Communication method, communication device, communication system, storage medium, and program product

Abstract

The embodiment of the invention relates to a communication method, communication equipment, a communication system and a storage medium. The communication method can be executed by a first node, and the method comprises: receiving first information sent by a sensing receiving node, the first information being used for indicating a measurement quantity of the sensing receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity being used for indicating an arrival angle of a reference signal reaching the sensing receiving node via a non-line-of-sight path; and based on the first information, positioning the measured object on the non-line-of-sight path. The sensing receiving node can measure the non-line-of-sight path caused by the measured object, the arrival angle of the reference signal reaching the sensing receiving node through the non-line-of-sight path is obtained, the arrival angle is sent to the first node, and the first node positions the measured object based on the arrival angle. Therefore, the to-be-tested object in the ISAC system can be positioned.

Description

Communication method, communication device, communication system, storage medium and program product TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of communication, and particularly relates to a communication method, a communication device, a communication system, a storage medium and a program product. BACKGROUND

[0002] Integrated sensing and communication (ISAC) technology aims to integrate sensing capability into a communication system, so that the communication system can provide sensing as a service to users together with communication services.

[0003] SUMMARY

[0004] How to measure a measured object in an ISAC system to achieve positioning is a problem to be solved.

[0005] Embodiments of the present disclosure provide a communication method, a communication device, a communication system and a storage medium.

[0006] According to a first aspect of embodiments of the present disclosure, a communication method is provided, executed by a first node, and the method comprises: receiving first information sent by a sensing receiving node, the first information being used for indicating a measurement quantity of the sensing receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity being used for indicating an angle of arrival of a reference signal via a non-line-of-sight path to the sensing receiving node; and performing positioning on a measured object located on the non-line-of-sight path based on the first information.

[0007] According to a second aspect of embodiments of the present disclosure, a communication method is provided, executed by a sensing receiving node, and the method comprises: sending first information, the first information being used for indicating a measurement quantity of the sensing receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity being used for indicating an angle of arrival of a reference signal via a non-line-of-sight path to the sensing receiving node, the first information being used for positioning on a measured object located on the non-line-of-sight path.

[0008] According to a third aspect of embodiments of the present disclosure, a communication device is provided, comprising: a transceiver module configured to receive first information sent by a sensing receiving node, the first information being used for indicating a measurement quantity of the sensing receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity being used for indicating an angle of arrival of a reference signal via a non-line-of-sight path to the sensing receiving node; and a processing module configured to perform positioning on a measured object located on the non-line-of-sight path based on the first information.

[0009] According to a fourth aspect of the embodiments of the present disclosure, a communication device is provided, including: a transceiver configured to transmit first information, the first information being used to indicate a measurement of a sensing receiving node, the measurement including a first measurement, the first measurement being used to indicate an angle of arrival of a reference signal reaching the sensing receiving node via a non-line-of-sight path, and the first information being used to locate an object under test on the non-line-of-sight path.

[0010] According to a fifth aspect of the embodiments of the present disclosure, a communication device is provided, including: one or more processors; and wherein the communication device is configured to perform the communication method according to the first aspect or the second aspect.

[0011] According to a sixth aspect of the embodiments of the present disclosure, a communication system is provided, including a first node, a sensing receiving node, and a sensing transmitting node, wherein the first node is configured to implement the communication method according to the first aspect, the sensing receiving node is configured to implement the communication method according to the second aspect, and the sensing transmitting node is configured to transmit a reference signal.

[0012] According to a seventh aspect of the embodiments of the present disclosure, a computer storage medium is provided, the computer storage medium storing instructions, when the instructions are executed on a communication device, causing the communication device to perform the communication method according to the first aspect or the second aspect.

[0013] According to an eighth aspect of the embodiments of the present disclosure, a computer program product is provided, including a computer program, when the computer program is executed by a processor, implementing the communication method according to the first aspect or the second aspect.

[0014] According to a ninth aspect of the embodiments of the present disclosure, a computer program is provided, the computer program including code, when the code is executed by a processor, implementing the communication method according to the first aspect or the second aspect.

[0015] According to a tenth aspect of the embodiments of the present disclosure, a chip or chip system is provided. The chip or chip system includes processing circuitry. The processing circuitry is configured to perform the communication method according to the first aspect or the second aspect.

[0016] The technical solutions provided by the embodiments of the present disclosure can enable the sensing receiving node to measure the non-line-of-sight path caused by the object under test, obtain the angle of arrival of the reference signal reaching the sensing receiving node via the non-line-of-sight path, and transmit the angle of arrival to the first node, so that the first node can locate the object under test in the ISAC system. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following describes the drawings required for the embodiments, and the following drawings are only some embodiments of the present disclosure, and do not specifically limit the protection scope of the present disclosure.

[0018] FIG. 1A is a schematic diagram of an architecture of a communication system according to an embodiment of the present disclosure;

[0019] FIG. 1B is a schematic diagram of an ISAC system sensing mode according to an embodiment of the present disclosure;

[0020] FIG. 2A is one of example interaction diagrams of a communication method according to an embodiment of the present disclosure;

[0021] FIG. 2B is a schematic diagram of a communication system according to an embodiment of the present disclosure;

[0022] FIG. 2C is another of example interaction diagrams of a communication method according to an embodiment of the present disclosure;

[0023] FIG. 2D is a schematic diagram of a communication system according to an embodiment of the present disclosure;

[0024] FIG. 3A is one of schematic diagrams of a communication method performed by a first node according to an embodiment of the present disclosure;

[0025] FIG. 3B is another of schematic diagrams of a communication method performed by a first node according to an embodiment of the present disclosure;

[0026] FIG. 4A is one of schematic diagrams of a communication method performed by a sensing receiving node according to an embodiment of the present disclosure;

[0027] FIG. 4B is another of schematic diagrams of a communication method performed by a sensing receiving node according to an embodiment of the present disclosure;

[0028] FIG. 5 is a schematic diagram of a structure of a communication device according to an embodiment of the present disclosure;

[0029] FIG. 6 is another schematic diagram of a structure of a communication device according to an embodiment of the present disclosure;

[0030] FIG. 7 is a schematic diagram of a structure of a chip according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0031] Embodiments of the present disclosure provide a communication method, a communication device, a communication system, a storage medium and a program product.

[0032] In a first aspect, embodiments of the present disclosure provide a communication method performed by a first node, comprising: receiving first information sent by a sensing receiving node, the first information being used to indicate a measurement quantity of the sensing receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity being used to indicate an angle of arrival of a reference signal arriving at the sensing receiving node via a non-line-of-sight path; and based on the first information, positioning a measured object located on the non-line-of-sight path.

[0033] In the embodiments of the present disclosure, the perception receiving node can measure the non-line-of-sight path caused by the measured object, obtain the angle of arrival of the reference signal reaching the perception receiving node via the non-line-of-sight path, and send the angle of arrival to the first node, and the first node can locate the measured object based on the angle of arrival, so as to realize the location of the measured object in the ISAC system.

[0034] In combination with some embodiments of the first aspect, in some embodiments, the perception receiving node is multiple, and locating the measured object located on the non-line-of-sight path based on the first information includes: locating the measured object based on the angle of arrival indicated by the multiple first measurement quantities.

[0035] In the embodiments of the present disclosure, the multiple angles of arrival measured by the multiple perception receiving nodes can be used to locate the measured object, which can reduce the influence of the measurement error of each perception receiving node on the location result, and effectively improve the location accuracy.

[0036] In combination with some embodiments of the first aspect, in some embodiments, the measurement quantity further includes a second measurement quantity, and the second measurement quantity is used to indicate the arrival time difference of the reference signal reaching the perception receiving node via the line-of-sight path and the non-line-of-sight path; and locating the measured object located on one or more non-line-of-sight paths based on the first information includes: locating the measured object based on the angle of arrival indicated by the first measurement quantity and the arrival time difference indicated by the second measurement quantity.

[0037] In the embodiments of the present disclosure, the perception receiving node can be one or more, and the perception receiving node can measure the angle of arrival and the arrival time difference via the line-of-sight path and the non-line-of-sight path, and locate the measured object based on the angle of arrival and the arrival time difference, so that the number of perception receiving nodes required to realize the location can be effectively reduced by introducing the arrival time difference, and the location efficiency of the ISAC system is improved.

[0038] In combination with some embodiments of the first aspect, in some embodiments, the perception receiving node is one or more, and the reference signal received by each perception receiving node comes from one or more perception sending nodes, and each perception receiving node has one or more non-line-of-sight paths with one or more perception sending nodes.

[0039] In combination with some embodiments of the first aspect, in some embodiments, the reference signal sent by the one or more perception sending nodes is multiple, and different reference signals have different configurations.

[0040] In the embodiments of the present disclosure, the perception sending node can send multiple reference signals with different configurations, so that the perception receiving node can obtain multiple measurement quantities of multiple reference signals with different configurations, and the measured object can be located by using multiple measurement quantities, which can effectively improve the location accuracy and reduce the measurement error.

[0041] In some embodiments of the first aspect, in some embodiments, the configuration comprises at least one of: identification information; a transmission beam; a bandwidth; a frequency domain resource; a time domain resource.

[0042] In some embodiments of the first aspect, in some embodiments, the reference signal from the same sensing transmitting node received by each sensing receiving node is multiple, the maximum number of measurement quantities of the reference signal from the same sensing transmitting node indicated by the first information is N, N is a preconfigured or network configured positive integer.

[0043] In the embodiments of the present disclosure, the sensing receiving node can determine the number of measurement quantities reported to the first node based on the preconfigured or network configured maximum number N, so as to improve the accuracy and efficiency of the measurement quantities reported by the sensing receiving node.

[0044] In some embodiments of the first aspect, in some embodiments, the first information is further used to indicate time information associated with the measurement quantity, and the time information comprises at least one of: a receiving time of the reference signal associated with the measurement quantity; a valid time of the measurement quantity.

[0045] In the embodiments of the present disclosure, the first node can determine the valid period of the measurement quantity based on the time information, or can filter the valid measurement quantity from the measurement quantity based on the time information, so as to ensure the timeliness and accuracy of the positioning.

[0046] In some embodiments of the first aspect, in some embodiments, the communication method further comprises: receiving second information sent by the sensing receiving node, the second information being used to indicate a measurement error of the sensing receiving node on the measurement quantity.

[0047] In the embodiments of the present disclosure, the first node can correct the positioning result based on the measurement error of the sensing receiving node, or can determine the number of sensing receiving nodes required for positioning based on the measurement error, so as to improve the positioning accuracy.

[0048] In some embodiments of the first aspect, in some embodiments, different measurement errors are associated with different reference signals.

[0049] In some embodiments of the first aspect, in some embodiments, the non-line-of-sight path comprises one or more single-hop non-line-of-sight paths generated via reflection of the measured object.

[0050] The second aspect, the embodiments of the present disclosure propose a communication method, executed by a sensing receiving node, the method comprising: sending first information, the first information being used to indicate measurement quantities of the sensing receiving node, the measurement quantities comprising a first measurement quantity, the first measurement quantity being used to indicate an angle of arrival of a reference signal to the sensing receiving node through a non-line-of-sight path, and the first information being used to position a measured object on the non-line-of-sight path.

[0051] In some embodiments of the second aspect, in some embodiments, the perception receiving node is one or more, each of the perception receiving node receives reference signals from one or more of the perception transmitting nodes, and each of the perception receiving node has one or more non-line-of-sight paths with one or more of the perception transmitting nodes.

[0052] In some embodiments of the second aspect, in some embodiments, the measurement quantity further comprises a second measurement quantity, the second measurement quantity is used to indicate a time difference of arrival of the reference signal through a line-of-sight path and a non-line-of-sight path to the perception receiving node, and the angle of arrival indicated by the first measurement quantity and the time difference of arrival indicated by the second measurement quantity are used to locate the measured object.

[0053] In some embodiments of the second aspect, in some embodiments, the perception receiving node is one or more, each of the perception receiving node receives reference signals from one or more of the perception transmitting nodes, and each of the perception receiving node has one or more non-line-of-sight paths with one or more of the perception transmitting nodes.

[0054] In some embodiments of the second aspect, in some embodiments, the reference signal transmitted by the one or more perception transmitting nodes is multiple, and different reference signals have different configurations.

[0055] In some embodiments of the second aspect, in some embodiments, the configuration comprises at least one of the following: identification information; a transmission beam; a bandwidth; a frequency domain resource; and a time domain resource.

