Communication method, device, system and storage medium

Abstract

The invention relates to a communication method, device and system and a storage medium. The method comprises the following steps: receiving first measurement information sent by first sensing equipment, and / or receiving second measurement information sent by second sensing equipment; wherein the first measurement information comprises time information of signal transmission between the first sensing device and the second sensing device, and the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device; according to the first measurement information and / or the second measurement information, the position of a sensing target SO is determined, and the SO is located on a transmission path used for signal transmission between the first sensing device and the second sensing device. In the method disclosed by the invention, the positioning processing equipment can position the SO in combination with the influence of the SO on the transmission time of the transmission path, so that the accuracy of target positioning in the ISAC system is improved.

Description

Communication methods, devices, systems and storage media Technical Field

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

[0002] Integrated Sensing and Communication (ISAC) is a new type of communication technology that can be applied to 5G or 6G networks. It aims to integrate sensing capabilities into communication systems, enabling communication systems to provide sensing as a service along with communication to users.

[0003] Summary of the Invention

[0004] In the ISAC system, the target under test is generally not a network device or terminal device node, and does not have the function of receiving, processing or sending signals. Therefore, there is a lack of methods for locating such targets.

[0005] This disclosure provides a communication method, device, system, and storage medium.

[0006] In a first aspect, embodiments of this disclosure provide a communication method executed by a positioning processing device, the method comprising:

[0007] Receive first measurement information sent by a first sensing device, and / or receive second measurement information sent by a second sensing device; wherein the first measurement information includes time information of signal transmission between the first sensing device and the second sensing device, and the second measurement information includes time information of signal transmission between the second sensing device and the first sensing device;

[0008] Based on the first measurement information and / or the second measurement information, the position of the sensing objective (SO) is determined, where the SO is located on the transmission path used for signal transmission between the first sensing device and the second sensing device.

[0009] Secondly, embodiments of this disclosure provide a communication method executed by a first sensing device, the method comprising:

[0010] Send first measurement information to the positioning processing device, wherein the first measurement information includes: time information of signal transmission between the first sensing device and the second sensing device, and the first measurement information is used to determine the position of the sensing target SO, and SO is located on the transmission path used for signal transmission between the first sensing device and the second sensing device.

[0011] Thirdly, embodiments of this disclosure provide a communication method executed by a second sensing device, the method comprising:

[0012] transmitting, to a positioning processing device, second measurement information, wherein the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device, and the second measurement information is used to determine a position of a sensing target SO, the SO being located on a transmission path between the first sensing device and the second sensing device for signal transmission.

[0013] In a fourth aspect, an embodiment of the present disclosure provides a positioning processing device, comprising:

[0014] a transceiver module, configured to receive first measurement information transmitted by a first sensing device and / or receive second measurement information transmitted by a second sensing device, wherein the first measurement information comprises time information of signal transmission between the first sensing device and the second sensing device, and the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device;

[0015] a processing module, configured to determine a position of a sensing target SO according to the first measurement information and / or the second measurement information, the SO being located on a transmission path between the first sensing device and the second sensing device for signal transmission.

[0016] In a fifth aspect, an embodiment of the present disclosure provides a sensing device, comprising:

[0017] a transceiver module, configured to transmit, to a positioning processing device, first measurement information, wherein the first measurement information comprises time information of signal transmission between the first sensing device and a second sensing device, and the first measurement information is used to determine a position of a sensing target SO, the SO being located on a transmission path between the first sensing device and the second sensing device for signal transmission.

[0018] In a sixth aspect, an embodiment of the present disclosure provides a sensing device, comprising:

[0019] a transceiver module, configured to transmit, to a positioning processing device, second measurement information, wherein the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device, and the second measurement information is used to determine a position of a sensing target SO, the SO being located on a transmission path between the first sensing device and the second sensing device for signal transmission.

[0020] In a seventh aspect, an embodiment of the present disclosure provides a communication device, comprising:

[0021] one or more processors;

[0022] The communication device is configured to implement the method in the first aspect, or the second aspect, or the third aspect.

[0023] In an eighth aspect, an embodiment of the present disclosure provides a communication system, comprising a positioning processing device, a first sensing device and a second sensing device, wherein:

[0024] The positioning processing device is configured to implement the method of the first aspect;

[0025] The first sensing device is configured to implement the method of the second aspect;

[0026] The second sensing device is configured to implement the method of the third aspect.

[0027] In a ninth aspect, the embodiments of the present disclosure provide a storage medium, the storage medium storing instructions, wherein,

[0028] When the instructions run on the communication device, the communication device is caused to perform the method of the first aspect, or the second aspect, or the third aspect.

[0029] In a tenth aspect, the embodiments of the present disclosure provide a program product, wherein,

[0030] When the program product is executed by the communication device, the communication device is caused to perform the method of the first aspect, or the second aspect, or the third aspect.

[0031] In the embodiments of the present disclosure, in the ISAC system, the positioning processing device can obtain measurement information from the first sensing device and / or the second sensing device to obtain time information of signal transmission on the transmission path between the two sensing devices, so that the positioning processing device can locate the SO in combination with the influence of the SO on the transmission time of the transmission path, thereby improving the accuracy of target positioning in the ISAC system. BRIEF DESCRIPTION OF DRAWINGS

[0032] 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.

[0033] FIGS. 1a-1b are one exemplary schematic diagram of an architecture of a communication system according to embodiments of the present disclosure;

[0034] FIGS. 2a-2b are one exemplary interactive schematic diagram of a method according to embodiments of the present disclosure;

[0035] FIGS. 2c-2g are scene schematic diagrams according to embodiments of the present disclosure;

[0036] FIGS. 3a-3b are one exemplary flowchart of a method according to embodiments of the present disclosure;

[0037] FIGS. 4a-4b are one exemplary flowchart of a method according to embodiments of the present disclosure;

[0038] FIG. 5a-5b are an exemplary flowchart of a method according to embodiments of the present disclosure;

[0039] FIG. 6a is a structural schematic diagram of a positioning processing device according to embodiments of the present disclosure;

[0040] FIG. 6b is a structural schematic diagram of a sensing device according to embodiments of the present disclosure;

[0041] FIG. 7a is a schematic diagram of a communication device according to embodiments of the present disclosure;

[0042] FIG. 7b is a schematic diagram of a communication device according to embodiments of the present disclosure. DETAILED DESCRIPTION

[0043] Embodiments of the present disclosure provide a communication method, device, system and storage medium.

[0044] In a first aspect, embodiments of the present disclosure provide a communication method, performed by a positioning processing device, the method comprising:

[0045] receiving first measurement information sent by a first sensing device, and / or receiving second measurement information sent by a second sensing device; wherein the first measurement information comprises time information of signal transmission between the first sensing device and the second sensing device, and the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device;

[0046] determining a position of a sensing object SO according to the first measurement information and / or the second measurement information, the SO being located on a transmission path between the first sensing device and the second sensing device for signal transmission.

[0047] In the above embodiments, in an ISAC system, the positioning processing device can obtain measurement information from the first sensing device and / or the second sensing device to obtain time information of signal transmission on a transmission path between the two sensing devices, so that the positioning processing device can position the SO in combination with the influence of the SO on the transmission time of the transmission path, thereby improving the accuracy of positioning the target in the ISAC system.

[0048] In combination with embodiments of the first aspect, in some embodiments, the method further comprises:

[0049] sending indication information to the first sensing device and / or the second sensing device, the indication information being used to indicate at least one transmission path on which the SO is located, from a plurality of transmission paths between the first sensing device and the second sensing device.

[0050] In the above embodiments, the positioning processing device can indicate the index or index range of the transmission path to the first sensing device and / or the second sensing device by sending indication information, so that the first sensing device and / or the second sensing device can measure the time information on the at least one transmission path according to the indication information, thereby reducing unnecessary measurement.

[0051] In combination with the embodiments of the first aspect, in some embodiments, the first measurement information includes a first time interval, the first time interval being an interval between sending, by the first sensing device, the first sensing reference signal and receiving the second sensing reference signal in the K1th path of the plurality of transmission paths, the second sensing reference signal being sent by the second sensing device after receiving the first sensing reference signal;

[0052] The second measurement information includes a second time interval, the second time interval being an interval between receiving, by the second sensing device, the first sensing reference signal in the K2th path of the plurality of transmission paths and sending the second sensing reference signal, K1 and K2 being indexes of the transmission path where the SO is located.

[0053] In the above embodiments, the positioning processing device can obtain the first time interval and the second time interval based on the reporting of the sensing devices, i.e., obtain the measurement quantity based on single-sided RTT positioning, thereby facilitating positioning of the SO based on single-sided RTT.

[0054] In combination with the embodiments of the first aspect, in some embodiments, the first measurement information further includes a third time interval, the third time interval being an interval between receiving, by the first sensing device, the third sensing reference signal in the K1th path and sending the fourth sensing reference signal, the third sensing reference signal being sent by the second sensing device after sending the second sensing reference signal;

[0055] The second measurement information further includes a fourth time interval, the fourth time interval being an interval between sending, by the second sensing device, the third sensing reference signal and receiving the fourth sensing reference signal in the K2th path.

[0056] In the above embodiments, the positioning processing device can obtain the first time interval to the fourth time interval based on the reporting of the sensing devices, i.e., obtain the measurement quantity based on double-sided RTT positioning, thereby facilitating positioning of the SO based on double-sided RTT and improving the accuracy of positioning.

[0057] In combination with the embodiments of the first aspect, in some embodiments, determining the position of the sensing target SO according to the first measurement information and / or the second measurement information includes:

[0058] determining, according to the first measurement information and the second measurement information, a signal transmission delay of the transmission path where the SO is located;

[0059] According to the signal transmission delay, the position of the SO is determined.

[0060] In the above embodiments, the positioning processing device can position the SO based on the obtained multiple time intervals in a manner of single-sided RTT or double-sided RTT to obtain the position of the SO.

[0061] In combination with the embodiments of the first aspect, in some embodiments, the first measurement information and / or the second measurement information includes a time difference, the time difference being a time difference between a signal of the first path received by the first awareness device and a signal of a transmission path where the SO is located; and the first path is a transmission path where the first awareness device first receives an awareness reference signal sent by the second awareness device, or the first path is a transmission path where the second awareness device first receives an awareness reference signal sent by the first awareness device.

