signal; The spatial spectral function is determined based on the covariance matrix of the first sample.

4. The method according to claim 3, characterized in that, The method further includes: Obtain the DPI calibration residual between the first access network device and the second access network device, the uplink channel estimation residual between the first access network device and the terminal device, and the original array manifold corresponding to the first sensing signal; The interference covariance matrix is ​​determined based on the DPI calibration residual and the uplink channel estimation residual. The step of determining the spatial spectral function based on the first sample covariance matrix includes: Based on the interference covariance matrix, the first sample covariance matrix and the original array manifold are whitened to obtain a first whitening matrix and a first steering vector. The spatial spectral function is determined based on the first whitening matrix and the first steering vector.

5. The method according to claim 2, characterized in that, The method further includes: Obtain at least one second initial angle of arrival corresponding to the first echo signal; The step of determining the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensed signal based on the spatial spectrum function includes: The first initial angle of arrival corresponding to the first echo signal is determined based on the spatial spectrum function. The first angle of arrival corresponding to the first echo signal is determined based on the first initial angle of arrival and the at least one second initial angle of arrival; The first departure angle corresponding to the first sensing signal is determined based on the first angle of arrival corresponding to the first echo signal.

6. The method according to claim 5, characterized in that, The method further includes: Send a first indication message to the second access network device, the first indication message being used to indicate the first angle of arrival and the first angle of departure.

7. The method according to claim 2, characterized in that, The step of determining the first angle of arrival corresponding to the first echo signal and the first departure angle corresponding to the first sensed signal based on the spatial spectrum function includes: The first initial angle of arrival corresponding to the first echo signal is determined based on the spatial spectrum function. Send the first initial angle of arrival to the fusion center; The system receives first indication information from the fusion center, the first indication information being used to indicate the first angle of arrival corresponding to the first echo signal and the first angle of departure corresponding to the first sensing signal.

8. The method according to claim 4, characterized in that, The second signal also includes other interference signals; The step of sensing and processing the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain distance information between the first access network device and the target object and speed information of the target object includes: Based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle, interference suppression is performed on the second signal to obtain the fifth signal; The fifth signal is subjected to Doppler processing to obtain the distance information between the first access network device and the target object and the speed information of the target object's movement.

9. The method according to claim 8, characterized in that, The step of suppressing interference on the second signal based on the first channel state information, the second channel state information, the first angle of arrival, and the first departure angle to obtain the fifth signal includes: Based on the first channel state information, the second signal is subjected to DPI cancellation to obtain the sixth signal; The sixth signal is projected into the uplink subspace based on the second channel state information to obtain the seventh signal; The guide vector corresponding to the first angle of arrival is projected into the upspace subspace to obtain the subspace vector; The interference covariance matrix and the subspace vector are processed based on the linear constraint minimum variance (LCMV) algorithm to obtain a weighted vector; The seventh signal is filtered based on the weighted vector to obtain the eighth signal; The eighth signal is normalized based on the first departure angle to obtain the fifth signal.

10. The method according to claim 9, characterized in that, The second signal also includes a communication signal sent by the terminal device to the first access network device, and the method further includes: The second sample covariance matrix is ​​determined based on the sixth signal; The second sample covariance matrix, the sixth signal, and the second channel state information are processed by the minimum mean square error (MMSE) combiner to obtain MMSE weight values. The sixth signal is demodulated based on the MMSE weight value to obtain the communication signal.

11. The method according to any one of claims 1 to 10, characterized in that, The first access network device and the second access network device belong to a sensing unit. The sensing unit includes N access network devices, which take turns transmitting sensing signals in N time slots, where N is an integer greater than 1.

12. The method according to claim 11, characterized in that, The method further includes: The first configuration information is received from the core network element. The first configuration information instructs the first access network device to transmit a sensing signal in the first time slot of the N time slots and to receive sensing signals in the other time slots of the N time slots other than the first time slot.

13. A communication device, characterized in that, Includes modules or units for performing the method as described in any one of claims 1 to 12.

14. A communication device, characterized in that, It includes a processing circuit and a transceiver circuit, the transceiver circuit being used to input and / or output information, and the processing circuit being used to perform the method as described in any one of claims 1 to 12.

15. A chip, characterized in that, It includes a processing circuit and an interface circuit, the processing circuit and the interface circuit being coupled; the interface circuit is used for inputting and / or outputting information, and the processing circuit is used for executing code instructions to cause the method of any one of claims 1 to 12 to be performed.

16. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program, which, when executed, performs the method as described in any one of claims 1 to 12.

17. A computer program product, characterized in that, The computer program product includes a computer program that, when run, causes a computer to perform the method as described in any one of claims 1 to 12.

Images