[0056] In some embodiments of the second aspect, in some embodiments, the reference signal received by each of the perception receiving node from the same perception transmitting node is multiple, and the maximum number of measurement quantities of the reference signal from the same perception transmitting node indicated by the first information is N, N being a positive integer pre-configured or network-configured.

[0057] In some embodiments of the second aspect, in some embodiments, the first information is further used to indicate time information associated with the measurement quantity, and the time information is used to determine at least one third measurement quantity, the third measurement quantity being a measurement quantity whose reception time of the associated reference signal satisfies a first preset condition, or the third measurement quantity being a measurement quantity whose measurement time is within a valid time period.

[0058] In some embodiments of the second aspect, in some embodiments, the time information comprises at least one of the following: a reception time of the reference signal associated with the measurement quantity; a transmission time of the reference signal associated with the measurement quantity; and a valid time of the measurement quantity.

[0059] In some embodiments of the second aspect, in some embodiments, the method further comprises: transmitting second information, the second information being used to indicate a measurement error of the measurement quantity by the perception receiving node.

[0060] In some embodiments of the second aspect, in some embodiments, different measurement errors are associated with different reference signals.

[0061] In some embodiments of the second aspect, in some embodiments, the non-line-of-sight paths include one or more single-hop non-line-of-sight paths via reflection of the object under test.

[0062] In a third aspect, the embodiments of the present disclosure provide a communication device, comprising: a transceiver configured to receive first information sent by a sensing receiving node, the first information being used to indicate a measurement quantity of the sensing receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity being used to indicate an angle of arrival of a reference signal via a non-line-of-sight path to the sensing receiving node; and a processor configured to perform positioning of an object under test based on the first information.

[0063] In some embodiments of the third aspect, in some embodiments, the sensing receiving node is multiple, and the processor is further configured to perform positioning of the object under test based on angles of arrival indicated by the multiple first measurement quantities.

[0064] In some embodiments of the third aspect, in some embodiments, the measurement quantity further comprises a second measurement quantity, the second measurement quantity being used to indicate a time difference of arrival of the reference signal via a line-of-sight path and the non-line-of-sight path to the sensing receiving node; and the processor is further configured to perform positioning of the object under test based on the angle of arrival indicated by the first measurement quantity and the time difference of arrival indicated by the second measurement quantity.

[0065] In some embodiments of the third aspect, in some embodiments, the sensing receiving node is one or more, each of the one or more sensing receiving nodes receiving a reference signal from one or more sensing transmitting nodes, and each of the one or more sensing receiving nodes having one or more non-line-of-sight paths with the one or more sensing transmitting nodes.

[0066] In some embodiments of the third aspect, in some embodiments, the one or more sensing transmitting nodes transmit multiple reference signals, and different reference signals have different configurations.

[0067] In some embodiments of the third aspect, in some embodiments, the configuration comprises at least one of: identification information; a transmission beam; a bandwidth; a frequency domain resource; and a time domain resource.

[0068] In some embodiments of the third aspect, in some embodiments, each of the one or more sensing receiving nodes receives multiple reference signals from a same sensing transmitting node, and a maximum number of measurement quantities of the reference signals from the same sensing transmitting node indicated by the first information is N, N being a positive integer.

[0069] In some embodiments of the third aspect, in some embodiments, the first information further indicates time information associated with the measurement quantity, a reception time of the reference signal associated with the measurement quantity; a transmission time of the reference signal associated with the measurement quantity; a validity time of the measurement quantity.

[0070] In some embodiments of the third aspect, in some embodiments, the transceiver module is further configured to receive second information transmitted by the sensing receiving node, the second information indicating a measurement error of the measurement quantity by the sensing receiving node.

[0071] In some embodiments of the third aspect, in some embodiments, the measurement error is associated with the reference signal.

[0072] In some embodiments of the third aspect, in some embodiments, the non-line-of-sight path comprises one or more single-hop non-line-of-sight paths via the measured object.

[0073] In the fourth aspect, the embodiments of the present disclosure provide a communication device, comprising: a transceiver module configured to transmit first information, the first information indicating a measurement quantity of a sensing receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity indicating an angle of arrival of a reference signal reaching the sensing receiving node via a non-line-of-sight path, the first information being used for positioning a measured object on the non-line-of-sight path.

[0074] In some embodiments of the fourth aspect, in some embodiments, there are a plurality of sensing receiving nodes, and the angles of arrival indicated by the plurality of first measurement quantities are used for positioning the measured object.

[0075] In some embodiments of the fourth aspect, in some embodiments, the measurement quantity further comprises a second measurement quantity, the second measurement quantity indicating a time difference of arrival of the reference signal reaching the sensing receiving node via a line-of-sight path and the non-line-of-sight path; the angle of arrival indicated by the first measurement quantity and the time difference of arrival indicated by the second measurement quantity are used for positioning the measured object.

[0076] In some embodiments of the fourth aspect, in some embodiments, there is one or more sensing receiving nodes, and the reference signal received by each sensing receiving node is from one or more sensing transmitting nodes, and each sensing receiving node has one or more non-line-of-sight paths with the one or more sensing transmitting nodes.

[0077] In some embodiments of the fourth aspect, in some embodiments, the reference signal transmitted by the one or more sensing transmitting nodes is a plurality of reference signals, and different reference signals have different configurations.

[0078] In some embodiments of the fourth aspect, in some embodiments, the configuration comprises at least one of: identification information; a transmission beam; a bandwidth; a frequency domain resource; a time domain resource.

[0079] In some embodiments of the fourth aspect, in some embodiments, the first information is used for indicating a maximum number of measurement quantities of the reference signals from the same sensing transmitting node, and the maximum number of measurement quantities is N, where N is a positive integer.

[0080] In some embodiments of the fourth aspect, in some embodiments, the first information is further used for indicating time information associated with the measurement quantities, and the time information comprises at least one of: a receiving time of the reference signals associated with the measurement quantities; a transmitting time of the reference signals associated with the measurement quantities; a valid time of the measurement quantities.

[0081] In some embodiments of the fourth aspect, in some embodiments, the transceiver is further configured to transmit second information, and the second information is used for indicating a measurement error of the sensing receiving node on the measurement quantities.

[0082] In some embodiments of the fourth aspect, in some embodiments, the measurement error is associated with the reference signals.

[0083] In some embodiments of the fourth aspect, in some embodiments, the non-line-of-sight path comprises one or more single-hop non-line-of-sight paths via reflection of the object.

[0084] In the fifth aspect, the embodiments of the present disclosure provide a communication device, comprising: one or more processors; wherein the communication device is configured to execute the communication method of the first aspect or the second aspect.

[0085] In the sixth aspect, the embodiments of the present disclosure provide a communication system, comprising: a first node, a sensing receiving node and a sensing transmitting node, wherein the first node is configured to implement the communication method of the first aspect, the sensing receiving node is configured to implement the communication method of the second aspect, and the sensing transmitting node is configured to transmit the reference signals.

[0086] In the seventh aspect, the embodiments of the present disclosure provide a computer storage medium, and the storage medium stores instructions, when the instructions are executed on a communication device, the terminal or the network device executes the method described in the optional implementation manner of the first aspect or the second aspect.

[0087] In the eighth aspect, the embodiments of the present disclosure provide a computer program product, and when the program product is executed by a communication device, the communication device executes the method described in the optional implementation manner of the first aspect or the second aspect.

[0088] In the ninth aspect, the embodiments of the present disclosure provide a computer program, and when the computer program is executed on a computer, the computer executes the method described in the optional implementation manner of the first aspect or the second aspect.

[0089] In a tenth aspect, the embodiments of the present disclosure provide a chip or chip system. The chip or chip system includes processing circuitry configured to perform the method described in the above first aspect or the optional implementation of the second aspect.

[0090] It can be understood that the above communication device, communication system, storage medium, program product, computer program, chip or chip system are all used to execute the method proposed in the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved thereby can refer to the beneficial effects in the corresponding method, which will not be described here again.

[0091] The embodiments of the present disclosure propose a communication method, a communication device, a communication system, a storage medium and a program product. In some embodiments, the communication method and the terms such as information transmission method, information processing method and positioning method can be replaced with each other, and the terms such as information processing system, communication system and positioning system can be replaced with each other.

[0092] The embodiments of the present disclosure are not exhaustive, but only illustrate some embodiments, and are not specific limitations on the protection scope of the present disclosure. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing some steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, some or all steps of different embodiments can be combined arbitrarily, and an embodiment can be combined with the optional implementation of other embodiments.

[0093] In each embodiment of the present disclosure, the terms and / or descriptions between the embodiments are consistent if there is no special description and logical conflict, and can be referred to each other, and the technical features in different embodiments can be combined to form a new embodiment according to their inherent logical relationship.

[0094] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments, and not as a limitation on the present disclosure.

[0095] In the embodiments of the present disclosure, unless otherwise specified, the elements expressed in singular form, such as "one", "a", "the", "above", "the", "the", "this" and the like, can represent "one and only one", or "one or more", "at least one" and the like. For example, in the case of using articles such as "a", "an", "the" and the like in English, the noun after the article can be understood as singular expression, or can be understood as plural expression.

[0096] In the embodiments of the present disclosure, "multiple" refers to two or more.

[0097] In some embodiments, the terms "at least one of", "one or more of", "a plurality of", "multiple", and the like can be replaced with each other.

[0098] In some embodiments, the description modes such as "at least one of A, B", "A and / or B", "A in one case and B in another case", "in response to a case A, in response to a case B", and the like can include the following technical solutions according to the case: in some embodiments, A is executed regardless of B; in some embodiments, B is executed regardless of A; in some embodiments, A and B are selectively executed; in some embodiments, A and B are executed. When there are more branches such as A, B, C, and the like, the above is similar.

[0099] In some embodiments, the description modes such as "A or B" and the like can include the following technical solutions according to the case: in some embodiments, A is executed regardless of B; in some embodiments, B is executed regardless of A; in some embodiments, A and B are selectively executed. When there are more branches such as A, B, C, and the like, the above is similar.

[0100] The prefix words "first", "second", and the like in the embodiments of the present disclosure are only used to distinguish different description objects, and do not constitute a limitation on the position, order, priority, quantity, or content of the description objects. The description of the description objects should refer to the description in the context of the claims or embodiments, and should not constitute an additional limitation because of the use of the prefix words. For example, the description object is "field", and the ordinal words before "field" in "first field" and "second field" do not limit the position or order between "fields", and "first" and "second" do not limit whether the "fields" modified thereby are in the same message or not, nor do they limit the order of "first field" and "second field". For another example, the description object is "level", and the ordinal words before "level" in "first level" and "second level" do not limit the priority between "levels". For another example, the quantity of the description object is not limited by the ordinal words, and can be one or more. For example, "first device", wherein the quantity of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different, for example, the description object is "device", and "first device" and "second device" can be the same device or different devices, and their types can be the same or different; for another example, the description object is "information", and "first information" and "second information" can be the same information or different information, and their contents can be the same or different.

[0101] In some embodiments, "comprising A", "including A", "for indicating A", "carrying A" can be interpreted as directly carrying A, or indirectly indicating A.

[0102] In some embodiments, the terms "in response to", "in response to determining", "in the case of", "when", "when", "if", "if" and the like can be replaced with each other.

[0103] In some embodiments, the terms "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above", and the like can be replaced with each other, and the terms "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below", and the like can be replaced with each other.

[0104] In some embodiments, the device and the like can be interpreted as physical or virtual, and the name is not limited to the name recorded in the embodiments. The terms "device", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject" and the like can be replaced with each other.

[0105] In some embodiments, "network" can be interpreted as a device (for example, access network device, core network device, etc.) contained in the network.

[0106] In some embodiments, the terms “network devices,” “access network devices (AN devices),” “radio access network devices (RAN devices),” “base stations (BSs),” “radio base stations,” “fixed stations,” “nodes,” “access network nodes,” “access points,” “transmission points (TPs),” “reception points (RPs),” “transmission / reception points (TRPs),” “panels,” “antenna panels,” “antenna arrays,” “cells,” “macro cells,” “small cells,” “femtocells,” “picocells,” “sectors,” “cell groups,” “serving cells,” “carriers,” “component carriers,” “bandwidth parts (BWPs),” and the like can be used interchangeably.