[0062] In the above embodiments, the positioning processing device can obtain the time difference reported by the second awareness device, and thus position the SO based on the time difference between the transmission path where the SO is located and the first path.

[0063] In combination with the embodiments of the first aspect, in some embodiments, when there is a Line of Sight (LOS) path between the first awareness device and the second awareness device, the first path is the LOS path.

[0064] In the above embodiments, the positioning processing device can position the SO based on the time difference between the LOS path and the transmission path where the SO is located.

[0065] In combination with the embodiments of the first aspect, in some embodiments, when there is no LOS path between the first awareness device and the second awareness device, the first measurement information includes a fifth time interval, the fifth time interval being an interval between sending a fifth awareness reference signal by the first awareness device and receiving a sixth awareness reference signal in the first path, the sixth awareness reference signal being sent by the second awareness device after receiving the fifth awareness reference signal.

[0066] The second measurement information includes a sixth time interval, the sixth time interval being an interval between receiving the fifth awareness reference signal in the first path by the second awareness device and sending the sixth awareness reference signal.

[0067] In the above embodiments, when there is no LOS path, the positioning processing device needs to determine the transmission delay of the first path based on the single-sided RTT according to the fifth time interval and the sixth time interval to position the SO.

[0068] In some embodiments of the first aspect, the first measurement information further comprises a seventh time interval, the seventh time interval being an interval between a reception of a seventh sensing reference signal in the first path and a transmission of an eighth sensing reference signal by the first sensing device, the seventh sensing reference signal being transmitted by the second sensing device after the transmission of the sixth sensing reference signal.

[0069] The second measurement information comprises an eighth time interval, the eighth time interval being an interval between the transmission of the seventh sensing reference signal and a reception of an eighth sensing reference signal in the first path by the second sensing device.

[0070] In the above embodiments, the positioning processing device can further determine the transmission delay of the first path according to the double-sided RTT.

[0071] In some embodiments of the first aspect, the determining the position of the sensing object SO according to the first measurement information and / or the second measurement information comprises:

[0072] determining the position of the SO according to the time difference, the position of the first sensing device, and the position of the second sensing device.

[0073] or, comprises:

[0074] determining the signal transmission delay on the first path;

[0075] determining the position of the SO according to the time difference, the signal transmission delay on the first path, the position of the first sensing device, and the position of the second sensing device.

[0076] In the above embodiments, the positioning processing device determines the position of the SO based on the known device positions and the obtained measurement information.

[0077] In some embodiments of the first aspect, the first measurement information comprises time information corresponding to sensing reference signals with different configuration identifiers; and / or,

[0078] the second measurement information comprises time information corresponding to sensing reference signals with different configuration identifiers.

[0079] The sensing reference signals with different configuration identifiers have different configuration information, and the configuration information comprises at least one of the following: time domain resource, frequency domain resource, and beam information.

[0080] In the above embodiments, the information obtained by the positioning processing device can comprise measurement information corresponding to sensing reference signals with different configurations, so that the positioning can be performed based on the corresponding configured reference signals, and the positioning accuracy in the scenario of sensing reference signals with different configurations can be improved.

[0081] In some embodiments of the first aspect, the method further comprises:

[0082] receive the assistance information sent by the first sensing device and / or the second sensing device, the assistance information being used to indicate a measurement error of the first measurement information and / or the second measurement information.

[0083] In the above embodiment, the positioning processing device learns the measurement error of the first measurement information and / or the second measurement information by receiving the assistance information, so that error processing can be performed in the positioning process, and the positioning accuracy is improved.

[0084] In a second aspect, the embodiments of the present disclosure provide a communication method, executed by a first sensing device, the method comprising:

[0085] sending, to a positioning processing device, first measurement information, wherein the first measurement information comprises time information of signal transmission between the first sensing device and a second sensing device, and the first measurement information is used to determine a position of a sensing object SO, and the SO is located on a transmission path for signal transmission between the first sensing device and the second sensing device.

[0086] In the above embodiment, the first sensing device reports the time information between the two sensing devices to the positioning processing device by sending the first measurement information, so as to facilitate the positioning processing device to realize positioning of the SO.

[0087] In combination with the embodiments of the second aspect, in some embodiments, the method further comprises:

[0088] receiving indication information sent by the positioning processing device, the indication information being used to indicate at least one transmission path in which the SO is located, from a plurality of transmission paths between the first sensing device and the second sensing device.

[0089] In combination with the embodiments of the second aspect, in some embodiments, the method further comprises:

[0090] sending, to the second sensing device, a first sensing reference signal;

[0091] receiving a second sensing reference signal in the K1th path from the second sensing device, wherein the second sensing reference signal is sent after the second sensing device receives the first sensing reference signal, and K1 is an index of the transmission path in which the SO is located.

[0092] In combination with the embodiments of the second aspect, in some embodiments, the first measurement information comprises a first time interval, and the first time interval is an interval between sending the first sensing reference signal and receiving the second sensing reference signal by the first sensing device.

[0093] In combination with the embodiments of the second aspect, in some embodiments, the method further comprises:

[0094] receive a third sensing reference signal in the K1th transmission path, wherein the third sensing reference signal is transmitted by the second sensing device after transmitting the second sensing reference signal;

[0095] transmit a fourth sensing reference signal to the second sensing device, K1 being an index of the transmission path where the SO is located.

[0096] In combination with the embodiments of the second aspect, in some embodiments, the first measurement information further includes a third time interval, the third time interval being an interval between the first sensing device receiving the third sensing reference signal and transmitting the fourth sensing reference signal.

[0097] In combination with the embodiments of the second aspect, in some embodiments, the first measurement information includes a time difference, the time difference being a time difference between the first sensing device receiving a signal of a first transmission path and receiving a signal of a transmission path where the SO is located; wherein the first transmission path is a transmission path where the first sensing device first receives a sensing reference signal transmitted by the second sensing device.

[0098] In combination with the embodiments of the second aspect, in some embodiments, when there is a direct view LOS path between the first sensing device and the second sensing device, the first transmission path is the LOS path; or when there is no LOS path between the first sensing device and the second sensing device, the first measurement information includes a fifth time interval, the fifth time interval being an interval between the first sensing device transmitting a fifth sensing reference signal and receiving a sixth sensing reference signal in the first transmission path, the sixth sensing reference signal being transmitted by the second sensing device after receiving the fifth sensing reference signal.

[0099] In combination with the embodiments of the second aspect, in some embodiments, the first measurement information further includes a seventh time interval, the seventh time interval being an interval between the first sensing device receiving a seventh sensing reference signal in the first transmission path and transmitting an eighth sensing reference signal, the seventh sensing reference signal being transmitted by the second sensing device after transmitting the sixth sensing reference signal.

[0100] In combination with the embodiments of the second aspect, in some embodiments, the method further includes:

[0101] transmit configuration information to the second sensing device, the configuration information corresponding to sensing reference signals of different configuration identifiers being different, the configuration information including at least one of the following: time domain resource, frequency domain resource, beam information.

[0102] In combination with the embodiments of the second aspect, in some embodiments, the first measurement information includes time information corresponding to sensing reference signals of different configuration identifiers.

[0103] In combination with the embodiments of the second aspect, in some embodiments, the method further includes:

[0104] The auxiliary information is sent to a positioning processing device, and the auxiliary information is used to indicate a measurement error of the first measurement information.

[0105] In a third aspect, the embodiments of the present disclosure provide a communication method, executed by a second sensing device, and the method comprises:

[0106] The second measurement information is sent to a positioning processing device, wherein the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device, and the second measurement information is used to determine a position of a sensing object SO, and the SO is located on a transmission path for signal transmission between the first sensing device and the second sensing device.

[0107] In the above embodiments, the second sensing device reports the time information between the two sensing devices to the positioning processing device by sending the second measurement information, so as to facilitate the positioning processing device to realize positioning of the SO.

[0108] In combination with the embodiments of the third aspect, in some embodiments, the method further comprises:

[0109] The indication information sent by the positioning processing device is received, and the indication information is used to indicate at least one transmission path in which the SO is located, from a plurality of transmission paths between the first sensing device and the second sensing device.

[0110] In combination with the embodiments of the third aspect, in some embodiments, the method further comprises:

[0111] The first sensing reference signal in the K2th path is received, from the first sensing device;

[0112] The second sensing reference signal is sent to the first sensing device, wherein the second sensing reference signal is sent after the first sensing reference signal is received by the second sensing device, and K2 is an index of the transmission path in which the SO is located.

[0113] In combination with the embodiments of the third aspect, in some embodiments, the second measurement information comprises a second time interval, and the second time interval is an interval between the first sensing reference signal being received by the second sensing device and the second sensing reference signal being sent.

[0114] In combination with the embodiments of the third aspect, in some embodiments, the method further comprises:

[0115] The third sensing reference signal is sent to the first sensing device, wherein the third sensing reference signal is sent by the second sensing device after the second sensing reference signal is sent;

[0116] The fourth sensing reference signal in the K2th path is received, sent by the first sensing device, and the third sensing reference signal and the fourth sensing reference signal are transmitted on a NLOS path, and K2 is an index of the transmission path in which the SO is located.

[0117] In some embodiments, the second measurement information further comprises a fourth time interval, the fourth time interval being an interval between the second sensing device sending the third sensing reference signal and receiving the fourth sensing reference signal.

[0118] In some embodiments, the second measurement information comprises a time difference, the time difference being a time difference between a signal of the first path received by the second sensing device and a signal of a transmission path on which the SO is received, wherein the first path is a transmission path on which the second sensing device first receives a sensing reference signal sent by the first sensing device.

[0119] In some embodiments, the first path is a LOS path when there is a LOS path between the first sensing device and the second sensing device.

[0120] In some embodiments, the second measurement information comprises a sixth time interval, the sixth time interval being an interval between the second sensing device receiving the fifth sensing reference signal in the first path and sending the sixth sensing reference signal, the sixth sensing reference signal being sent by the second sensing device after receiving the fifth sensing reference signal, when there is no LOS path between the first sensing device and the second sensing device.

[0121] In some embodiments, the second measurement information further comprises an eighth time interval, the eighth time interval being an interval between the second sensing device sending the seventh sensing reference signal and receiving the eighth sensing reference signal in the first path, the seventh sensing reference signal being sent by the second sensing device after sending the sixth sensing reference signal.

[0122] In some embodiments, the method further comprises:

[0123] receiving configuration information sent by the first sensing device, the configuration information corresponding to sensing reference signals with different configuration identifiers being different, the configuration information comprising at least one of the following: time domain resource, frequency domain resource, beam information.

[0124] In some embodiments, the second measurement information comprises time information corresponding to sensing reference signals with different configuration identifiers.

[0125] In some embodiments, the method further comprises:

[0126] sending, to the positioning processing device, assistance information, the assistance information being used to indicate a measurement error of the second measurement information.

[0127] In a fourth aspect, the embodiments of the present disclosure provide a positioning processing device, comprising:

[0128] a transceiver configured to receive first measurement information transmitted by the first sensing device and / or receive second measurement information transmitted by the second sensing device, wherein the first measurement information comprises time information of signal transmission between the first sensing device and the second sensing device, and the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device;

[0129] a processing module configured to determine a position of a sensing target SO according to the first measurement information and / or the second measurement information, wherein the SO is located on a transmission path for signal transmission between the first sensing device and the second sensing device.

[0130] In a fifth aspect, the embodiments of the present disclosure provide a sensing device, comprising:

[0131] a transceiver configured to transmit first measurement information to the positioning processing device, wherein the first measurement information comprises time information of signal transmission between the first sensing device and the second sensing device, and the first measurement information is used to determine a position of a sensing target SO, wherein the SO is located on a transmission path for signal transmission between the first sensing device and the second sensing device.

[0132] In a sixth aspect, the embodiments of the present disclosure provide a sensing device, comprising:

[0133] a transceiver configured to transmit second measurement information to the positioning processing device, wherein the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device, and the second measurement information is used to determine a position of a sensing target SO, wherein the SO is located on a transmission path for signal transmission between the first sensing device and the second sensing device.

[0134] In a seventh aspect, the embodiments of the present disclosure provide a communication device, comprising:

[0135] one or more processors;

[0136] The communication device is configured to implement the method of the first aspect, or the second aspect, or the third aspect.

[0137] In an eighth aspect, the embodiments of the present disclosure provide a communication system, comprising a positioning processing device, a first sensing device and a second sensing device, wherein,

[0138] The positioning processing device is configured to implement the method of the first aspect;

[0139] The first sensing device is configured to implement the method of the second aspect;

[0140] The second sensing device is configured to implement the method of the third aspect.

[0141] In a ninth aspect, the embodiments of the present disclosure provide a storage medium, which stores instructions, wherein,

[0142] When the instructions are run on the communication device, the communication device is caused to perform the method according to the first aspect, or the second aspect, or the third aspect.

[0143] In a tenth aspect, the embodiments of the present disclosure provide a program product, which, when executed by a communication device, causes the communication device to perform the method according to the first aspect, or the second aspect, or the third aspect.

[0144] When the program product is executed by a communication device, the communication device is caused to perform the method according to the first aspect, or the second aspect, or the third aspect.

[0145] In an eleventh aspect, the embodiments of the present disclosure provide a computer program, which, when run on a computer, causes the computer to perform the method described in the optional implementation manners of the first aspect and the second aspect.

[0146] In a twelfth aspect, the embodiments of the present disclosure provide a chip or a chip system. The chip or the chip system includes processing circuitry configured to perform the method according to the first aspect and the second aspect.

[0147] It can be understood that the above-mentioned device, communication system, storage medium, program product, computer program, chip or chip system are all used to perform the method proposed in the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved are referred to the beneficial effects in the corresponding method, which will not be described here.

[0148] 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 manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, part or all steps of different embodiments can be combined arbitrarily, an embodiment can be combined with the optional implementation manners of other embodiments.

[0149] In each embodiment of the present disclosure, the terms and / or descriptions of 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 new embodiments according to their inherent logical relationship.

[0150] 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.

[0151] In the embodiments of the present disclosure, an element expressed in singular form, such as "a", "an", "the", "said", "the aforementioned", "the foregoing", "this", and the like, unless otherwise specified, can represent "one and only one", or can represent "one or more", "at least one", and the like. For example, in the case of using an article such as "a", "an", "the" in English, the noun after the article can be understood as a singular expression, or can be understood as a plural expression.

[0152] In the embodiments of the present disclosure, "plurality" refers to two or more.

[0153] In some embodiments, the terms "at least one of", "one or more", "a plurality of", "multiple", and the like can be replaced with each other.

[0154] In some embodiments, the description manner such as "at least one of A, B", "A and / or B", "A in one case, B in another case", "in response to a case A, in response to another case B", and the like, according to the case, can include the following technical solutions: 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 from A and B; in some embodiments, A and B are executed (A and B are both executed). When there are more branches such as A, B, C, and the like, it is similar to the above.

[0155] In some embodiments, the description manner such as "A or B", and the like, according to the case, can include the following technical solutions: 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 from A and B. When there are more branches such as A, B, C, and the like, it is similar to the above.

[0156] The prefix words of "first", "second" and the like in the embodiments of the present disclosure are merely used to distinguish different description objects, and do not constitute limitation on the position, order, priority, quantity or content of the description objects. The description objects are described in the claims or embodiments, and should not be construed as redundant 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 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 the types thereof 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 the contents thereof can be the same or different.

[0157] In some embodiments, "including A", "containing A", "for indicating A", "carrying A" can be interpreted as directly carrying A, or indirectly indicating A.

[0158] In some embodiments, the terms of "in response to", "in response to determining", "in the case of", "when", "when", "if", "if" and the like can be replaced with each other.

[0159] In some embodiments, the terms of "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 of "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.

[0160] In some embodiments, the apparatuses and devices can be interpreted as entities, and can also be interpreted as virtual, whose names are not limited to the names described in the embodiments, and in some cases can also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", etc.

[0161] In some embodiments, "network" can be interpreted as an apparatus contained in the network, for example, access network device, core network device, etc.

[0162] In some embodiments, "access network device (AN device)" can also be referred to as "radio access network device (RAN device)", "base station (BS)", "radio base station", "fixed station", and in some embodiments can also be understood as "node", "access point", "transmission point (TP)", "reception point (RP)", "transmission / reception point (TRP)", "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)", etc.

[0163] In some embodiments, a "terminal" or "terminal device" can be referred to as a "user equipment" (UE), a "user terminal," a "mobile station" (MS), a "mobile terminal" (MT), a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a remote unit, a mobile device, a wireless device, a wireless communication device, a remote device, a mobile subscriber station, an access terminal, a mobile terminal, a wireless terminal, a remote terminal, a handset, a user agent, a mobile client, a client, and / or the like.

[0164] In some embodiments, data, information, and / or the like can be obtained in compliance with laws and regulations of a country in which the data, information, and / or the like is obtained.

[0165] In some embodiments, data, information, and / or the like can be obtained after consent of a user.

[0166] Further, each element, each row, or each column in a table of embodiments of the present disclosure can be implemented as an independent embodiment, and a combination of any element, any row, or any column can be implemented as an independent embodiment.

[0167] FIG. 1a is an architecture schematic diagram of a communication system 100 according to an embodiment of the present disclosure. As shown in FIG. 1a, the communication system 100 includes a positioning processing device 101, a first sensing device 102, and a second sensing device 103. Among them, the communication system 100 can be an integrated sensing and communication (ISAC) system, simply referred to as a sensing system or a perception system.

[0168] The positioning processing device 101 is configured to store sensing information, perform complex sensing calculation, etc. The positioning processing device 101 can be a sensing function (SF) entity in a core network device, or a sensing function network element. Alternatively, the positioning processing device 101 can be a sensing server in the network. Alternatively, the positioning processing device 101 is a network device or terminal integrated with sensing function or positioning processing function.

[0169] The first sensing device 102 and the second sensing device 103 can be a sending end or a receiving end of a sensing signal. For example, the first sensing device 102 is a sensing sending device or a sensing sending node (Sensing TX node) in sensing communication, which can send a sensing reference signal (Sensing RS) in the sensing communication. The second sensing device 103 is a sensing receiving device or a sensing receiving node (Sensing RX node) in sensing communication, which can receive a sensing reference signal in the sensing communication, or receive a reflected sensing reference signal (Reflected Sensing RS) reflected by a detected objective such as a sensing objective SO. The first sensing device 102 can be a network device or a terminal, and the second sensing device 103 can be a network device or a terminal.

[0170] The network device described above can be a core network device, or include a core network device and an access network device, or be one of an access network device and a core network device.

[0171] The terminal includes at least one of a mobile phone, a wearable device, an Internet of Things device, a communication-enabled automobile, a smart automobile, a tablet computer (Pad), a computer with wireless transceiver function, 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 smart grid, a wireless terminal device in transportation safety, a wireless terminal device in smart city, a wireless terminal device in smart home, etc., but is not limited thereto.

[0172] 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 node B (eNB) in a 5G communication system, a next generation eNB (ng-eNB), a next generation node B (gNB), 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 base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, an access node in a wireless fidelity (WiFi) system, but is not limited thereto.

[0173] The access network device can be composed of a central unit (CU) and a distributed unit (DU), wherein 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 the functions of part of the protocol layers are controlled by the CU, and the functions of the remaining part or all of the protocol layers are distributed in the DU and controlled by the CU, but are not limited thereto.

[0174] In some embodiments, the core network device described above can be one device including one or more network elements, or can be multiple devices or device groups including all or part of one or more network elements, respectively. The network element can be virtual or physical. The core network includes, for example, at least one of an evolved packet core (EPC), a 5G core network (5GCN), and a next generation core (NGC). Alternatively, the core network device refers to a network element with specific functions, such as an access management function (AMF), a service management function (SMF), a sensing function (SF), or a sensing network function (SNF).

[0175] FIG. 1b is a mode schematic diagram of a communication system 100 according to an embodiment of the present disclosure. In the design process of the ISAC system, the communication and sensing service requirements need to be considered at the same time. As shown in FIG. 1b, the ISAC system can include different modes. The first type is mono-static, that is, the same device or node transmits the sensing RS and receives the sensing RS. The second type is bi-static, that is, different devices or different nodes transmit the sensing RS and receive the sensing RS or the reflected sensing RS. For example, the first sensing device 102 and the second sensing device 103 are different devices.