[0107] In some embodiments, the terms "terminal," "terminal device," "user equipment (UE)," "user terminal," "mobile station (MS)," "mobile terminal (MT)," "subscriber station," "mobile unit," "subscriber unit," "wireless unit," "remote unit," "mobile device," "wireless device," "wireless communication device," "remote device," "mobile subscriber station," "access terminal," "mobile terminal," "wireless terminal," "remote terminal," "handset," "user agent," "mobile client," "client," and so on can be replaced with each other.

[0108] In some embodiments, the access network device, the core network device, or the network device can be replaced with a terminal. For example, the embodiments of the present disclosure can also be applied to a structure in which communication between the access network device, the core network device, or the network device and the terminal is replaced with communication between a plurality of terminals (e.g., device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, the terminal can also be configured to have all or part of the functions of the access network device. In addition, the terms "uplink," "downlink," and the like can also be replaced with terms corresponding to the inter-terminal communication (e.g., "side"). For example, the uplink channel, the downlink channel, and the like can be replaced with the side channel, and the uplink, the downlink, and the like can be replaced with the sidelink.

[0109] In some embodiments, the terminal can be replaced with the access network device, the core network device, or the network device. In this case, the access network device, the core network device, or the network device can also be configured to have all or part of the functions of the terminal.

[0110] In some embodiments, the data, information, etc. can be obtained in compliance with the laws and regulations of the country where the location is situated.

[0111] In some embodiments, the data, information, etc. can be obtained after obtaining the consent of the user.

[0112] In addition, each element, each row, or each column in the table of the embodiments of the present disclosure can be implemented as an independent embodiment, and any combination of any element, any row, or any column can also be implemented as an independent embodiment.

[0113] FIG. 1A is a schematic diagram of an architecture of a communication system according to an embodiment of the present disclosure. As shown in FIG. 1A, the communication system 100 includes a first node 101, a sensing RX node 102, and a sensing TX node 103.

[0114] In some embodiments, the first node 101 is configured to receive a measurement quantity and perform positioning on a sensing object based on the measurement quantity.

[0115] In some embodiments, the first node 101 is a device providing a sensing function (SF).

[0116] In some embodiments, the first node 101 is a terminal or a network device. In an example, the first node is a sensing network device. In an example, the first node is an ISAC system server.

[0117] In some embodiments, the sensing TX node 102 is configured to transmit a reference signal. In some embodiments, the reference signal can be replaced by a sensing reference signal (sensing RS).

[0118] In some embodiments, the sensing RX node 103 is configured to receive the reference signal reflected or scattered by the sensing object, obtain a measurement quantity of the reference signal, and transmit the measurement quantity to the first node 101.

[0119] In some embodiments, the sensing TX node 102 can be a transmitting antenna.

[0120] In some embodiments, the sensing TX node 102 can be a terminal or a network device.

[0121] In some embodiments, the sensing RX node 103 can be a receiving antenna.

[0122] In some embodiments, the sensing RX node 103 can be a terminal or a network device.

[0123] In some embodiments, the terminal includes at least one of a mobile phone, a wearable device, an Internet of Things device, a communication-capable automobile, a smart automobile, a Pad, a wireless-transceiving computer, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a wireless terminal device in a smart home, etc., but is not limited thereto.

[0124] In some embodiments, the network device can include an access network device and / or a core network device. The access network device is, for example, a node or device that accesses a terminal to a wireless network, and can include at least one of an evolved NodeB (eNB), a next generation eNB (ng-eNB), a next generation NodeB (gNB), a next generation radio access network (NG-RAN) node, a node B (NB), a home node B (HNB), a home evolved node B (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an Open RAN, a Cloud RAN, a base station in other communication systems, an access node in a Wi-Fi system, etc., but is not limited thereto.

[0125] In some embodiments, the technical solutions of the embodiments of the present disclosure can be applied to an open radio access network (Open RAN) architecture, at this time, the interfaces between or within the access network devices involved in the embodiments of the present disclosure can become internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs.

[0126] In some embodiments, the access network device can be composed of a central unit (CU) and a distributed unit (DU), where the CU can also be referred to as a control unit. The CU-DU structure can split the protocol layers of the access network device, and some of the protocol layers are controlled by the CU, and the remaining or all of the protocol layers are distributed in the DU and controlled by the CU, but not limited thereto.

[0127] In some embodiments, the core network device can be one device including the first network element, or a plurality of devices or device groups each including the first network element. The network element can be virtual or physical. The core network includes at least one of an evolved packet core (EPC), a 5G core network (5GCN), and a next generation core (NGC).

[0128] It can be understood that the communication system described in the embodiments of the present disclosure is for more clearly illustrating the technical solutions of the embodiments of the present disclosure, and does not constitute a limitation on the technical solutions provided by the embodiments of the present disclosure. It can be understood by those skilled in the art that, as the system architecture evolves and new business scenarios appear, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0129] The following embodiments of the present disclosure can be applied to the communication system 100 shown in FIG. 1A or part of the subject, but are not limited thereto. The subjects shown in FIG. 1A are examples, and the communication system can include all or part of the subjects in FIG. 1A, or include other subjects other than those in FIG. 1A. The number and form of each subject is arbitrary, and the connection relationship between the subjects is an example. The subjects can not be connected or can be connected, and the connection can be in any manner, can be direct connection or indirect connection, and can be wired connection or wireless connection.

[0130] Embodiments of the present disclosure can be applied to long term evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), future radio access (FRA), new-radio access technology (RAT), new radio (NR), new radio access (NX), future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, ultra mobile broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, ultra-wideband (UWB), Bluetooth (Bluetooth (registered trademark)), public land mobile network (PLMN) network, device-to-device (D2D) system, machine to machine (M2M) system, Internet of Things (IoT) system, vehicle-to-everything (V2X), system using other communication methods, next-generation system expanded based on them, and the like. In addition, a plurality of systems can be combined (for example, combination of LTE or LTE-A and 5G, and the like).

[0131] The ISAC system related to the embodiments of the present application is described below.

[0132] The ISAC system includes sensing network devices, sensing transmitting nodes, sensing receiving nodes, and sensing objects. The sensing modes of the ISAC system include the following six modes: (1) a single-transmitter receiver point monostatic (TRP monostatic) mode; (2) a dual-transmitter receiver point (TRP-TRP bistatic) mode; (3) a terminal-transmitter receiver point bistatic (UE-TRP bistatic) mode; (4) a transmitter receiver point-terminal bistatic (TRP-UE bistatic) mode; (5) a terminal monostatic (UE monostatic) mode; and (6) a terminal-terminal bistatic (UE-UE bistatic) mode.

[0133] FIG. 1B is a schematic diagram of ISAC system sensing modes, according to embodiments of the present disclosure. As shown in FIG. 1B, the above six modes are explained.

[0134] Mode 1: Base station A self-transmits and self-receives (i.e., TRP monostatic). Base station A transmits a reference signal, which, after passing through sensing object O1, is received and measured by the base station.

[0135] Mode 2: Base station A transmits and base station B receives (i.e., TRP-TRP bistatic). Base station A transmits a reference signal, which, after passing through sensing object O2, is received and measured by base station B.

[0136] Mode 3: Terminal A transmits and base station A receives (i.e., UE-TRP bistatic). Terminal A transmits a reference signal, which, after passing through sensing object O3, is received and measured by the base station.

[0137] Mode 4: Base station B transmits and terminal B receives (i.e., TRP-UE bistatic). Base station B transmits a reference signal, which, after passing through sensing object O4, is received and measured by terminal B.

[0138] Mode 5: Terminal A self-transmits and self-receives (i.e., UE monostatic). Terminal A transmits a reference signal, which, after passing through sensing object O5, is received and measured by terminal A.

[0139] Mode 6: Terminal A transmits and terminal B receives (i.e., UE-UE bistatic). Terminal A transmits a reference signal, which, after passing through sensing object O6, is received and measured by terminal B.

[0140] In some embodiments, the above six modes can be classified into two categories. The first category is mono-static, i.e., the transmitting node of the reference signal and the receiving node of the reference signal are deployed on the same device; the second category is bi-static, i.e., the transmitting node of the reference signal and the receiving node of the reference signal are deployed on different devices.

[0141] In some embodiments, for the above ISAC system, it is an urgent problem to know how the sensing network device, the sensing transmitting node and the sensing receiving node measure the measured object to achieve positioning.

[0142] FIG. 2A is one of the exemplary interaction diagrams of the communication method according to an embodiment of the present disclosure. As shown in FIG. 2A, the embodiment of the present disclosure relates to a communication method. The communication method is performed by the communication system 100, and includes steps S2101 to S2110.

[0143] In the embodiment of the present disclosure, the communication system includes a sensing network device, one sensing transmitting node, one sensing receiving node and one measured object.

[0144] In some embodiments, FIG. 2B is a schematic diagram of the communication system of the embodiment of the present disclosure, as shown in FIG. 2B, one sensing transmitting node can be the sensing transmitting node T1 (denoted as T1), one sensing receiving node can be the sensing receiving node R1 (denoted as R1), and one measured object can be the measured object O1 (denoted as O1).

[0145] In some embodiments, the communication system can further include other sensing transmitting nodes (e.g., the sensing transmitting node T2, the sensing transmitting node T3), other sensing receiving nodes (e.g., the sensing receiving node R2, the sensing receiving node R3) and other measured objects (e.g., the measured object O2).

[0146] In some embodiments, each sensing receiving node can receive one or more reference signals (denoted as RS) sent by one or more sensing transmitting nodes.

[0147] In some embodiments, each sensing transmitting node can send one or more reference signals.

[0148] In some embodiments, the sensing network device knows the location information of the sensing transmitting node and the sensing receiving node.

[0149] In some embodiments, the location information is used by the sensing network device to determine the distance between the sensing transmitting node and the sensing receiving node.

[0150] In some embodiments, the sensing network device knows the antenna information of the sensing transmitting node and the sensing receiving node.

[0151] In some embodiments, the antenna information is used by the sensing network device to determine the signal coverage and signal quality of the sensing transmitting node (or the sensing receiving node).

[0152] In some embodiments, the antenna information comprises at least one of: antenna height, antenna length, antenna gain, antenna directivity.

[0153] In step S2101, the sensing receiving node transmits second information.

[0154] In some embodiments, the sensing network device receives the second information.

[0155] In some embodiments, the second information is used to indicate the measurement error of the measurement quantity by the sensing receiving node.

[0156] In some embodiments, the measurement error can be associated with the sensing receiving node, and different sensing receiving nodes have different measurement errors of the measurement quantity.

[0157] In some embodiments, the measurement error can be associated with the reference signal, and different reference signals have different measurement errors of the corresponding measurement quantity.

[0158] In some embodiments, the configurations of different reference signals can be different, the transmitting nodes (i.e., the sensing transmitting nodes) of different reference signals can be different, and the paths of different reference signals to the receiving node (i.e., the sensing receiving node) can be different. Here, the path can include at least one of a non-line-of-sight path and a line-of-sight path. The non-line-of-sight path includes one or more single-hop non-line-of-sight paths generated via reflection of the measured object.

[0159] In some embodiments, the configuration comprises at least one of: identification information, a transmitting beam, a bandwidth, a frequency domain resource, a time domain resource.

[0160] In some embodiments, different reference signals have different identification information. In some embodiments, different reference signals are transmitted using different transmitting beams. In some embodiments, different reference signals have different bandwidths. In some embodiments, different reference signals have different frequency domain resources. In some embodiments, different reference signals have different time domain resources.

[0161] In an example, R1 receives three reference signals (e.g., RS1, RS2, and RS3), and RS1, RS2, and RS3 are all reference signals transmitted by T1 using different transmitting beams. R1 obtains measurement quantity 1 and measurement error 1 of RS1, R1 obtains measurement quantity 2 and measurement error 2 of RS2, and R1 obtains measurement quantity 3 and measurement error 3 of RS3. At this time, measurement error 1, measurement error 2, and measurement error 3 are all different and are respectively associated with different reference signals.

[0162] In an example, R1 receives two reference signals (e.g., RS4 and RS5), RS4 is a reference signal sent by T1, and RS5 is a reference signal sent by T2. R1 obtains a measurement value 4 and a measurement error 4 of RS4, and R1 obtains a measurement value 5 and a measurement error 5 of RS5. At this time, the measurement error 4 and the measurement error 5 are different, and are respectively associated with different reference signals.