[0176] Among them, the above two types of ISAC modes can be divided into the following six or six modes:

[0177] Mode 1: Base station self-generation and self-reception (TRP monostatic), as shown in FIG. 1b, number 1, base station A transmits a sensing signal, and after the sensing signal passes through the environment or objects in the environment, the base station A receives and measures the reflected / scattered wave, such as the base station A receiving the sensing RS or the reflected sensing RS.

[0178] Mode 2: Base station A sends and base station B receives (TRP-TRP bistatic), as shown in FIG. 1b, number 2, base station A transmits a sensing signal, and after the sensing signal passes through the environment or objects in the environment, base station B receives and measures the reflected / scattered wave.

[0179] Mode 3: Terminal transmit-receive base station (UE-TRP bistatic), as shown in figure 1b, numeral 3, the terminal transmits a sensing signal, and the base station receives the reflected / scattered wave after the sensing signal passes through the environment or objects in the environment.

[0180] Mode 4: Base station transmit-receive terminal (TRP-UE bistatic), as shown in figure 1b, numeral 4, the base station transmits a sensing signal, and the terminal receives the reflected / scattered wave after the sensing signal is reflected by the measured object.

[0181] Mode 5: Terminal self-transmit-receive (UE monostatic), as shown in figure 1b, numeral 5, the terminal transmits a sensing signal, and the terminal receives the reflected / scattered wave after the sensing signal passes through the environment or objects in the environment.

[0182] Mode 6: Terminal A transmit-receive terminal B (UE-UE bistatic), as shown in figure 1b, numeral 6, terminal A transmits a sensing signal, and terminal B receives the reflected / scattered wave after the sensing signal passes through the environment or objects in the environment.

[0183] In some embodiments, the technical solutions of the present disclosure can be applied to the Open RAN architecture, at which 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 realized through software or programs.

[0184] 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 known by those skilled in the art that, with the evolution of system architecture and the appearance of new business scenarios, the technical solutions provided by the embodiments of the present disclosure are also applicable to similar technical problems.

[0185] The following embodiments of the present disclosure can be applied to the communication system 100 shown in figure 1a, or part of the subject, but are not limited thereto. The subjects shown in figure 1a are examples, and the communication system can include all or part of the subjects in figure 1a, or other subjects other than figure 1a. The number and form of each subject is arbitrary, and the connection relationship between each subject is an example. Each subject can be connected or not connected, and the connection can be in any way, can be direct connection or indirect connection, can be wired connection or wireless connection.

[0186] 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 processing methods, next-generation system expanded based thereon, and the like. Further, a plurality of systems can be applied in combination (for example, combination of LTE or LTE-A and 5G, and the like).

[0187] In the NR system, the transmitting end or the receiving end of a signal can be positioned. For example, through downlink time difference of arrival (DL-TDOA), uplink TDOA (UL-TDOA), multi-round trip time (multi-RTT), downlink angle of departure (DL-AOD), and uplink angle of arrival (UL-AOA). Among them, DL-TDOA needs to position the receiving end according to the time difference of the positioning reference signals received by the receiving end from multiple transmitting ends, and UL-TDOA needs to position the transmitting end according to the time difference of the positioning reference signals received by multiple receiving ends (such as base stations) from the transmitting end (such as UE). DL-TDOA requires time synchronization of multiple transmitting ends, and UL-TDOA requires time synchronization of multiple receiving ends. Multi-RTT, DL-AOD or UL AOA does not require synchronization of the transmitting end or the receiving end.

[0188] The positioning in the above-mentioned NR system is mainly used for positioning the UE. The network side can send the positioning reference signal, and the UE acts as the receiving end, or the UE sends the positioning reference signal, and the network acts as the receiving end.

[0189] However, in the ISAC system, the target to be measured is generally not a network device or a terminal device node, and does not have the function of receiving and processing signals or transmitting signals, and lacks an effective method for measuring or sensing the target.

[0190] FIG. 2a is an interaction schematic diagram of a 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, and the method comprises:

[0191] In step S2101, the first sensing device 102 sends a first sensing reference signal to the second sensing device 103.

[0192] The first sensing reference signal refers to the sensing reference signal sent by the first sensing device 102 in step S2101. The "first" in it is only used to distinguish the sensing reference signals sent by different devices or the sensing reference signals sent by the same device at different times in the description, and is not a limitation on the configuration or identification of the sensing reference signal.

[0193] In some embodiments, the embodiment of the present disclosure can be applied to the Bi-static mode of the ISAC system, that is, the first sensing device 102 and the second sensing device 103 are not the same device or the same node.

[0194] Optionally, the first sensing device 102 can be a terminal or a network device, and the second sensing device 103 can also be a terminal or a network device. When the first sensing device 102 and the second sensing device 103 are both terminals, they are different terminals; or when the first sensing device 102 and the second sensing device 103 are both network devices, they are different network devices.

[0195] Optionally, the first sensing device 102 and the second sensing device 103 can both send or receive sensing reference signals. For example, the first sensing device 102 can be referred to as a Sensing TX node, and the second sensing device 103 can be referred to as a Sensing RX node, or vice versa. Alternatively, the first sensing device 102 can be referred to as Sensing Node A or Node A (Node A), and the second sensing device 103 can be referred to as Sensing Node B or Node B (Node B).

[0196] In some embodiments, in an ISAC system, sensing reference signals can be transmitted in a multipath manner, that is, the sensing reference signals transmitted by the sending end can be transmitted to the receiving end through multiple transmission paths.

[0197] As shown in the scenario of FIG. 2c, an ISAC system can include a Sensing TX node, a Sensing RX node, a sensing objective (SO), and an environmental objective (EO). The Sensing TX node is taken as an example of the first sensing device 102, and the Sensing RX node is taken as an example of the second sensing device 103. Among them, the EO can have one or more, and the position or size information of the one or more EOs is known to the positioning processing device 101. The position of the SO needs to be measured or determined. When the Sensing TX node transmits a sensing reference signal, the Sensing RX node can receive sensing reference signals transmitted by multiple transmission paths, for example, the Sensing RX node can receive sensing reference signals reflected by the SO and the EO, that is, sensing reference signals transmitted through non-line-of-sight (NLOS) paths, and sensing reference signals not transmitted through reflection but directly transmitted, that is, sensing reference signals transmitted through line-of-sight (LOS) paths.

[0198] Based on the description of the example in FIG. 2c, the SO cannot perform signal receiving, processing or transmitting, but can reflect or scatter the signal transmitted by the transmitting end. The device in the ISAC can determine the position of the SO through the signal reflected by the SO, or based on the change of the existing signal path in the sensing environment after the SO enters the wireless sensing network. The change of the existing signal path by the SO, for example, is to block the existing LOS path between the transmitting end and the receiving end, or to block the existing NLOS path reflected by the known EO to the receiving end.

[0199] In some embodiments, the second sensing device 103 can receive and detect the first sensing reference signal on multiple transmission paths, or receive the first sensing reference signal on a set transmission path (referred to as set path).

[0200] Optionally, the set path can be a LOS path or a NLOS path where the SO is located.

[0201] Optionally, the determination method of the set path can be defined by a protocol or agreed between devices, for example, the index or index range of the set path is defined, or the time delay range or angle range of the set path is defined, and the like.

[0202] Optionally, the determination method of the set path can be indicated by the network side, such as the positioning processing device 101, as described in step S2102.

[0203] For example, the set path is the K2th path on which the second sensing device 103 receives the signal, and the first sensing reference signal passes through the reflection of the SO on the K2th path, that is, K2 can represent the index of the transmission path where the SO is located. The second sensing device 103 can receive the first sensing reference signal reflected by the SO on the K2th path. In FIG. 2d or FIG. 2e, the K2th path can refer to the n1th path (n1 st path) in the figure.

[0204] Optionally, after the second sensing device 103 receives the first sensing reference signal on the K2th path, it can perform step S2103.

[0205] In step S2102, the positioning processing device 101 sends indication information to the first sensing device 102 and / or the second sensing device 103.

[0206] In some embodiments, in combination with the description of the foregoing embodiments, the positioning processing device 101 can be a network node, such as a core network entity or a core network network element, or a network device or terminal integrated with SF or positioning processing function.

[0207] In some embodiments, the indication information is used to indicate at least one transmission path in which SO is located among multiple transmission paths between the first sensing device 102 and the second sensing device 103. For example, the indication information may indicate the index or index range of the at least one transmission path in which SO is located; or, the indication information may indicate the time delay range or angle range of the at least one transmission path.

[0208] Alternatively, if the size of the SO is small, the indication information can indicate the index, delay, or angle of a transmission path in which the SO is located.

[0209] Optionally, if the size of SO is large, there can be multiple transmission paths where SO is located. For example, the first sensing reference signal can be transmitted on multiple paths transmitted through SO. In this case, the indication information can indicate the index range, time delay range, or angle range of the transmission path where SO is located.

[0210] In some embodiments, after receiving the indication information, the first sensing device 102 and / or the second sensing device 103 can detect and receive the transmission path where SO is located based on the information indicated by the indication information, such as an index or index range.

[0211] For example, as described in step S2101 above, the second sensing device 103 can detect and receive the first sensing reference signal on the K2th path. Alternatively, as described in step S2103 below, the first sensing device 102 can detect and receive the second sensing reference signal on the K1th path. Here, K1 and K2 can be the same.

[0212] In some embodiments, step S2102 may be omitted, such as when the set path is determined by other means.

[0213] In some embodiments, the order of steps S2102 is only illustrative. For example, the positioning processing device 101 may also perform step S2102 before step S2101.

[0214] In step S2103, the second sensing device 103 sends a second sensing reference signal to the first sensing device 102.

[0215] The second sensing reference signal refers to the sensing reference signal sent by the second sensing device 103 in step S2103. The term "second" is only used to distinguish sensing reference signals sent by different devices in terms of description, or to distinguish sensing reference signals sent by the same device at different times, and is not a limitation on the configuration or identification of the sensing reference signal.

[0216] In some embodiments, in conjunction with the description of the foregoing embodiments, the second sensing device 103 may send a second sensing reference signal after receiving the first sensing reference signal of the K2th path.

[0217] In some embodiments, the second sensing device 103 measures the second time interval based on the time instance when the first sensing reference signal is received on the Kth2path (e.g., the nth1path) and the time instance when the second sensing reference signal is transmitted. In the illustration of FIG. 2d, the second time interval is denoted as T reply-n1 ; and in the illustration of FIG. 2e, the second time interval is denoted as T reply1-n1 .