[0163] In an example, R1 receives two reference signals (e.g., RS1 and RS2), RS1 reaches R1 through a non-line-of-sight path, and RS2 reaches R1 through a line-of-sight path. R1 obtains a measurement value 1 and a measurement error 1 of RS1, and R1 obtains a measurement value 2 and a measurement error 2 of RS2. At this time, the measurement error 1 and the measurement error 2 are different, and are respectively associated with different reference signals.

[0164] In some embodiments, the measurement error can be the measurement error of the measurement value of the perception receiving node in the historical positioning process.

[0165] In some embodiments, the measurement error can be used by the perception network device to select the perception receiving node required for positioning.

[0166] In some embodiments, the greater the measurement error of the measurement value of the perception receiving node, the lower the accuracy of the positioning result, and the smaller the possibility of being selected by the perception network device; the smaller the measurement error of the measurement value of the perception receiving node, the higher the accuracy of the positioning result, and the greater the possibility of being selected by the perception network device.

[0167] In some embodiments, the perception network device can select the perception receiving node required for positioning from multiple perception receiving nodes based on the requirement of positioning accuracy and the second information sent by each perception receiving node. In this way, the perception network device can filter the perception receiving node performing positioning by the measurement error before measurement, so as to reduce the influence of the perception receiving node itself on the positioning result and improve the positioning accuracy.

[0168] In some embodiments, the measurement error can also be used by the perception network device to determine the number of perception receiving nodes required for positioning.

[0169] In some embodiments, the greater the measurement error, the greater the number of perception receiving nodes required for positioning; the smaller the measurement error, the smaller the number of perception receiving nodes required for positioning. In this way, the perception network device can control the number of perception receiving nodes before measurement to reduce the influence of the measurement error of each perception receiving node on the positioning result, so as to improve the positioning accuracy.

[0170] In an example, R1, R2 and R3 respectively send their measurement errors of the measurement quantity to the perception network device, wherein the measurement error of R1 is the smallest. The perception network device determines the number of perception nodes required for positioning as 1 based on the requirement of positioning accuracy and the measurement errors, and selects R1 with the smallest positioning error and satisfying the requirement of positioning accuracy as the perception receiving node for this positioning.

[0171] In some embodiments, the measurement errors can also be used by the perception network device to correct the positioning result. In this way, the perception network device can correct the positioning result by the measurement errors after the measurement, so as to improve the positioning accuracy.

[0172] In some embodiments, the measurement quantity can include at least one of: angle of arrival (AOA), time difference of arrival (TDOA). The angle of arrival includes azimuth angle of arrival (A-AOA) and zenith angle of arrival (Z-AOA).

[0173] In some embodiments, the reference direction of the AOA can be defined by a global coordinate system or a local coordinate system in a channel model.

[0174] In some embodiments, in the case where the reference direction of the AOA is defined by a global coordinate system, for the A-AOA, the reference direction is geographic north, and the angle is positive in the counterclockwise direction. For the Z-AOA, the reference direction is the vertical direction, and 0° points to the vertical direction and 90° points to the horizontal direction.

[0175] In some embodiments, in the case where the reference direction of the AOA is defined by a local coordinate system in a channel model, for the A-AOA, the reference direction is the x-axis of the local coordinate system, and the angle is positive in the counterclockwise direction; for the Z-AOA, the reference direction is the z-axis of the local coordinate system, and 0° points to the z-axis direction and 90° points to the x-y plane.

[0176] In some embodiments, the local coordinate system can be a coordinate system with the antenna array of the perception receiving node as the reference, in which case the perception receiving node can determine the local coordinate system based on its own antenna array and send the determined local coordinate system to the perception network device.

[0177] In some embodiments, the measurement errors include at least one of: measurement error of TDOA, measurement error of AOA. The measurement error of AOA includes at least one of: measurement error of A-AOA, measurement error of Z-AOA.

[0178] In some embodiments, each sensing receiving node can send the measurement error at the same time of sending the measurement quantity, and the sensing network device receives and stores the measurement error so as to be directly used next time of positioning without waiting for the sensing receiving node to send.

[0179] In some embodiments, step S2101 can be omitted in the case that the sensing network device pre-stores the second information.

[0180] In some embodiments, step S2101 can be executed after step S2103, and in this case, step S2102 can be omitted.

[0181] In step S2102, the sensing network device determines the number of sensing receiving nodes required for positioning based on the second information.

[0182] In some embodiments, the sensing network device can further determine the number of sensing receiving nodes based on the antenna information of the sensing receiving nodes.

[0183] In some embodiments, the antenna information is used by the sensing network device to determine the signal coverage range and signal quality of the sensing receiving nodes. The larger the signal coverage range is, the fewer the number of sensing receiving nodes required for positioning is. The better the signal quality is, the fewer the number of sensing receiving nodes required for positioning is.

[0184] In some embodiments, the sensing network device can further determine the number of sensing receiving nodes based on the second information and the antenna information of the sensing receiving nodes.

[0185] In some embodiments, the sensing network device can further determine the number of sensing receiving nodes based on the second information and the requirement of positioning accuracy.

[0186] In some embodiments, the sensing network device can further determine the number of sensing receiving nodes based on the second information, the antenna information of the sensing receiving nodes, and the requirement of positioning accuracy.

[0187] In some embodiments, step S2102 can be omitted in the case that the number of sensing receiving nodes is pre-configured.

[0188] In step S2103, the sensing sending node sends the reference signal.

[0189] In some embodiments, the sensing sending node can send one or more reference signals.

[0190] In some embodiments, the sensing receiving node receives one or more reference signals.

[0191] In some embodiments, the perception receiving node can receive the reference signal through a non line of sight (NLOS) path of the measured object from the perception sending node to the perception receiving node, and can also receive the reference signal through a line of sight (LOS) path from the perception sending node to the perception receiving node.

[0192] In an example, R1 receives the reference signal through T1 a NLOS path T1-O1-R1 of O1 to R1 by T1. In an example, R1 receives the reference signal through T1 a LOS path T1-R1 of T1 to R1.

[0193] In some embodiments, in the case that the perception sending node transmits multiple reference signals, the multiple reference signals have different configurations.

[0194] In step S2104, the perception receiving node obtains a third measurement quantity and a fourth measurement quantity of the perception reference signal.

[0195] In some embodiments, the third measurement quantity is used to indicate the AOA of the perception reference signal reaching the perception receiving node via the NLOS path.

[0196] In some embodiments, the fourth measurement quantity is used to indicate the TDOA of the perception reference signal reaching the perception receiving node through the LOS path and the NLOS path.

[0197] In some embodiments, in the case that the perception receiving node receives multiple perception reference signals, the perception receiving node can obtain multiple third measurement quantities of the multiple perception reference signals and multiple fourth measurement quantities of the multiple perception reference signals.

[0198] In an example, R1 receives three different reference signals (e.g., RS1, RS2 and RS3) sent by T1, RS1, RS2 and RS3 all reach R1 by the same LOS path T1-R1 and the same NLOS path T1-O1-R1, R1 obtains AOA1 and TDOA1 of RS1, AOA2 and TDOA2 of RS2, AOA3 and TDOA3 of RS3 respectively.

[0199] In step S2105, the perception receiving node determines a first measurement quantity from the third measurement quantity and a second measurement quantity from the fourth measurement quantity.

[0200] In some embodiments, the first measurement quantity is used to indicate the AOA of the perception receiving node sending to the perception network device.

[0201] In some embodiments, the second measurement quantity is used to indicate the TDOA of the perception receiving node sending to the perception network device.

[0202] In some embodiments, in case the sensing receiving node receives one reference signal, the sensing receiving node can obtain one third measurement and one fourth measurement, and the sensing receiving node directly determines the one third measurement as the first measurement and the one fourth measurement as the second measurement.

[0203] In some embodiments, in case the sensing receiving node receives multiple reference signals, the sensing receiving node can obtain multiple third measurements and multiple fourth measurements, and the sensing receiving node can select at least one from the multiple third measurements as the first measurement and at least one from the multiple fourth measurements as the second measurement.

[0204] In some embodiments, the sensing receiving node can select the first measurement and the second measurement based on at least one of the third information and the fourth information. The third information is used to indicate the signal quality of the reference signal. The fourth information is used to indicate that the sensing receiving node sends at most N measurements of the reference signals from the same sensing transmitting node, where N is a positive integer pre-configured or network configured.

[0205] In some embodiments, the sensing receiving node selects the first measurement from the multiple third measurements and the second measurement from the multiple fourth measurements based on the signal quality of the multiple reference signals. The better the signal quality of the reference signal, the greater the possibility of the associated third measurement and fourth measurement being selected.

[0206] In an example, R1 receives three reference signals (e.g., RS1, RS2, RS3), the signal quality of RS1 is greater than that of RS2, and the signal quality of RS2 is greater than that of RS3. The third measurements obtained by R1 include AOA1 of RS1, AOA2 of RS2, and AOA3 of RS3. The fourth measurements obtained by R1 include TDOA1 of RS1, TDOA2 of RS2, and TDOA3 of RS3. R1 can select AOA1 of RS1 with the best signal quality as the first measurement and TDOA1 of RS1 as the second measurement.

[0207] In some embodiments, in the process of pre-configuring or network configuring the fourth information, it can be configured uniformly for all sensing receiving nodes, i.e., the N value indicated by the fourth information is applicable to all sensing receiving nodes.

[0208] In some embodiments, in the process of pre-configuring or network configuring the fourth information, it can also be configured separately for each sensing receiving node, i.e., the fourth information indicates multiple N values, and different N values are associated with different sensing receiving nodes.

[0209] In some embodiments, the sensing receiving node determines the number of selected first measurements and second measurements based on the fourth information.

[0210] In an example, R1 receives three reference signals (e.g., RS1, RS2, RS3), RS1, RS2 and RS3 are from the same perception transmitting node T1. The fourth information indicates that R1 at most transmits 2 measurement quantities of reference signals from T1. The third measurement quantities obtained by R1 include: AOA1 of RS1, AOA2 of RS2, AOA3 of RS3. The fourth measurement quantities obtained by R1 include: TDOA1 of RS1, TDOA2 of RS2, TDOA3 of RS3.

[0211] At this time, the first case, R1 can select AOA and TDOA of any one reference signal from RS1, RS2 and RS3 as the first measurement quantity and the second measurement quantity. For example, R1 selects AOA2 of RS2 as the first measurement quantity, and TDOA2 of RS2 as the second measurement quantity.

[0212] The second case, R1 can select AOA and TDOA of any two reference signals from RS1, RS2 and RS3 as the first measurement quantity and the second measurement quantity. For example, R1 selects AOA1 of RS1 and AOA2 of RS2 as the first measurement quantity, and TDOA1 of RS1 and TDOA2 of RS2 as the second measurement quantity.

[0213] In some embodiments, step S2105 can be omitted, and the perception receiving node directly transmits the obtained third measurement quantities and fourth measurement quantities to the perception network device. At this time, it can be understood that all the third measurement quantities are as the first measurement quantities, and all the fourth measurement quantities are as the second measurement quantities.

[0214] In step S2106, the perception receiving node obtains time information associated with the first measurement quantity and the second measurement quantity.

[0215] In some embodiments, the time information includes at least one of: a receiving time of a reference signal associated with the measurement quantity, a transmitting time of the reference signal associated with the measurement quantity, and a valid time of the measurement quantity. The measurement quantity includes: the first measurement quantity and the second measurement quantity.

[0216] In some embodiments, for the receiving time of the reference signal, the perception receiving node can directly obtain.

[0217] In some embodiments, for the transmitting time of the reference signal, the perception receiving node can obtain from the perception transmitting node, or can calculate and determine the transmitting time of the reference signal based on the receiving time of the reference signal, the speed of light, and the distance between the perception receiving node and the perception transmitting node.

[0218] In some embodiments, the valid time is determined based on a reporting time of the measurement quantity and a valid duration. The valid duration is preconfigured or network configured. In an example, the reporting time of the measurement quantity is t1, and the valid duration is T, then the valid time is [t1, t1+T], i.e., the measurement quantity is valid in the time period [t1, t1+T] after reporting.

[0219] In some embodiments, the valid duration is associated with a moving speed of the measured object. The faster the moving speed of the measured object, the shorter the valid duration. The slower the moving speed of the measured object, the longer the valid duration.

[0220] In step S2107, the perception receiving node sends the first information.

[0221] In some embodiments, the perception network device receives the first information.