[0218] Optionally, the second sensing device 103 can determine the second time interval based on the time instance when the first sensing reference signal is received on the Kth2path and the time instance when the second sensing reference signal is transmitted.

[0219] Optionally, when the SO is large in size, i.e., when there are multiple transmission paths through the SO, the second sensing device 103 can determine the average time instance of the time instances when the first sensing reference signal is received on the transmission paths on which at least one SO is located, as the time instance when the first sensing reference signal is received on the Kth2path, and use the time instance when the first sensing reference signal is received on the Kth2path as the starting point for calculating the second time interval.

[0220] In some embodiments, in combination with the description of the foregoing embodiments, there are multiple transmission paths between the first sensing device 102 and the second sensing device 103, and for the first sensing device 102, it can detect and receive the second sensing reference signal on multiple transmission paths, or receive the second sensing reference signal on a certain set path.

[0221] The first sensing device 102 can learn the set path in various ways, such as described with reference to steps S2101 or S2102, which will not be described here again.

[0222] For example, the transmission path on which the SO is located is the Kth1path, and K1 can represent the index of the transmission path on which the SO is located. The first sensing device 102 can receive the second sensing reference signal reflected by the SO on the Kth1path. In the illustrations of FIG. 2d or FIG. 2e, the Kth1path can refer to the nth2path (n2 th path). In an example, K1 is the same as K2, such as n1 = n2.

[0223] In some embodiments, the first sensing device 102 measures the first time interval based on the time instance when the first sensing signal is transmitted and the time instance when the second sensing reference signal is received on the Kth1path (e.g., the nth2path). In the illustration of FIG. 2d, the first time interval is denoted as T round-n2 ; and in the illustration of FIG. 2e, the first time interval is denoted as T round1-n2 .

[0224] Optionally, the first sensing device 102 can determine the first time interval based on a sending time of sending the first sensing signal and a receiving time of receiving the second sensing reference signal on the K1th path.

[0225] Optionally, when the SO size is large, i.e., there are multiple transmission paths through the SO, the first sensing device 102 can take the average time of the receiving time of the second sensing reference signal received on the transmission path where at least one SO in the index range is located as the receiving time corresponding to the K1th path, and take the receiving time corresponding to the K1th path as the starting point for calculating the first time interval.

[0226] In some embodiments, the positioning processing device 101 can perform positioning based on multi-RTT, and different RTT positioning methods require different information to be obtained. Among them, in single-sided RTT positioning, the single-sided node initiates RTT, and in bilateral RTT positioning, both bilateral nodes need to initiate RTT.

[0227] For example, when based on single-sided RTT positioning, as shown in FIG. 2d, the second sensing device 103 can directly perform step S2107 after step S2103, and the first sensing device 103 can directly perform S2106 after receiving the second sensing reference signal reflected through the SO.

[0228] For another example, when based on bilateral RTT positioning, as shown in FIG. 2e, the second sensing device 103 can perform step S2104 after step S2103, and the first sensing device 103 can perform step S2105 after receiving the second sensing reference signal reflected through the SO.

[0229] Step S2104, the second sensing device 103 sends a third sensing reference signal to the first sensing device 102.

[0230] Among them, the third sensing reference signal refers to the sensing reference signal sent by the second sensing device 103 in step S2103, wherein "third" is only used to distinguish the sensing reference signals sent by different devices or the sensing reference signals sent by the same device at different times, and is not a limitation on the configuration or identification of the sensing reference signal.

[0231] In some embodiments, as shown in FIG. 2e, in bilateral RTT positioning, the second sensing device 103 can send the third sensing reference signal after sending the second sensing reference signal.

[0232] In some embodiments, in combination with the description of the above embodiments, the first sensing device 102 can receive the third sensing reference signal reflected through the SO in the K1th path (such as the n2th path).

[0233] Step S2105, the first sensing device 102 sends a fourth sensing reference signal to the second sensing device 103.

[0234] The fourth sensing reference signal refers to the sensing reference signal sent by the first sensing device 102 in step S2105. The "fourth" is only used to distinguish the sensing reference signals sent by different devices or the sensing reference signals sent by the same device at different times, and is not a limitation on the configuration or identification of the sensing reference signal.

[0235] In some embodiments, as shown in FIG. 2e, in the double-sided RTT positioning, the first sensing device 102 can send the fourth sensing reference signal after receiving the K1th on-path third sensing signal.

[0236] In some embodiments, the first sensing device 102 measures the interval from receiving the K1th on-path third sensing signal (such as the nth on-path third sensing signal) to sending the fourth sensing signal, that is, measures the third time interval. In the example of FIG. 2e, the third time interval is denoted as T reply2-n2 .

[0237] In some embodiments, in combination with the description of the above embodiments, the second sensing device 103 can receive the fourth sensing reference signal reflected by the SO in the K2th path (such as the nth path).

[0238] In some embodiments, the second sensing device 103 measures the interval from sending the third sensing signal to receiving the fourth sensing reference signal in the K2th path, that is, measures the fourth time interval. In the example of FIG. 2e, the fourth time interval is denoted as T round2-n1 .

[0239] Step S2106, the first sensing device 102 sends first measurement information to the positioning processing device 101.

[0240] In some embodiments, the first measurement information includes time information of signal transmission between the first sensing device 102 and the second sensing device 101. The time information can be the time parameter measured by the first sensing device 102 in the above steps.

[0241] In some embodiments, in the single-sided RTT positioning, the first measurement information includes the first time interval in step S2103.

[0242] In some embodiments, in the single-sided RTT positioning, the first measurement information includes the first time interval in step S2103 and the third time interval in step S2105.

[0243] In some embodiments, the first measurement information can include time information corresponding to the sensing reference signals with different configuration identifiers. For example, the configuration identifier is a sensing RS ID, and the sensing RSs with different configurations are represented by different sensing RS IDs.

[0244] The configuration information corresponding to the sensing reference signal includes at least one of the following: time domain resource, frequency domain resource, and beam information. The configuration information of the sensing reference signals with different configuration identifiers is different. For example, the sensing RSs with different configurations can be transmitted by different Tx beams, or have different bandwidths, different frequency domain resources, etc.

[0245] Optionally, for each sensing RS ID, the first sensing device 102 can report a first time interval bound to the sensing RS ID, or a first time interval and a third time interval bound to the sensing RS ID. The first sensing device 102 can report at most M time interval values of the sensing RSs through network configuration or protocol definition.

[0246] For example, the first measurement information can include M first time intervals bound to different sensing RS IDs, or M first time intervals and M third time intervals bound to different sensing RS IDs.

[0247] In some embodiments, the positioning processing device 101 receives the first measurement information.

[0248] In step S2107, the second sensing device 102 sends second measurement information to the positioning processing device 101.

[0249] In some embodiments, the second measurement information includes time information of signal transmission between the second sensing device 103 and the first sensing device 102. The time information can be the time parameter measured by the second sensing device 103 in the above steps.

[0250] In some embodiments, in the one-way RTT positioning, the second measurement information includes the second time interval in step S2103.

[0251] In some embodiments, in the one-way RTT positioning, the second measurement information includes the second time interval in step S2103 and the fourth time interval in step S2105.

[0252] In some embodiments, the second measurement information can include time information corresponding to the sensing reference signals with different configuration identifiers.

[0253] The configuration information corresponding to the sensing reference signal can be sent by the first sensing device 102 to the second sensing device 103. In combination with the description of the foregoing embodiments, the configuration information includes at least one of the following: time domain resource, frequency domain resource, and beam information. Different configuration information of sensing reference signals with different configuration identifiers is different, for example, different configurations of sensing RS can be transmitted by using different Tx beams, or can have different bandwidths, different frequency domain resources, and the like.

[0254] Optionally, for each sensing RS ID, the second sensing device 103 can report a second time interval bound to the sensing RS ID, or a second time interval and a fourth time interval bound to the sensing RS ID. The second sensing device 102 can report at most M time interval values of the sensing RS through network configuration or protocol definition.

[0255] For example, the second measurement information can include M second time intervals bound to different sensing RS IDs, or M second time intervals and M fourth time intervals bound to different sensing RS IDs.

[0256] In some embodiments, the positioning processing device 101 receives the second measurement information.

[0257] In step S2108, the positioning processing device 101 determines the position of the SO according to the first measurement information and the second measurement information.

[0258] In combination with the description of the foregoing embodiments, the SO is located on a transmission path for signal transmission between the first sensing device 102 and the second sensing device 103. For example, the SO is located on the K1th path (such as the n2th path) or the K2th path (such as the n1th path).

[0259] In some embodiments, the positioning processing device 101 can determine the signal transmission delay of the transmission path where the SO is located according to the first measurement information and the second measurement information.

[0260] For example, in the single-sided RTT positioning as shown in FIG. 2d, the positioning processing device 101 determines the signal transmission delay T round-n2 on the transmission path where the SO is located according to the first time interval T reply-n1 in the first measurement information and the second time interval T prop in the second measurement information.

[0261] For another example, in the double-sided RTT positioning as shown in FIG. 2e, the positioning processing device 101 determines the signal transmission delay T round-n2 on the transmission path where the SO is located according to the first time interval T reply-n1 in the first measurement information and the second time interval T prop in the second measurement information.round1-n2 and the third measurement interval T reply2-n2 , and the second time interval T reply1-n1 and the fourth time interval T round2-n1 determining the signal transmission delay T prop on the transmission path where the SO is located, is:

[0262] In some embodiments, after the positioning processing device 101 determines the signal transmission delay T prop , the position of the SO can be determined according to the signal transmission delay.

[0263] For example, in combination with FIG. 2f, the positioning processing device 101 can calculate the distance d of the transmission path where the SO is located, i.e., the distance d between the first sensing device 102 and the SO and the SO and the second sensing device 103 (Node A— SO— Node B), according to T prop and the speed of light. The SO is located on an ellipse with the first sensing device 102 and the second sensing device 103 as the foci, and the distance from the first sensing device 102 and the second sensing device 103 is d. By taking the first sensing device 102 and the second sensing device 103 as a group, the SO can be located through three groups of sensing sending nodes and sensing receiving nodes (Sensing Tx / Rx pair), and the position of the SO is the intersection point of the three ellipses. Alternatively, the position of the SO can be determined based on the measurement information of the first sensing device 102 and the second sensing device 103, in combination with the AOA angle information.