[0222] In some embodiments, the first information is used to indicate at least one of the following: the measurement quantity, time information associated with the measurement quantity.

[0223] In some embodiments, in the case that there are multiple perception receiving nodes, the multiple perception receiving nodes respectively send respective first information.

[0224] In step S2108, the perception network device determines a fifth measurement quantity from the first measurement quantity and a sixth measurement quantity from the second measurement quantity based on the time information.

[0225] In some embodiments, the fifth measurement quantity is a measurement quantity whose associated reference signal receiving time satisfies a first preset condition, or the fifth measurement quantity is a measurement quantity located in the valid time.

[0226] In some embodiments, the fifth measurement quantity is a valid AOA.

[0227] In some embodiments, the sixth measurement quantity is a measurement quantity whose associated reference signal receiving time satisfies a first preset condition, or the fifth measurement quantity is a measurement quantity whose measurement time is located in the valid time.

[0228] In some embodiments, the sixth measurement quantity is a valid TDOA.

[0229] In some embodiments, the first preset condition includes at least one of the following: the reference signal receiving times of different perception receiving nodes are the same, the reference signal receiving time difference of different perception receiving nodes is less than a first threshold.

[0230] In some embodiments, the perception network device can determine the fifth measurement quantity from the first measurement quantity and the sixth measurement from the second measurement based on the reference signal receiving time and / or the valid time of the measurement quantity.

[0231] In an example, the first measurement quantity comprises: AOA1 reported by R1 and AOA2 reported by R2. The second measurement quantity comprises: TDOA1 reported by R1 and TDOA2 reported by R2. Wherein, the effective time of AOA1 and TDOA1 reported by R1 is [t1, t1+T], and the effective time of AOA2 and TDOA2 reported by R2 is [t2, t2+T]. At this time, the current time is t3, t3 is within the time period [t1, t1+T] but not within the time period [t2, t2+T], therefore, the perception network device determines AOA1 as the fifth measurement quantity and determines TDOA1 as the sixth measurement quantity.

[0232] In an example, the first measurement quantity comprises: AOA1 reported by R1, AOA2 reported by R2 and AOA3 reported by R3, and the second measurement quantity comprises: TDOA1 reported by R1, TDOA2 reported by R2 and TDOA3 reported by R3. The time of receiving the reference signal by R1 and R2 is the same, the time of receiving the reference signal by R2 and R3 is different, and the difference between the two is greater than a first threshold, then the perception network device can select AOA1 and AOA2 from the first measurement quantity as the fifth measurement quantity, and select TDOA1 and TDOA2 from the second measurement quantity as the sixth measurement quantity.

[0233] In step S2109, the perception network device locates the measured object based on the fifth measurement quantity and the sixth measurement quantity.

[0234] In some embodiments, the fifth measurement quantity is used to indicate the valid AOA. The sixth measurement quantity is used to indicate the valid TDOA.

[0235] In some embodiments, the perception network device determines a first ray based on the AOA, the first ray being a ray (e.g., the ray in FIG. 2B passing through O1 and R1) passing through the location of the perception receiving node (e.g., R1 in FIG. 2B) and the location of the measured object (e.g., O1 in FIG. 2B); determines a first ellipse based on the TDOA, the first ellipse being an ellipse (e.g., the ellipse in FIG. 2B passing through O1) having the location of the perception receiving node (e.g., R1 in FIG. 2B) and the location of the perception sending node (e.g., T1 in FIG. 2B) as foci; and locates the measured object based on the first ray and the first ellipse.

[0236] In some embodiments, the perception network device determines the first ray based on the AOA, the location of the perception receiving node and the antenna height of the perception receiving node.

[0237] In some embodiments, the perception network device determines the distance Length between the perception receiving node and the perception sending node based on the location of the perception receiving node and the location of the perception sending node. T1-R1. The perception network device determines the length Length T1-R1 of the non-line-of-sight path T1-O1-R1 based on TDOA, the speed of light c and Length T1-O1-R1 , i.e., Length T1-O1-R1 = Length T1-R1 + c*TDOA. The perception network device determines the first ellipse based on the positions of the perception sending node and the perception receiving node and Length T1-O1-R1 .

[0238] In some embodiments, the intersection of the first ray and the first ellipse is the position of the measured object.

[0239] In step S2110, the perception network device corrects the positioning result of the measured object based on the second information.

[0240] In some embodiments, the perception network device can correct the positioning result based on the measurement error of AOA and the measurement error of TDOA indicated by the second information. For example, the range of the position of the measured object is given instead of only determining one position point.

[0241] In some embodiments, the perception network device can determine the correction amount based on the measurement error, and correct the positioning result based on the correction amount.

[0242] In some embodiments, the corrected positioning result can be the position range of the measured object.

[0243] In some embodiments, the correction amount can include an x-direction correction amount and a y-direction correction amount.

[0244] In an example, the positioning result indicates that the position coordinates of the measured object are (x1, y1), and the correction amount determined by the perception network device based on the measurement error is r1, then the corrected positioning result is the position range of the measured object, and the position range is the area range formed by the points (x1+r1, y1), (x1, y1+r1) (x1+r1, y1+r1), (x1-r1, y1), (x1, y1-r1) and (x1-r1, y1-r1).

[0245] In some embodiments, step S2110 can be omitted in the case where the measurement error is less than the second threshold. In the case where the measurement error is small, its influence on the positioning result is also small, and therefore the measurement error can not be used to correct the positioning result, so as to improve the positioning efficiency.

[0246] In some embodiments, in the case that the measurement error is greater than a third threshold, step S2110 can be omitted, and the sensing network device repositions the measured object. The third threshold is greater than the second threshold. In the case that the measurement error is large, its influence on the positioning result is also large, which can cause the accuracy of the corrected positioning result to be still low, and therefore, it is unnecessary to correct the positioning result, and the measured object can be repositioned.

[0247] The communication method related to the embodiments of the present disclosure can include at least one of steps S2101 to S2110. For example, step S2101 can be implemented as an independent embodiment. For example, step S2102 can be implemented as an independent embodiment. For example, step S2103 can be implemented as an independent embodiment. For example, step S2104 can be implemented as an independent embodiment. For example, step S2105 can be implemented as an independent embodiment. For example, step S2106 can be implemented as an independent embodiment. For example, step S2107 can be implemented as an independent embodiment. For example, step S2108 can be implemented as an independent embodiment. For example, step S2109 can be implemented as an independent embodiment. For example, step S2110 can be implemented as an independent embodiment. For example, step S2101 and step S2102 can be combined as one embodiment. For example, step S2104, step S2106 and step S2107 can be combined as one embodiment. For example, step S2103, step S2104, step S2106 and step S2107 can be combined as one embodiment. For example, step S2103, step S2104, step S2105, step S2106 and step S2107 can be combined as one embodiment. For example, step S2108, step S2108 and step S2110 can be combined as one embodiment.

[0248] FIG. 2C is one of the exemplary interaction diagrams of the communication method provided by the embodiments of the present disclosure. As shown in FIG. 2C, the embodiments of the present disclosure relate to a communication method. The communication method is performed by the communication system 100, and includes steps S2201 to S2210.

[0249] In the embodiments of the present disclosure, the communication system includes a sensing network device, one sensing sending node, two sensing receiving nodes and one measured object.

[0250] In some embodiments, FIG. 2D is a schematic diagram of the communication system of the embodiments of the present disclosure. As shown in FIG. 2D, the one sensing sending node can be the sensing sending node T1 (denoted as T1). The two sensing receiving nodes can be the sensing receiving node R1 (denoted as R1) and the sensing receiving node R2 (denoted as R2). The one measured object is the measured object O1 (denoted as O1).

[0251] In some embodiments, the communication system can further include other aware transmitting nodes (e.g., aware transmitting node T2, aware transmitting node T3), other aware receiving nodes (e.g., aware receiving node R3, aware receiving node R4) and other measured objects (e.g., measured object O2).

[0252] In step S2201, the aware receiving node transmits the second information.

[0253] Optional implementation of step S2201 can refer to optional implementation of step S2101 in FIG. 2A, other associated parts in embodiments involved in FIG. 2A, which will not be repeated here.

[0254] In step S2202, the aware network device determines the number of aware receiving nodes required for positioning based on the second information.

[0255] Optional implementation of step S2202 can refer to optional implementation of step S2102 in FIG. 2A, other associated parts in embodiments involved in FIG. 2A, which will not be repeated here.

[0256] In step S2203, the aware transmitting node transmits the reference signal.

[0257] Optional implementation of step S2203 can refer to optional implementation of step S2103 in FIG. 2A, other associated parts in embodiments involved in FIG. 2A, which will not be repeated here.

[0258] In step S2204, the aware receiving node obtains a third measurement of the reference signal.

[0259] In some embodiments, R1 obtains the third measurement of the reference signal.

[0260] In some embodiments, R2 obtains the third measurement of the reference signal.

[0261] In some embodiments, R1 obtains AOA1 of the reference signal arriving at R1 through NLOS path T1-O1-R1 of T1 via O1 to R1.

[0262] In some embodiments, R2 obtains AOA2 of the reference signal arriving at R2 through NLOS path T1-O1-R2 of T1 via O1 to R2.

[0263] Optional implementation of step S2204 can refer to optional implementation of step S2104 in FIG. 2A, other associated parts in embodiments involved in FIG. 2A, which will not be repeated here.

[0264] In step S2205, the aware receiving node determines the first measurement from the third measurement.

[0265] In some embodiments, R1 determines the first measurement quantity from the third measurement quantity.

[0266] In some embodiments, R2 determines the first measurement quantity from the third measurement quantity.

[0267] Optional implementation of step S2205 can refer to optional implementation of step S2105 in FIG. 2A, other associated parts in embodiments involved in FIG. 2A, which will not be repeated here.

[0268] In step S2206, the perception receiving node acquires time information associated with the first measurement quantity.

[0269] Optional implementation of step S2206 can refer to optional implementation of step S2106 in FIG. 2A, other associated parts in embodiments involved in FIG. 2A, which will not be repeated here.

[0270] In step S2207, the perception receiving node sends the first information.

[0271] In some embodiments, R1 sends the first information.

[0272] In some embodiments, R2 sends the first information.

[0273] Optional implementation of step S2207 can refer to optional implementation of step S2107 in FIG. 2A, other associated parts in embodiments involved in FIG. 2A, which will not be repeated here.

[0274] In step S2208, the perception network device determines at least two fifth measurement quantities from the first measurement quantity based on the time information.

[0275] In some embodiments, the at least two fifth measurement quantities are reported by different perception receiving nodes.

[0276] Optional implementation of step S2208 can refer to optional implementation of step S2108 in FIG. 2A, other associated parts in embodiments involved in FIG. 2A, which will not be repeated here.

[0277] In step S2209, the perception network device performs positioning on the measured object based on the at least two fifth measurement quantities.

[0278] In some embodiments, the fifth measurement quantity is used to indicate a valid AOA.

[0279] In some embodiments, the perception network device determines at least two first rays based on the at least two AOAs; the first ray is a ray (e.g., the ray passing through O1 and R1 in FIG. 2B, the ray passing through O1 and R2 in FIG. 2B) passing through a location of the perception receiving node (e.g., R1, R2 in FIG. 2B) and a location of the measured object (e.g., O1 in FIG. 2B), and determines the position of the measured object based on the at least two rays.

[0280] In some embodiments, the perception network device determines the first ray based on the AOA, a location of the perception receiving node, and an antenna height of the perception receiving node.

[0281] In some embodiments, an intersection of the at least two first rays is the location of the measured object.

[0282] In step S2210, the perception network device corrects the positioning result of the measured object based on the second information.

[0283] The optional implementation of step S2210 can refer to the optional implementation of step S2110 in FIG. 2A, other related parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0284] The communication method involved in the embodiments of the present disclosure can include at least one of steps S2201 to S2210. For example, step S2201 can be implemented as an independent embodiment. For example, step S2202 can be implemented as an independent embodiment. For example, step S2203 can be implemented as an independent embodiment. For example, step S2204 can be implemented as an independent embodiment. For example, step S2205 can be implemented as an independent embodiment. For example, step S2206 can be implemented as an independent embodiment. For example, step S2207 can be implemented as an independent embodiment. For example, step S2208 can be implemented as an independent embodiment. For example, step S2209 can be implemented as an independent embodiment. For example, step S2210 can be implemented as an independent embodiment. For example, step S2201 and step S2202 can be combined as one embodiment. For example, step S2204, step S2206, and step S2207 can be combined as one embodiment. For example, step S2203, step S2204, step S2206, and step S2207 can be combined as one embodiment. For example, step S2203, step S2204, step S2205, step S2206, and step S2207 can be combined as one embodiment. For example, step S2208, step S2208, and step S2210 can be combined as one embodiment.