[0264] In some embodiments, the method can further include that the first sensing device 102 and / or the second sensing device 103 sends auxiliary information to the positioning processing device 101. This step can be performed before step S2108, wherein the auxiliary information is used to indicate the measurement error of the first measurement information and / or the second measurement information.

[0265] Optionally, the measurement error reported by the first sensing device 102 can be related to the device implementation of the first sensing device 102, and the first sensing device 102 can report the first measurement information and the auxiliary information through the same signaling.

[0266] Optionally, the measurement error reported by the second sensing device 102 can be related to the device implementation of the second sensing device 102, and the second sensing device 103 can report the second measurement information and the auxiliary information through the same signaling.

[0267] In some embodiments, the positioning processing device 101 can adjust the determined position based on the measurement error to improve the positioning accuracy.

[0268] In some embodiments, the first sensing device 102 and / or the second sensing device 103 can report the corresponding measurement errors respectively for different configurations or sensing RS IDs. The positioning processing device 101 can determine the position of the SO more accurately based on the multiple measurement errors.

[0269] In some embodiments, the names of information and the like are not limited to the names described in the embodiments, and the terms of "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", and the like can be replaced with each other.

[0270] In some embodiments, "acquire", "obtain", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive" 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, autonomously implementing, and the like.

[0271] In some embodiments, the terms of "send", "transmit", "report", "issue", "transmit", "bidirectional transmission", "send and / or receive" can be replaced with each other.

[0272] In some embodiments, the terms of "radio", "wireless", "radio access network (RAN)", "access network (AN)", "RAN-based" and the like can be replaced with each other.

[0273] In some embodiments, the terms of "time", "time point", "time", "time position" and the like can be replaced with each other, and the terms of "time length", "time period", "time window", "window", "time" and the like can be replaced with each other.

[0274] In some embodiments, the terms of "component carrier (CC)", "cell", "frequency carrier", "carrier frequency" and the like can be replaced with each other.

[0275] 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.

[0276] In some embodiments, the determination or judgment can be made 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.

[0277] In some embodiments, "not expected to receive" can be interpreted as not receiving on the time domain resource and / or the frequency domain resource, or as not performing subsequent processing on the data or the like after receiving the data or the like; "not expected to send" can be interpreted as not sending, or as sending but not expecting the receiving party to respond to the content of the sending.

[0278] The method related to the embodiments of the present disclosure can include at least one of steps S2101-S2108.

[0279] In some embodiments, step S2102 can be omitted, for example, by obtaining the index or index range in other ways.

[0280] In some embodiments, steps S2104-S2105 can be omitted, such as steps S2104-S2105 in the single-sided RTT positioning method.

[0281] In some embodiments, reference can be made to the other optional implementation modes described before or after the description corresponding to FIG. 2a.

[0282] FIG. 2b is an interaction schematic diagram of a communication method according to an embodiment of the present disclosure. As shown in FIG. 2b, the embodiments of the present disclosure relate to a communication method, and the above method includes:

[0283] Step S2201, the first sensing device 102 sends a fifth sensing reference signal to the second sensing device 103.

[0284] In some embodiments, the related implementation of step S2201 can refer to the description of step S2101, and the fifth reference signal is used to achieve the same effect as the first reference signal.

[0285] In some embodiments, the method can indicate to the first sensing device 102 or the second sensing device 103 the index of the transmission path where the SO is located, in a manner similar to step S2102.

[0286] In some embodiments, the second sensing device 103 receives a fifth sensing reference signal on the first path. Wherein the first path can be the shortest transmission path between the first sensing device 102 and the second sensing device 103. st

[0287] Optionally, the first path can be a LOS path. At this time, steps S2201-S2204 can be omitted.

[0288] Optionally, the first path is a non-LOS path, such as a scenario where the LOS path is blocked, at which time the signal transmission delay on the first path needs to be determined through steps S2201-S2204.

[0289] Step S2202, the second sensing device 103 sends a sixth sensing reference signal to the first sensing device 102.

[0290] In some embodiments, the relevant implementation of step S2202 can refer to the description of step S2103, and the sixth reference signal is used to achieve the same effect as the second reference signal.

[0291] In some embodiments, the second sensing device 103 can send the sixth sensing reference signal after receiving the fifth sensing reference signal on the first path.

[0292] In some embodiments, the second sensing device 103 can measure the interval between receiving the fifth sensing reference signal on the first path and sending the sixth sensing reference signal, i.e. the sixth time interval.

[0293] In some embodiments, the first sensing device 102 receives the sixth sensing reference signal on the first path.

[0294] In some embodiments, the first sensing device 102 can measure the interval between sending the fifth sensing reference signal and receiving the sixth sensing reference signal on the first path, i.e. the fifth time interval.

[0295] Step S2203, the second sensing device 103 sends a seventh sensing reference signal to the first sensing device 102.

[0296] In some embodiments, the relevant implementation of step S2201 can refer to the description of step S2104, and the seventh reference signal is used to achieve the same effect as the third reference signal.

[0297] ​In some embodiments, the second sensing device 103 can send a seventh sensing reference signal after sending the sixth sensing reference signal.

[0298] In some embodiments, the first sensing device 102 receives the seventh sensing reference signal on the first path.

[0299] In step S2204, the first sensing device 102 sends an eighth sensing reference signal to the second sensing device 103.

[0300] In some embodiments, the related implementation of step S2204 can refer to the description of step S2105, and the eighth reference signal is used to achieve the same effect as the fourth reference signal.

[0301] In some embodiments, the first sensing device 102 can measure the interval between receiving the seventh sensing reference signal in the first path and sending the eighth sensing reference signal, i.e., the seventh time interval.

[0302] In some embodiments, the second sensing device 103 receives the eighth sensing reference signal on the first path.

[0303] In some embodiments, the second sensing device 103 can measure the interval between sending the seventh sensing reference signal and receiving the eighth sensing reference signal on the first path, i.e., the eighth time interval.

[0304] In step S2205, the second sensing device 103 sends the second measurement information to the positioning processing device 101.

[0305] In some embodiments, the second measurement information includes a time difference, which is the time difference between the signal of the first path received by the second sensing device 103 and the signal of the transmission path where the SO is located. The first path is the transmission path where the sensing reference signal sent by the first sensing device is first received by the second sensing device, for example, when the first sensing device 102 sends the fifth sensing reference signal, the fifth sensing reference signal is first received by the second sensing device 103. The path where the eighth sensing reference signal is first received by the second sensing device 103 is the first path.

[0306] Optionally, the transmission path where the SO is located is an NLOS path.

[0307] In some embodiments, the first path can be an LOS path, and the time difference between the LOS path and the NLOS path where the SO is located is denoted as T diff-n1 .

[0308] In some embodiments, the first path is not a LOS path, such as in a scenario where the LOS path is blocked, and the signal transmission delay of the first path is determined by the one-way RRT, the second measurement information can include the sixth time interval described above. If the signal transmission delay of the first path is determined by the one-way RRT, the second measurement information can include the sixth time interval described above and the eighth measurement interval described above.

[0309] In some embodiments, the second measurement information can include time information corresponding to the sensing reference signals of different configuration identifiers. For example, for each sensing RS ID, the second sensing device 103 can report the time difference bound to the sensing RS ID, or the sixth time interval. Reference can be made to the description of step S2107.

[0310] In step S2206, the first sensing device 102 sends the first measurement information to the positioning processing device 101.

[0311] In some embodiments, the first measurement information can include a time difference, which is the time difference between the signal of the first path received by the first sensing device and the signal of the transmission path on which the SO is located. The first path is the transmission path on which the first sensing device first receives the sensing reference signal sent by the second sensing device. For example, when the second sensing device 103 sends the sixth sensing reference signal, the path on which the first sensing device 102 first receives the sixth sensing reference signal is the first path; when the second sensing device 103 sends the seventh sensing reference signal, the path on which the first sensing device 102 first receives the seventh sensing reference signal is the first path.

[0312] In some embodiments, the first measurement information includes time information of signal transmission between the first sensing device 102 and the second sensing device 101. The time information can be the time parameter measured by the first sensing device 102 in the steps described above.

[0313] In some embodiments, when there is a LOS path between the two sensing devices, the first measurement information can only include the time difference, or step S2206 can be omitted, and the time difference is reported through the second measurement information in step S2205.

[0314] In some embodiments, when there is no LOS path between the two sensing devices, such as in a scenario where the signal transmission delay of the first path is determined by the one-way RRT, the first measurement information includes the fifth time interval described above; or the first measurement information includes the time difference and the fifth time interval.

[0315] In some embodiments, in a scenario where there is no LOS path between the two sensing devices, such as when the signal transmission delay of the first path is determined by the bilateral RRT, the first measurement information includes the fifth time interval and the seventh time interval described above; or the first measurement information includes the time difference, the fifth time interval and the seventh time interval.

[0316] In some embodiments, the time information corresponding to the sensing reference signals of different configuration identifiers can be included in the first measurement information. For example, for each sensing RS ID, the first sensing device 102 can report the fifth time interval bound with the sensing RS ID, or the fifth time interval and the seventh time interval. Reference can be made to the description of step S2106.

[0317] In step S2207, the positioning processing device 101 determines the position of the SO according to the second measurement information, or according to the first measurement information and the second measurement information.

[0318] In some embodiments, when there is a LOS path between the first sensing device 102 and the second sensing device 103, the positioning processing device 101 determines the position of the SO according to the time difference T diff-n1 , the position of the first sensing device 102, and the position of the second sensing device 103.

[0319] As shown in FIG. 2g, the positioning processing device 101 knows the positions of the first sensing device 102 and the second sensing device 103, and the distance d T-R between them. In the figure, T-R represents the signal transmission delay of the LOS path between the first sensing device 102 and the second sensing device 103. The positioning processing device 101 determines d' = d T-O + T O-R = d T-R + T diff-n1 *c according to the related parameters, where c is the speed of light, d' is the sum of the distance of the SO from the first sensing device 102 and the distance of the SO from the second sensing device 103, d T-O is the distance of the first sensing device 102 from the SO, and d O-R is the distance of the second sensing device 102 from the SO.

[0320] Thus, it can be determined that the SO is on an ellipse with the first sensing device 102 and the second sensing device 103 as the foci, and the sum of the distances from the first sensing device 102 and the second sensing device 103 is d T-R + T diff-n2 *c. As shown in FIG. 2g, similar to the principle of step S2108, the position of the SO can be determined based on the intersection of three ellipses through three different TX-RX pairs.

[0321] In some embodiments, when there is no LOS path between the first sensing device 102 and the second sensing device 103, the positioning processing device 101 can determine the signal transmission delay T on the first path based on the first measurement information and the second measurement information. prop-1 T prop-1 The calculation method can be found in step S2108, T. prop The calculation method will not be elaborated here.

[0322] Positioning processing device 101 based on time difference T diff-n1 Signal transmission delay T on the first path prop-1 The location of SO is determined by the positions of the first sensing device 102 and the second sensing device 103. For example, as shown in Figure 2g, the positioning processing device 101 knows the distance d between the first sensing device 102 and the second sensing device 103. T-R The positioning processing device 101 determines the location based on relevant parameters. Where d” represents the sum of the distances between SO and the first sensing device 102 and between SO and the second sensing device 103. Therefore, it can be determined that SO, with the first sensing device 102 and the second sensing device 103 as its focal points, has a sum of distances between it and the first sensing device 102 and the second sensing device 103. On the ellipse. As shown in Figure 2g, similar to the principle of step S2108, the position of SO can be determined based on the intersection of the three ellipses using three different TX-RX pairs.

[0323] The method involved in the embodiments of this disclosure may include at least one of steps S2201 to S2207.

[0324] In some embodiments, steps S2201 to S2204 can be omitted, such as when a LOS path exists.

[0325] In some embodiments, step S2206 may be omitted, such as when a LOS path exists.

[0326] In some embodiments, other alternative implementations may be described before or after the specification corresponding to FIG2a.

[0327] Figure 3a is a flowchart illustrating a communication method according to an embodiment of the present disclosure. As shown in Figure 3a, this embodiment of the present disclosure relates to a communication method executed by a positioning processing device 101, the method including:

[0328] Step S3101: Send instruction information.

[0329] In some embodiments, the implementation related to step S3101 can refer to the description of step S2102 in FIG. 2a, which will not be repeated here.

[0330] Step S3102 receives the first measurement information.

[0331] In some embodiments, the implementation related to step S3102 can refer to the description of step S2106 in FIG. 2a or step S2206 in FIG. 2b, which will not be repeated here.

[0332] Step S3103 receives the second measurement information.

[0333] In some embodiments, the implementation related to step S3103 can refer to the description of step S2107 in FIG. 2a or step S2205 in FIG. 2b, which will not be repeated here.

[0334] Step S3104 determines the position of the SO according to the first measurement information and / or the second measurement information.

[0335] In some embodiments, the implementation related to step S3104 can refer to the description of step S2108 in FIG. 2a or step S2207 in FIG. 2b, which will not be repeated here.

[0336] The method related to the embodiments of the present disclosure can include at least one of steps S3101-S3104.

[0337] In some embodiments, other optional implementations can be recorded before or after the description of FIG. 3a.

[0338] FIG. 3b is a flow diagram illustrating a communication method according to an embodiment of the present disclosure. As shown in FIG. 3b, the embodiments of the present disclosure relate to a communication method, which is performed by the positioning processing device 101, and the above method includes:

[0339] Step S3201 receives the first measurement information and / or the second measurement information.

[0340] In some embodiments, the implementation related to step S3201 can refer to the description of step S2106 in FIG. 2a or step S2206 in FIG. 2b, or can refer to the description of step S2107 in FIG. 2a or step S2205 in FIG. 2b, which will not be repeated here.

[0341] Step S3202 determines the position of the SO according to the first measurement information and / or the second measurement information.

[0342] In some embodiments, the implementation related to step S3202 can refer to the description of step S2108 in FIG. 2a or step S2207 in FIG. 2b, which will not be repeated here.

[0343] In some embodiments, the other optional implementation can be described before or after the description of FIG. 3b.

[0344] FIG. 4a is a flow diagram of a communication method according to an embodiment of the present disclosure. As shown in FIG. 4a, the embodiment of the present disclosure relates to a communication method, which is performed by the first sensing device 102, and the above method comprises:

[0345] Step S4101: transmitting a first sensing reference signal.

[0346] In some embodiments, the implementation related to step S4101 can refer to the description of step S2101 in FIG. 2a, which will not be repeated here.

[0347] Step S4102: receiving indication information.

[0348] In some embodiments, the implementation related to step S4102 can refer to the description of step S2102 in FIG. 2a, which will not be repeated here.

[0349] Step S4103: receiving a second sensing reference signal.

[0350] In some embodiments, the implementation related to step S4103 can refer to the description of step S2103 in FIG. 2a, which will not be repeated here.

[0351] Step S4104: receiving a third sensing reference signal.

[0352] In some embodiments, the implementation related to step S4104 can refer to the description of step S2104 in FIG. 2a, which will not be repeated here.

[0353] Step S4105: transmitting a fourth sensing reference signal.

[0354] In some embodiments, the implementation related to step S4105 can refer to the description of step S2105 in FIG. 2a, which will not be repeated here.

[0355] Step S4106: transmitting first measurement information.

[0356] In some embodiments, the implementation related to step S4106 can refer to the description of step S2106 in FIG. 2a, which will not be repeated here.

[0357] The method related to the embodiments of the present disclosure can include at least one of steps S4101-S4106.

[0358] In some embodiments, other optional implementations can be described before or after the description corresponding to FIG. 4a.

[0359] FIG. 4b is a flow diagram illustrating a communication method according to an embodiment of the present disclosure. As shown in FIG. 4b, the embodiments of the present disclosure relate to a communication method, which is performed by the first sensing device 102, and the above method includes the following steps:

[0360] In step S4201, the first measurement information is sent to the positioning processing device 101.

[0361] In some embodiments, the related implementation of step S4201 can refer to the description of step S2106 in FIG. 2a or S2206 in FIG. 2b, which will not be repeated here.

[0362] In some embodiments, other optional implementations can be described before or after the description corresponding to FIG. 4b.

[0363] FIG. 5a is a flow diagram illustrating a communication method according to an embodiment of the present disclosure. As shown in FIG. 5a, the embodiments of the present disclosure relate to a communication method, which is performed by the second sensing device 103, and the above method includes the following steps:

[0364] In step S5101, the first sensing reference signal is received.

[0365] In some embodiments, the related implementation of step S5101 can refer to the description of step S2101 in FIG. 2a, which will not be repeated here.

[0366] In step S5102, the indication information is received.

[0367] In some embodiments, the related implementation of step S5102 can refer to the description of step S2102 in FIG. 2a, which will not be repeated here.

[0368] In step S5103, the second sensing reference signal is sent.

[0369] In some embodiments, the related implementation of step S5103 can refer to the description of step S2103 in FIG. 2a, which will not be repeated here.

[0370] In step S5104, the third sensing reference signal is sent.

[0371] In some embodiments, the related implementation of step S5104 can refer to the description of step S2104 in FIG. 2a, which will not be repeated here.

[0372] Step S5105, receiving a fourth sensing reference signal.

[0373] In some embodiments, the related implementation of step S5105 can refer to the description of step S2105 in FIG. 2a, which will not be repeated here.

[0374] Step S5106, sending second measurement information.

[0375] In some embodiments, the related implementation of step S5106 can refer to the description of step S2107 in FIG. 2a, which will not be repeated here.

[0376] The method related to the embodiments of the present disclosure can include at least one of steps S5101-S5106.

[0377] In some embodiments, other optional implementations can be described before or after the corresponding description of FIG. 5a.

[0378] FIG. 5b is a flow diagram illustrating a communication method according to an embodiment of the present disclosure. As shown in FIG. 5b, the embodiments of the present disclosure relate to a communication method, which is performed by a second sensing device 103, and the above-mentioned method comprises:

[0379] Step S5201, sending second measurement information to a positioning processing device 101.

[0380] In some embodiments, the related implementation of step S5201 can refer to the description of step S2107 in FIG. 2a or step S2205 in FIG. 2b, which will not be repeated here.

[0381] In some embodiments, other optional implementations can be described before or after the corresponding description of FIG. 5b.

[0382] In the embodiments of the present disclosure, a method for obtaining sensing measurement and sensing target by measuring sensing signal through single / double multi-RTT in a bi-static scene in a sensing system is proposed. In the embodiments, a sensing function entity or a sensing server SF in a network can be included, a node Sensing TX node for sending a sensing RS, a node Sensing RX node for receiving a sensing RS reflected by a detected target, and a measured target SO.

[0383] In Bi-static Mode scenario, the sensing Rx Node and the sensing Tx Node are different nodes. Refer to Figure 2c. There are a sensing object SO and one or more environment objects EO in the environment. The environment objects can be considered as objects with known location and size to the sensing network. When the sensing Tx Node transmits the sensing RS, the sensing Rx Node can receive multiple reflected paths reflected by SO and EO, and the direct path between the Tx Node and the Rx Node.

[0384] In Example One: positioning SO based on NLOS path reflected by SO and multi-RTT.

[0385] From the perspective of the receiving end, multiple paths of the sensing RS can be received and detected. For the case that Sensing Node A transmits the sensing RS and Sensing Node B receives the sensing RS, assuming that the nth1 path received by Sensing Node B is the path reflected by SO, and the nth2 path received by Sensing Node A is the path reflected by SO, as shown in Figures 2d and 2e.

[0386] In this example, the quantities that the sensing node needs to measure include the following two cases.

[0387] In unilateral RTT:

[0388] (1) Sensing Node A measures the time interval T round-n2 from transmitting the sensing RS to receiving the nth2 path of the sensing RS transmitted by Sensing Node B.

[0389] (2) Sensing Node B measures the time interval T reply-n2 from receiving the nth1 path of the sensing RS transmitted by Sensing Node B to transmitting the sensing RS.

[0390] In bilateral RTT:

[0391] (1) Sensing Node A measures the time interval T round1-n2 from transmitting the sensing RS to receiving the nth2 path of the sensing RS transmitted by Sensing Node B, and the time interval T reply2-n2 from receiving the nth2 path of the sensing RS transmitted by Sensing Node B to transmitting the sensing RS.

[0392] (2) Sensing Node B measures the time interval T from receiving the n1th path of Sensing RS sent by Sensing Node B to sending the Sensing RS reply1-n1 , and the time interval T from sending the Sensing RS to receiving the n1th path of Sensing RS sent by Sensing Node A found2-n1 .