[0285] In some embodiments, the terms "perception transmitting node", "transmitting node", and the like can be replaced with each other.

[0286] In some embodiments, the terms "perception receiving node", "receiving node", and the like can be replaced with each other.

[0287] In some embodiments, the terms "perception reference signal", "reference signal", and the like can be replaced with each other.

[0288] In some embodiments, the names of information and the like are not limited to the names described in the embodiments, and the terms "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", "symbol", "codebook", "codeword", "codepoint", "bit", "data", "program", "chip", and the like can be replaced with each other.

[0289] In some embodiments, the terms "carrying", "including", "containing", "packaging", and the like can be replaced with each other.

[0290] In some embodiments, the terms "radio", "wireless", "radio access network (RAN)", "access network (AN)", "RAN-based", and the like can be replaced with each other.

[0291] In some embodiments, the terms "acquire", "obtain", "get", "receive", "transmit", "bidirectional transmission", "transmit and / or receive", and the like can be replaced with each other, which can be interpreted as receiving from other subjects, acquiring from protocols, acquiring from higher layers, obtaining by self-processing, and the like.

[0292] In some embodiments, the terms "transmit", "emit", "report", "transmit", "request", "bidirectional transmission", "transmit and / or receive", and the like can be replaced with each other.

[0293] In some embodiments, the terms "issue", "return", "feedback", "response", "reply", and the like can be replaced with each other.

[0294] In some embodiments, the terms "certain", "preset", "pre-set", "set", "indicated", "any", "first", and the like can be replaced with each other, and "certain A", "preset A", "pre-set A", "set A", "indicated A", "any A", "first A" can be interpreted as A predetermined in a protocol or the like, or A obtained by setting, configuring, or indicating, or a specific A, any A, or first A, but are not limited thereto.

[0295] In some embodiments, determination or judgment can be performed by a value represented by 1 bit (0 or 1), or by a true or false value (Boolean value) represented by true or false, or by comparison of numerical values (for example, comparison with a predetermined value), but is not limited thereto.

[0296] FIG. 3A is one of the schematic diagrams of the communication method performed by the first node according to an embodiment of the present disclosure. As shown in FIG. 3A, the embodiment of the present disclosure relates to a communication method performed by the first node. The above communication method includes steps S3101 to S3108.

[0297] In step S3101, the second information is received.

[0298] The optional implementation of step S3101 can refer to the optional implementation of step S2101 of FIG. 2A, other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0299] In step S3102, the number of aware receiving nodes required for positioning is determined based on the second information.

[0300] The optional implementation of step S3102 can refer to the optional implementation of step S2102 of FIG. 2A, other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0301] In step S3103, the first information is received.

[0302] In some embodiments, the first information is used to indicate a measurement quantity of the aware receiving node, and the measurement quantity includes a first measurement quantity, and the first measurement quantity is used to indicate an angle of arrival of the reference signal via the non-line-of-sight path to the aware receiving node.

[0303] In some embodiments, the measurement quantity further includes a second measurement quantity, and the second measurement quantity is used to indicate a time difference of arrival of the reference signal via the line-of-sight path and the non-line-of-sight path to the aware receiving node.

[0304] The optional implementation of step S3103 can refer to the optional implementation of step S2108 in FIG. 2A, other associated parts in the embodiments involved in FIG. 2A, and details are not described herein.

[0305] In step S3104, based on the first information, a fifth measurement quantity is determined from the first measurement quantity, and a sixth measurement quantity is determined from the second measurement quantity.

[0306] The optional implementation of step S3104 can refer to the optional implementation of step S2108 in FIG. 2A, other associated parts in the embodiments involved in FIG. 2A, and details are not described herein.

[0307] In step S3105, based on the first information, a fifth measurement quantity is determined from the first measurement quantity.

[0308] The optional implementation of step S3105 can refer to the optional implementation of step S2208 in FIG. 2C, other associated parts in the embodiments involved in FIG. 2C, and details are not described herein.

[0309] In step S3106, based on the fifth measurement quantity and the sixth measurement quantity, the measured object is positioned.

[0310] The optional implementation of step S3106 can refer to the optional implementation of step S2109 in FIG. 2A, other associated parts in the embodiments involved in FIG. 2A, and details are not described herein.

[0311] In step S3107, based on at least two fifth measurement quantities, the measured object is positioned.

[0312] The optional implementation of step S3107 can refer to the optional implementation of step S2209 in FIG. 2C, other associated parts in the embodiments involved in FIG. 2C, and details are not described herein.

[0313] In step S3108, based on the second information, the positioning result of the measured object is corrected.

[0314] The optional implementation of step S3108 can refer to the optional implementation of step S2110 in FIG. 2A, other associated parts in the embodiments involved in FIG. 2A, and details are not described herein.

[0315] The communication method related to the embodiments of the present disclosure can include at least one of steps S3101 to S3108. For example, step S3101 can be implemented as an independent embodiment. For example, step S3102 can be implemented as an independent embodiment. For example, step S3103 can be implemented as an independent embodiment. For example, step S3104 can be implemented as an independent embodiment. For example, step S3105 can be implemented as an independent embodiment. For example, step S3106 can be implemented as an independent embodiment. For example, step S3107 can be implemented as an independent embodiment. For example, step S3108 can be implemented as an independent embodiment. For example, step S3101 and step S3102 can be combined as one embodiment. For example, step S3103, step S3104 and step S3106 can be combined as one embodiment. For example, step S3104 and step S3106 can be combined as one embodiment. For example, step S3103, step S3105 and step S3107 can be combined as one embodiment. For example, step S3105 and step S3107 can be combined as one embodiment. For example, step S3106 and step S3108 can be combined as one embodiment. For example, step S3107 and step S3108 can be combined as one embodiment. For example, step S3104, step S3106 and step S3108 can be combined as one embodiment. For example, step S3105, step S3107 and step S3108 can be combined as one embodiment.

[0316] FIG. 3B is a schematic diagram of a second embodiment of a communication method performed by a first node, according to an embodiment of the present disclosure. As shown in FIG. 3B, the present disclosure relates to a communication method, performed by a first node. The above-mentioned communication method includes steps S3201 to S3202.

[0317] In step S3201, the first information sent by the sensing receiving node is received.

[0318] The optional implementation of step S3201 can refer to the optional implementation of step S2107 in FIG. 2A, the optional implementation of step S2207 in FIG. 2C, other associated parts in the embodiments related to FIG. 2A, and other associated parts in the embodiments related to FIG. 2C, which will not be repeated here.

[0319] In step S3202, based on the first information, the measured object located on the non-line-of-sight path is positioned.

[0320] The optional implementation of step S3202 can refer to the optional implementation of step S2109 in FIG. 2A, the optional implementation of step S2209 in FIG. 2C, other associated parts in the embodiments related to FIG. 2A, other associated parts in the embodiments related to FIG. 2C, and so on. Details are not described herein again.

[0321] FIG. 4A is one of the schematic diagrams of the method for performing communication by the perceptive receiving node according to an embodiment of the present disclosure. As shown in FIG. 4A, the embodiment of the present disclosure relates to a method for performing communication by the perceptive receiving node. The above-mentioned method for performing communication includes steps S4101 to S4109.

[0322] In step S4101, the second information is transmitted.

[0323] The optional implementation of step S4101 can refer to the optional implementation of step S2101 in FIG. 2A, other associated parts in the embodiments related to FIG. 2A, and so on. Details are not described herein again.

[0324] In step S4102, the reference signal is received.

[0325] The optional implementation of step S4102 can refer to the optional implementation of step S2103 in FIG. 2A, other associated parts in the embodiments related to FIG. 2A, and so on. Details are not described herein again.

[0326] In step S4103, the third measurement quantity and the fourth measurement quantity of the reference signal are obtained.

[0327] The optional implementation of step S4103 can refer to the optional implementation of step S2104 in FIG. 2A, other associated parts in the embodiments related to FIG. 2A, and so on. Details are not described herein again.

[0328] In step S4104, the third measurement quantity of the reference signal is obtained.

[0329] The optional implementation of step S4104 can refer to the optional implementation of step S2204 in FIG. 2C, other associated parts in the embodiments related to FIG. 2C, and so on. Details are not described herein again.

[0330] In step S4105, the first measurement quantity is determined from the third measurement quantity, and the second measurement quantity is determined from the fourth measurement quantity.

[0331] The optional implementation of step S4105 can refer to the optional implementation of step S2105 in FIG. 2A, other associated parts in the embodiments related to FIG. 2A, and so on. Details are not described herein again.

[0332] In step S4106, the first measurement quantity is determined from the third measurement quantity.

[0333] Optional implementation of step S4106 can refer to optional implementation of step S2205 in FIG. 2C, other associated parts in the embodiments with reference to FIG. 2C, and details are not described herein.

[0334] In step S4107, time information associated with the first measurement quantity and the second measurement quantity is acquired.

[0335] Optional implementation of step S4107 can refer to optional implementation of step S2106 in FIG. 2A, other associated parts in the embodiments with reference to FIG. 2A, and details are not described herein.

[0336] In step S4108, time information associated with the first measurement quantity is acquired.

[0337] Optional implementation of step S4108 can refer to optional implementation of step S2206 in FIG. 2C, other associated parts in the embodiments with reference to FIG. 2C, and details are not described herein.

[0338] In step S4109, the first information is sent.

[0339] Optional implementation of step S4109 can refer to optional implementation of step S2107 in FIG. 2A, optional implementation of step S2207 in FIG. 2C, other associated parts in the embodiments with reference to FIG. 2A, other associated parts in the embodiments with reference to FIG. 2C, and details are not described herein.

[0340] The communication method related to the embodiments of the present disclosure can include at least one of steps S4101 to S4109. For example, step S4101 can be implemented as an independent embodiment. For example, step S4102 can be implemented as an independent embodiment. For example, step S4103 can be implemented as an independent embodiment. For example, step S4104 can be implemented as an independent embodiment. For example, step S4105 can be implemented as an independent embodiment. For example, step S4106 can be implemented as an independent embodiment. For example, step S4107 can be implemented as an independent embodiment. For example, step S4108 can be implemented as an independent embodiment. For example, step S4109 can be implemented as an independent embodiment. For example, step S4104, step S4106, and step S4108 can be combined as one embodiment. For example, step S4104 and step S4108 can be combined as one embodiment. For example, step S4103, step S4105, and step S4107 can be combined as one embodiment. For example, step S4103 and step S4107 can be combined as one embodiment. For example, step S4104, step S4108, and step S4109 can be combined as one embodiment. For example, step S4103, step S4107, and step S4109 can be combined as one embodiment.

[0341] FIG. 4B is a schematic diagram of a method of performing communication by a sensing receiving node, according to an embodiment of the present disclosure. As shown in FIG. 4B, the embodiments of the present disclosure relate to a method of communication, performed by a sensing receiving node. The method of communication includes step S4201.

[0342] In step S4201, the first information is transmitted.

[0343] The optional implementation of step S4201 can refer to the optional implementation of step S2107 in FIG. 2A, the optional implementation of step S2207 in FIG. 2C, other associated parts in the embodiments related to FIG. 2A, and other associated parts in the embodiments related to FIG. 2C, which are not described here again.

[0344] In the following, the technical solutions of the embodiments of the present disclosure are exemplarily described through specific embodiments.

[0345] In some embodiments, the sensing network device locates the measured object according to the AOA of the NLOS path caused by the measured object.

[0346] In some embodiments, as shown in FIG. 2D. There are 1 sensing Tx Node and 2 sensing Rx Nodes (sensing Rx Node 1, sensing Rx Node 2) in the communication system. There are LOS paths (T1-R1, T1-R2) between Tx Node and Rx Nodes respectively.

[0347] In some embodiments, the location information of sensing Tx Node and sensing Rx Nodes (including the antenna height of Rx Nodes) are known to the sensing network device.

[0348] In some embodiments, without the presence of the measured object (the measured object does not appear in the communication system before), the sensing Tx node sends the sensing RS, and the sensing Rx Node can receive the sensing RS signal through the LOS path.

[0349] In some embodiments, when the measured object appears, the sensing Tx Node and the sensing Rx Node add new NLOS paths (T1-O1-R1, T1-O1-R2) caused by the reflection / scattering of the measured object.

[0350] In some embodiments, the measurement quantities that each sensing Rx node needs to measure can be as follows:

[0351] (1) Sensing Rx Node 1 measures the AOA1 of the newly added NLOS path it receives, including A-AOA and Z-AOA.

[0352] (2) Sensing Rx Node 2 measures the AOA2 of the newly added NLOS path it receives. Including A-AOA and Z-AOA.

[0353] In some embodiments, the reference direction of AOA can be defined as follows:

[0354] (1) The reference direction of AOA is defined by the global coordinate system

[0355] For A-AOA, the reference direction is geographic north, and the counterclockwise direction angle is positive.

[0356] For Z-AOA, the reference direction is the vertical direction, and 0° points to the vertical direction and 90° points to the horizontal direction.

[0357] (2) The reference direction of AOA is defined by the local coordinate system in the channel model

[0358] For A-AOA, the reference direction is the x-axis of the local coordinate system, and the angle in the counterclockwise direction is positive.

[0359] For Z-AOA, the reference direction is the z-axis of the local coordinate system, and 0° points to the z-axis direction and 90° points to the x-y plane.

[0360] In some embodiments, the local coordinate system can be a coordinate system with the receiving end antenna array as a reference, which can be reported to the SF by the sensing Rx node.

[0361] In some embodiments, each sensing Rx node can report the measured AOA to the sensing network device, and the sensing network device locates the measured object according to the reported AOA. The principle of locating the measured object according to the AOA is as follows:

[0362] (1) According to AOA1 and the position of sensing Rx Node1 (also including the antenna height of the Rx Node), the outgoing ray L1 (i.e., the ray O1-R1) is determined;

[0363] (2) According to AOA2 and the position of sensing Rx Node2 (also including the antenna height of the Rx Node), the outgoing ray L2 (i.e., the ray O1-R2) is determined;

[0364] (3) The intersection of rays L1 and L2 is the position of the measured target.

[0365] In some embodiments, if the sensing Tx node can send multiple different configurations of sensing RS, different configurations of sensing RS are represented by different sensing RS IDs.

[0366] In some embodiments, different configurations of sensing RS can be sent by using different Tx beams, or can have different bandwidths, different frequency domain resources, different time domain resources, etc.

[0367] In some embodiments, for each sensing RS ID, the sensing Rx Node can report the AOA of the newly added NLOS path bound to the sensing RS ID.

[0368] In some embodiments, the sensing Rx Node can also report the AOA of the newly added NLOS path of the N different sensing Rx IDs for the same sensing Tx Node through protocol definition / network configuration.

[0369] In some embodiments, the Sensing Rx Node can also report the measurement error of the measured AOA to the perception network device. The measurement error can be reported separately for the horizontal angle and the vertical angle.

[0370] In some embodiments, the measurement error can also be reported separately for different sensing RS IDs.

[0371] In some embodiments, in order to improve the positioning accuracy, more Sensing Rx Nodes can be used to measure the AOA of the NLOS caused by the measured target and report to the perception network, considering the existence of errors. The positioning result of the measured target by the perception network device through more AOA will be more accurate.

[0372] In some embodiments, the Sensing Rx Node can also report the time information corresponding to the measured AOA to the perception network device, including system frame number, time slot number, symbol number, etc.

[0373] In some embodiments, the time information can be used to indicate the receiving time of the sensing RS corresponding to the AOA calculation result.

[0374] In some embodiments, the time information can also be used to indicate the valid time of the reported AOA.

[0375] In some embodiments, when the perception network device integrates multiple AOA reported by the Sensing Rx Node to locate the measured target, multiple AOA with consistent or close receiving time of the sensing RS should be selected, or multiple AOA within the valid time should be selected.

[0376] In some embodiments, there can be multiple NLOS paths caused by the measured object, and the Sensing RX node can report the above measurement quantities respectively for multiple NLOS.

[0377] In some embodiments, there can be multiple Sensing Tx Nodes, and each RX Node can receive the sensing RS sent by one or more Tx Nodes. However, the Rx Node needs at least two.

[0378] In some embodiments, the perception network device locates the measured object according to the AOA and TDOA of the NLOS path caused by the measured object.

[0379] In some embodiments, as shown in FIG. 2B, there are 1 sensing Tx Node and 1 sensing Rx Node in the perception network. There is a LOS path (T1-R1) between the Tx Node and the Rx Node.

[0380] In some embodiments, the location information of the sensing TX Node and the sensing Rx Node (also including the antenna height of the Rx Node) is known to the perception network device.

[0381] In some embodiments, without the object target (the measured object does not appear before the perception network), the sensing Tx node sends a sensing RS, and the sensing Rx Node can receive the sensing RS signal through the LOS path.

[0382] In some embodiments, the sensing Rx Node perceives the detected object by measuring the AOA of the detected object, and by the time difference of arrival between the LOS path between T1-R1 and the NLOS path T1-O1-R1.

[0383] In some embodiments, when the measured object appears, a new NLOS path (T-O-R) caused by the reflection / scattering of the measured target is added between the sensing Tx Node and the sensing Rx Node.

[0384] In some embodiments, the measurement quantities that the sensing Rx node needs to measure are as follows:

[0385] (1) The sensing Rx Node measures the AOA1 of the newly added NLOS path it receives.

[0386] (2) The sensing Rx Node2 measures the time difference of arrival TDOA between the LOS path between T1-R1 and the newly added NLOS path T1-O1-R1.

[0387] In some embodiments, the sensing Rx node can report the measured AOA and TDOA to the perception network device, and the perception network device can locate the measured target according to each reported AOA and TDOA.

[0388] In some embodiments, the principle of locating the measured target according to the above measurement quantities AOA and TDOA is as follows:

[0389] (1) The sensing network device determines the outgoing ray L (i.e., ray O1-R1) according to the AOA and the location of the sensing Rx Node (also including the antenna height of the Rx Node).

[0390] (2) The sensing network device calculates the difference between the T-O-R path length and the T-R path length according to the TDOA. T1-1O-R1 = Length T1-R1 + c*TDOA, where c is the speed of light. Since the sensing network device knows the specific geographic locations of the sensing Tx Node and the Sensing Rx Node 1, the sensing network device knows Length T1-R1 , and can calculate Length T1-O1-R1 accordingly. The measured object is then on an ellipse with the sensing Tx Node and the Sensing Rx Node as the foci, and the sum of the distances to the two foci of the ellipse is Length T1-O1-R1 .

[0391] (3) The intersection of the ray L and the ellipse E is the location of the measured object.

[0392] In some embodiments, if the sensing Tx node can send multiple different configurations of sensing RS, the different configurations of sensing RS are represented by different sensing RS IDs.

[0393] In some embodiments, the different configurations of sensing RS can be sent by using different Tx beams, or can have different bandwidths, different frequency domain resources, different time domain resources, etc.

[0394] In some embodiments, for each sensing RS ID, the sensing Rx Node can report the AOA and TDOA of the newly added NLOS path bound to the sensing RS ID.

[0395] In some embodiments, the sensing Rx Node can also report, through protocol definition / network configuration, the AOA and TDOA of the newly added NLOS path of the maximum N different sensing Rx IDs of each sensing Rx Node for the same sensing Tx Node.

[0396] In some embodiments, the sensing Rx Node can also report the measurement error of the measured AOA to the sensing network device. The measurement error of the AOA can be reported separately for the horizontal angle and the vertical angle.

[0397] In some embodiments, the measurement error of AOA can also be reported separately for different sensing RS IDs.

[0398] In some embodiments, the sensing Rx Node can also report the measurement error of TDOA measured by itself to the SF, and the error of TDOA can also be reported separately for different sensing RS IDs.

[0399] In some embodiments, in order to improve the positioning accuracy, more sensing Rx Nodes can be used to measure the AOA and TDOA of the NLOS caused by the measured target and report to the sensing network device, considering the existence of errors. The positioning result of the measured target by the sensing network device through the AOA and TDOA measured by more Rx Nodes will be more accurate.

[0400] In some embodiments, the sensing Rx Node can also report the time information corresponding to the AOA and TDOA measured by itself to the sensing network device, including system frame number, time slot number, symbol number, etc.

[0401] In some embodiments, the time information can be used to indicate the receiving time of the sensing RS corresponding to the AOA and TDOA calculation result.

[0402] In some embodiments, the time information can also be used to indicate the effective time of the reported AOA and TDOA.

[0403] In some embodiments, when the sensing network device positions the measured target by integrating the AOA and TDOA reported by multiple sensing Rx Nodes, multiple AOA and TDOA with consistent or as close as possible receiving time of sensing RS should be selected, or multiple AOA and TDOA within the effective time should be selected.

[0404] In some embodiments, there can be multiple NLOS paths caused by the measured object, and the sensing RX node can report the above measurement quantities respectively for multiple NLOS.

[0405] In some embodiments, there can be multiple sensing Tx Nodes, and each sensing RX Node can receive the sensing RS sent by one or more sensing Tx Nodes. There can also be one or more sensing Rx Nodes.

[0406] The embodiments of the present disclosure further provide a device for implementing any of the above methods, for example, a terminal is provided, and the terminal includes units or modules for implementing the steps performed by the terminal in any of the above methods. For another example, another access network device is provided, and the access network device includes units or modules for implementing the steps performed by the access network device in any of the above methods.

[0407] It should be understood that the division of each unit or module in the above apparatus is only a logical function division, and all or part of the units or modules can be integrated into one physical entity or physically separated in actual implementation. In addition, the units or modules in the apparatus can be implemented in the form of processor invoking software: for example, the apparatus includes a processor, a memory connected to the processor, and the memory stores instructions, and the processor invokes the instructions stored in the memory to implement any of the above methods or to implement the functions of the units or modules of the apparatus, where the processor is, for example, a general processor such as a central processing unit (CPU) or a microprocessor, and the memory is a memory in the apparatus or a memory outside the apparatus. Alternatively, the units or modules in the apparatus can be implemented in the form of hardware circuit, and the functions of part or all of the units or modules can be implemented by the design of the hardware circuit, and the hardware circuit can be understood as one or more processors; for example, in one implementation, the hardware circuit is an application-specific integrated circuit (ASIC), and the functions of part or all of the units or modules are implemented by the design of the logical relationship between the elements in the circuit; for another example, in another implementation, the hardware circuit is a programmable logic device (PLD), and taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to implement the functions of part or all of the units or modules. All units or modules of the above apparatus can be implemented in the form of processor invoking software, or all units or modules are implemented in the form of hardware circuit, or part of the units or modules are implemented in the form of processor invoking software, and the remaining part is implemented in the form of hardware circuit.

[0408] In the embodiments of the present disclosure, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processor can implement certain functions through a logical relationship of a hardware circuit, and the logical relationship of the hardware circuit is fixed or can be reconfigured. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In the reconfigurable hardware circuit, the processor loads a configuration document to implement the configuration of the hardware circuit. It can be understood that the processor loads instructions to implement the functions of the above part or all units or modules. In addition, the hardware circuit can also be designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), and the like.

[0409] FIG. 5 is a structural schematic diagram of a communication device according to an embodiment of the present disclosure. As shown in FIG. 5, the communication device 5100 can include a transceiver module 5101 and a processing module 5102.

[0410] In some embodiments, the communication device 5100 is a first node, and the transceiver module 5101 is configured to receive first information sent by a sensing receiving node, the first information being used to indicate a measurement quantity of the sensing receiving node, and the measurement quantity includes a first measurement quantity, the first measurement quantity being used to indicate an angle of arrival of a reference signal reaching the sensing receiving node via a non-line-of-sight path. The processing module 5102 is configured to perform positioning on a measured object located on the non-line-of-sight path based on the first information. In some embodiments, the transceiver module 5101 is configured to perform at least one of the communication steps (for example, steps S3101 and S3103, but not limited thereto) performed by the first node in any of the above methods, and details are not described herein again. In some embodiments, the transceiver module 5101 is configured to perform at least one of the processing steps (for example, steps S3102 and S3104, but not limited thereto) performed by the first node in any of the above methods, and details are not described herein again.

[0411] In some embodiments, the communication device 5100 is a sensing receiving node, and the transceiving module 5101 is configured to transmit first information, the first information being used to indicate a measurement quantity of the reference signal by the sensing receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity being used to indicate an angle of arrival of the reference signal to the sensing receiving node via a non-line-of-sight path, and the first information being used to position a measured object on the non-line-of-sight path. In some embodiments, the transceiving module 5101 is further configured to perform at least one of the communication steps (for example, steps S4101 and S4102, but not limited thereto) performed by the sensing receiving node in any of the above methods, details of which are not repeated here.

[0412] In some embodiments, the transceiving module described above can include a transmitting module and / or a receiving module. The transmitting module and the receiving module can be separate or integrated together. Alternatively, the transceiving module described above can be replaced by a transceiver.

[0413] FIG. 6 is a structural schematic diagram of a communication device according to an embodiment of the present disclosure. The communication device 6100 can be a first node, a sensing receiving node, a chip, a chip system, or a processor supporting the first node to implement any of the above methods, or a chip, a chip system, or a processor supporting the sensing receiving node to implement any of the above methods. The communication device 6100 can be used to implement the methods described in the above method embodiments, and details can be referred to the descriptions in the above method embodiments.

[0414] As shown in FIG. 6, the communication device 6100 includes one or more processors 6101. The processor 6101 can be a general-purpose processor or a special-purpose processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control a communication device (for example, a base station, a baseband chip, a terminal device, a terminal device chip, a DU, or a CU), execute a program, and process data of the program. Alternatively, the communication device 6100 is configured to implement any of the above methods. Alternatively, the one or more processors 6101 are configured to invoke instructions to cause the communication device 6100 to implement any of the above methods.

[0415] In some embodiments, the communication device 6100 further includes one or more transceivers 6102. When the communication device 6100 includes one or more transceivers 6102, the transceiver 6102 performs at least one of the communication steps (for example, steps S3101, step S3103, but not limited to) in the above-described method, and the processor 6101 performs at least one of the other steps (for example, steps S3102, step S3104, step S4103, step S4104, but not limited to). In optional embodiments, the transceiver 6102 can include a receiver and / or a transmitter, which can be separate or integrated together. Optionally, the terms transceiver, transceiving unit, transceiver, transceiving circuit, interface circuit, interface, etc. can be replaced with each other, and the terms transmitter, transmitting unit, transmitter, transmitting circuit, etc. can be replaced with each other, and the terms receiver, receiving unit, receiver, receiving circuit, etc. can be replaced with each other.

[0416] In some embodiments, the communication device 6100 further includes one or more memories 6103 for storing data. Optionally, all or part of the memory 6103 can also be outside the communication device 6100. In optional embodiments, the communication device 6100 can include one or more interface circuits 6104. Optionally, the interface circuit 6104 is connected with the memory 6103, and the interface circuit 6104 can be used to receive data from the memory 6103 or other devices, and can be used to send data to the memory 6103 or other devices. For example, the interface circuit 6104 can read the data stored in the memory 6103 and send the data to the processor 6101.

[0417] The communication device 6100 described in the above embodiments can be an access network device or a terminal, but the scope of the communication device 6100 described in the present disclosure is not limited thereto, and the structure of the communication device 6100 can not be limited by Figure 6. The communication device can be a standalone device or can be part of a larger device. For example, the communication device can be: (1) a standalone integrated circuit (IC), or a chip, or a chip system or subsystem; (2) a set of one or more ICs, which can optionally include storage components for storing data, programs; (3) an ASIC, such as a Modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, a smart terminal device, a cellular phone, a wireless device, a handset, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0418] Figure 7 is a structural schematic diagram of a chip according to an embodiment of the present disclosure. For the case where the communication device 6100 can be a chip or a chip system, the structural schematic diagram of the chip 7100 shown in Figure 7 can be referred to, but is not limited thereto.

[0419] The chip 7100 comprises one or more processors 7101. The chip 7100 is configured to perform any of the above methods.

[0420] In some embodiments, the chip 7100 further comprises one or more interface circuits 7102. Optionally, the terms interface circuit, interface, transceiver pin, etc. can replace each other. In some embodiments, the chip 7100 further comprises one or more memories 7103 configured to store data. Optionally, all or part of the memory 7103 can be outside the chip 7100. Optionally, the interface circuit 7102 is connected with the memory 7103, the interface circuit 7102 can be configured to receive data from the memory 7103 or other devices, and the interface circuit 7102 can be configured to send data to the memory 7103 or other devices. For example, the interface circuit 7102 can read the data stored in the memory 7103 and send the data to the processor 7101.

[0421] In some embodiments, the interface circuit 7102 performs at least one of the communication steps (for example, step S3101, step S3103, step S4101, step S4102, but not limited to) of transmitting and / or receiving in the above methods. The interface circuit 7102 performing the communication steps such as transmitting and / or receiving in the above methods means that the interface circuit 7102 performs data interaction between the processor 7101, the chip 7100, the memory 7103 or the transceiver device. In some embodiments, the processor 7101 performs at least one of the other steps (for example, step S3102, step S3104, step S4103, step S4104, but not limited to).

[0422] The modules and / or devices described in each of the embodiments of the virtual device, the physical device, the chip, etc. can be combined or separated as appropriate. Optionally, part or all of the steps can also be performed by multiple modules and / or devices in cooperation, which is not limited here.

[0423] The embodiments of the present disclosure also propose a storage medium, and the storage medium stores instructions. When the instructions run on the communication device 6100, the communication device 6100 performs any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer readable storage medium, but is not limited to this, and it can also be a storage medium readable by other devices. Optionally, the storage medium can be a non-transitory storage medium, but is not limited to this, and it can also be a transitory storage medium.

[0424] The embodiment of the disclosure further provides a program product, which, when executed by the communication device 6100, causes the communication device 6100 to perform any of the above methods. Alternatively, the program product is a computer program product.

[0425] The embodiment of the disclosure further provides a computer program, which, when running on a computer, causes the computer to perform any of the above methods.

[0426] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the specification and examples be considered as exemplary only, with the true scope and spirit of the application being indicated by the following claims.

[0427] It will be understood that the application is not limited to the precise structures hereinbefore described and illustrated in the drawings, and that various modifications and changes can be made without departing from its scope. The scope of the application is indicated by the appended claims, and all changes coming within the meaning and equivalency range of the claims are intended to be embraced therein.

Claims

1. A method of communication performed by a first node, the method comprising: receiving first information transmitted by a sensing receiving node, the first information being used to indicate measurement quantities of the sensing receiving node, the measurement quantities comprising a first measurement quantity, the first measurement quantity being used to indicate an angle of arrival of a reference signal via a non-line-of-sight path to the sensing receiving node; positioning a measured object located on the non-line-of-sight path based on the first information.

2. The method of claim 1, wherein, the sensing receiving node is one or more, the positioning the measured object located on the one or more non-line-of-sight paths based on the first information comprises: positioning the measured object based on the angle of arrival indicated by the first measurement quantity.

3. The method of claim 1, wherein, the measurement quantities further comprise a second measurement quantity, the second measurement quantity being used to indicate a time difference of arrival of the reference signal via a line-of-sight path and the non-line-of-sight path to the sensing receiving node; the positioning the measured object located on the one or more non-line-of-sight paths based on the first information comprises: positioning the measured object based on the angle of arrival indicated by the first measurement quantity and the time difference of arrival indicated by the second measurement quantity.

4. The method according to any one of claims 1 to 3, wherein, the sensing receiving node is one or more, each sensing receiving node receiving a reference signal from one or more sensing transmitting nodes, the each sensing receiving node having one or more non-line-of-sight paths with the one or more sensing transmitting nodes.

5. The method of claim 4, wherein, the reference signal transmitted by the one or more sensing transmitting nodes is multiple, different reference signals having different configurations.

6. The method of claim 5, wherein, the configurations comprise at least one of: identification information; a transmit beam; a bandwidth; a frequency domain resource; a time domain resource.

7. The method according to any one of claims 4 to 6, wherein, the reference signal received by the each sensing receiving node from a same sensing transmitting node is multiple, a maximum number of the measurement quantities of the reference signal from the same sensing transmitting node indicated by the first information being N, N being a positive integer.

8. The method according to any one of claims 1 to 7, wherein, the first information is further used to indicate time information associated with the measurement quantities, the time information comprising at least one of: a receiving time of the reference signal associated with the measurement quantities; a transmitting time of the reference signal associated with the measurement quantities; a validity time of the measurement quantities.

9. The method according to any one of claims 1 to 8, wherein, the method further comprises: receiving second information transmitted by the sensing receiving node, the second information being used to indicate measurement errors of the measurement quantities by the sensing receiving node.

10. The method of claim 9, wherein, the measurement errors are associated with the reference signal.

11. The method according to any one of claims 1 to 10, wherein, the non-line-of-sight path comprises one or more single-hop non-line-of-sight paths via reflection of the measured object. 12.A method of communication performed by a sensing receiving node, the method comprising: transmitting first information, the first information being used to indicate measurement quantities of the sensing receiving node on a reference signal, the measurement quantities comprising a first measurement quantity, the first measurement quantity being used to indicate an angle of arrival of the reference signal via a non-line-of-sight path to the sensing receiving node, the first information being used to position a measured object on the non-line-of-sight path.

13. The method of claim 12, wherein, the sensing receiving node is one or more, the angles of arrival indicated by the first measurement quantities being used to position the measured object.

14. The method of claim 12, wherein, The measurement quantity further comprises a second measurement quantity, the second measurement quantity being used to indicate a time difference of arrival of the reference signal to the perceptive receiving node via a line-of-sight path and a non-line-of-sight path; the angle of arrival indicated by the first measurement quantity and the time difference of arrival indicated by the second measurement quantity are used to locate the measured object.

15. The method according to any one of claims 12 to 14, wherein, The perceptive receiving node is one or more, each perceptive receiving node receiving a reference signal from one or more perceptive transmitting nodes, the each perceptive receiving node having one or more non-line-of-sight paths with the one or more perceptive transmitting nodes.

16. The method of claim 15, wherein, The reference signal transmitted by the one or more perceptive transmitting nodes is a plurality, different reference signals having different configurations.

17. The method of claim 16, wherein, The configuration comprises at least one of: identification information; a transmitting beam; a bandwidth; a frequency domain resource; a time domain resource.

18. The method of any one of claims 15 to 17, wherein, The reference signal received by the each perceptive receiving node from a same perceptive transmitting node is a plurality, a maximum number of measurement quantities of the reference signal from the same perceptive transmitting node indicated by the first information being N, N being a positive integer.

19. The method according to any one of claims 12 to 18, wherein, The first information further indicates time information associated with the measurement quantity, the time information comprising at least one of: a receiving time of the reference signal associated with the measurement quantity; a transmitting time of the reference signal associated with the measurement quantity; a valid time of the measurement quantity.

20. The method of any one of claims 12 to 20, wherein, The method further comprises: transmitting second information, the second information being used to indicate a measurement error of the measurement quantity by the perceptive receiving node.

21. The method of claim 20, wherein, The measurement error is associated with the reference signal.

22. The method of any one of claims 12 to 21, wherein, The non-line-of-sight path comprises one or more single-hop non-line-of-sight paths via reflection of the measured object. 23.A communication device comprising: a transceiver module configured to receive first information transmitted by a perceptive receiving node, the first information being used to indicate a measurement quantity of the perceptive receiving node, the measurement quantity comprising a first measurement quantity, the first measurement quantity being used to indicate an angle of arrival of a reference signal to the perceptive receiving node via a non-line-of-sight path; a processing module configured to locate a measured object located on the non-line-of-sight path based on the first information. 24.A communication device comprising: a transceiver module configured to transmit first perceptive data of a first area to a first device, the first perceptive data being used to determine a perceptive result provided to a second device. 25.A communication device comprising: one or more processors; wherein the communication device is configured to perform the communication method of any one of claims 1 to 22.

26. A communication system comprising a first node, a sensing receiving node and a sensing transmitting node, wherein The first node is configured to implement the communication method of any one of claims 1 to 11, the perceptive receiving node is configured to implement the communication method of any one of claims 12 to 22, and the perceptive transmitting node is configured to transmit the reference signal. 27.A computer storage medium, the storage medium storing instructions which, when executed on a communication device, cause the communication device to perform the communication method of any one of claims 1 to 22.

28. A computer program product comprising a computer program which, when executed by a processor, implements the communication method of any one of claims 1 to 22.

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