[0393] In some embodiments, n1 = n2.

[0394] In an example of positioning, Sensing Node A and Sensing Node B report the above measurement quantities to SF, and SF calculates the formula of the propagation delay as follows:

[0395] One-way RTT,

[0396] Two-way RTT,

[0397] According to the transmission delay, the distance d between Node A-SO-Node B can be calculated. Then SO is located on the ellipse with Node A and Node B as the foci and the sum of the distances from Node A and Node B as d. SO can be positioned by three sets of Sensing Tx / Rx pairs, as shown in Fig. 2f.

[0398] In Example Two: LOS path and NLOS path reflected by SO, and multi-RTT to position SO.

[0399] Since the network knows the positions of Sensing Tx Node and Sensing Rx Node and the distance d between the two T-R , according to the time difference T between the n1th NLOS path received by Rx Node and the first path (here, the first path is assumed to be the LOS path) diff-n1 , the sum of the distances of SO from Tx and Rx d T-O +d O-R = d T-R + T diff-n1 *c can be calculated. SO can be determined to be on the ellipse with Tx Node and Rx Node as the foci and the sum of the distances from Tx and Rx as d T-R + T diff-n1 *c, as shown in Fig. 2g. The position of SO can be determined by the intersection of three ellipses by three different TX-RX pairs.

[0400] The above Tdiff-n1 The time difference between the n1th NLOS path received by the Rx Node and the first path. If there is an LOS path between the Tx Node and the Rx Node, the first path received by the Rx Node is the LOS path, but if there is no LOS path between the Tx Node and the Rx Node (for example, in the case of an LOS path being blocked), the first path received by the Rx Node will not be the LOS path, in which case the time difference T Where T prop-1 is the propagation delay calculated according to the first path, T prop-1 is the propagation delay calculated according to the n1th path. prop The calculation principle of T

[0401] The quantities that the Sensing Node needs to measure:

[0402] (1) The time difference T diff-n1 between the n1th NLOS path received by the Rx Node and the first path;

[0403] (2) To obtain the measurement quantities required for T prop-1 , two scenarios are included.

[0404] In the single-sided RTT:

[0405] a) Sensing Node A measures the time interval T round-1 from sending the Sensing RS to receiving the first path of the Sensing RS sent by Sensing Node B;

[0406] b) Sensing Node B measures the time interval T reply-1 from receiving the first path of the Sensing RS sent by Sensing Node B to sending the Sensing RS.

[0407] In the double-sided RTT mode:

[0408] a) Sensing Node A measures the time interval T round1-1 from sending the Sensing RS to receiving the first path of the Sensing RS sent by Sensing Node B, and the time interval T reply2-1 from receiving the first path of the Sensing RS sent by Sensing Node B to sending the Sensing RS;

[0409] b) The Sensing Node B measures the time interval T from receiving the 1st path of the Sensing RS sent by the Sensing Node B to sending the Sensing RS reply1-1 , and the time interval T from sending the Sensing RS to receiving the 1st path of the Sensing RS sent by the Sensing Node A round2-1 .

[0410] The Sensing Node needs to report the above measurement quantities to the SF.

[0411] Based on the above two examples, if the sensing Tx node can send multiple differently configured sensing RSs, the differently configured sensing RSs are represented by different sensing RS IDs. Among them, the differently configured sensing RSs can be sent by using different Tx beams, or can have different bandwidths, different frequency domain resources, etc.

[0412] Among them, for each sensing RS ID, the Rx Node can report the above time interval value bound to the sensing RS ID. The Rx Node can report at most M time interval values of the sensing RSs through network configuration or protocol definition.

[0413] Based on the above two examples, the Sensing Rx Node can also report the measurement error of each measurement quantity measured by itself to the SF. The error can also be reported for different sensing RS IDs respectively. The SF can comprehensively determine the position of the measured target based on the measurement error information reported by multiple Rx.

[0414] The embodiments of the present disclosure also propose a device for implementing any of the above methods, for example, a device including units or modules for implementing each step performed by the terminal in any of the above methods. For another example, another device is also proposed, including units or modules for implementing each step performed by the network equipment (such as access network equipment, core network function node, core network equipment, etc.) in any of the above methods.

[0415] 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 them can be integrated into a 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 calling software: for example, the apparatus includes a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to realize any of the above methods or realize the functions of each unit or module of the above apparatus, wherein the processor is 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 realized by the design of hardware circuit. The above hardware circuit can be understood as one or more processors; for example, in one implementation, the above hardware circuit is an application-specific integrated circuit (ASIC), and the functions of part or all of the units or modules are realized by the design of the logical relationship of elements in the circuit; for another example, in another implementation, the above hardware circuit is a programmable logic device (PLD), and a field programmable gate array (FPGA) is taken as an example, which 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 realize the functions of part or all of the above units or modules. All units or modules of the above apparatus can be all implemented in the form of processor calling software, or all implemented in the form of hardware circuit, or part implemented in the form of processor calling software and the remaining part implemented in the form of hardware circuit.

[0416] 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), and the like. In another implementation, the processor can implement certain functions through a logical relationship of hardware circuits, and the logical relationship of the hardware circuits 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, it can also be a hardware circuit 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.

[0417] FIG. 6a is a structural schematic diagram of a positioning processing device according to an embodiment of the present disclosure. As shown in FIG. 6a, the positioning processing device 6100 can include at least one of a transceiver module 6101, a processing module 6102, and the like.

[0418] In some embodiments, the transceiver module 6101 is configured to receive first measurement information transmitted by a first sensing device, and / or receive second measurement information transmitted by a second sensing device; wherein the first measurement information includes time information of signal transmission between the first sensing device and the second sensing device, and the second measurement information includes time information of signal transmission between the second sensing device and the first sensing device.

[0419] In some embodiments, the processing module 6102 is configured to determine a position of a sensing target SO according to the first measurement information and / or the second measurement information, the SO being located on a transmission path for signal transmission between the first sensing device and the second sensing device.

[0420] Optionally, the above transceiver module 6101 is configured to perform at least one of the communication steps, such as transmitting and / or receiving, of the positioning device in any of the above methods, which are not described here again. Optionally, the above processing module 6102 is configured to perform at least one of the other steps of the positioning device in any of the above methods, which are not described here again.

[0421] FIG. 6b is a structural schematic diagram of a perception device according to an embodiment of the present disclosure. The perception device can be the first perception device 102 or the second perception device 103. As shown in FIG. 6b, the perception device 6200 can include at least one of a transceiver module 6201, a processing module 6202, and the like.

[0422] In some embodiments, for the first perception device 102, the above transceiver module 6201 is configured to send first measurement information to the positioning processing device, wherein the first measurement information includes time information of signal transmission between the first perception device and the second perception device, and the first measurement information is used to determine the position of the perception target SO, which is located on a transmission path for signal transmission between the first perception device and the second perception device.

[0423] In some embodiments, for the second perception device 103, the above transceiver module 6201 is configured to send second measurement information to the positioning processing device, wherein the second measurement information includes time information of signal transmission between the second perception device and the first perception device, and the second measurement information is used to determine the position of the perception target SO, which is located on a transmission path for signal transmission between the first perception device and the second perception device.

[0424] In some embodiments, the transceiver module can include a sending module and / or a receiving module, which can be separate or integrated together. Optionally, the transceiver module can be mutually replaced with a transceiver.

[0425] In some embodiments, the processing module can be one module, or can include multiple sub-modules. Optionally, the multiple sub-modules perform all or part of the steps required to be performed by the processing module, respectively. Optionally, the processing module can be mutually replaced with a processor.

[0426] FIG. 7a is a structural schematic diagram of a communication device 7100 according to an embodiment of the present disclosure. The communication device 7100 can be a network device (such as an access network device, a core network device, etc.), a terminal (such as a user equipment, etc.), a chip, a chip system, or a processor supporting the network device to implement any of the above methods, or a chip, a chip system, or a processor supporting the terminal to implement any of the above methods. The communication device 7100 can be used to implement the methods described in the above method embodiments, and specific implementation can be referred to the descriptions in the above method embodiments.

[0427] As shown in FIG. 7a, the communication device 7100 includes one or more processors 7101. The processor 7101 can be a general processor or a special purpose processor, etc., such as a baseband processor or a central processing unit. The baseband processor can be configured to process communication protocols and communication data, the central processing unit can be configured to control a communication apparatus (e.g., a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute programs, and process data of the programs. Optionally, the communication device 7100 is configured to perform any of the above methods. Optionally, the one or more processors 7101 are configured to invoke instructions to cause the communication device 7100 to perform any of the above methods.

[0428] In some embodiments, the communication device 7100 further includes one or more transceivers 7102. When the communication device 7100 includes one or more transceivers 7102, the transceiver 7102 performs at least one of the communication steps (e.g., transmitting and / or receiving) in the above methods, and the processor 7101 performs at least one of the other steps. In optional embodiments, the transceiver 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 by each other, the terms transmitter, transmitting unit, transmitter, transmitting circuit, etc. can be replaced by each other, and the terms receiver, receiving unit, receiver, receiving circuit, etc. can be replaced by each other.

[0429] In some embodiments, the communication device 7100 further includes one or more memories 7103 for storing data. Optionally, all or part of the memory 7103 can also be outside the communication device 7100. In optional embodiments, the communication device 7100 can include one or more interface circuits 7104. Optionally, the interface circuit 7104 is connected to the memory 7103, and the interface circuit 7104 can be configured to receive data from the memory 7103 or other devices, and can be configured to send data to the memory 7103 or other devices. For example, the interface circuit 7104 can read data stored in the memory 7103 and send the data to the processor 7101.

[0430] The communication device 7100 described in the above embodiments can be a network device or a terminal, but the scope of the communication device 7100 described in the present disclosure is not limited thereto, and the structure of the communication device 7100 can not be limited by FIG. 7a. 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 also 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, and the like; (7) other devices, and the like.

[0431] FIG. 7b is a structural schematic diagram of a chip 7200 according to an embodiment of the present disclosure. For the case where the communication device 7100 is a chip or a chip system, the structural schematic diagram of the chip 7200 shown in FIG. 7b can be referred to, but is not limited thereto.

[0432] The chip 7200 includes one or more processors 7201. The chip 7200 is configured to perform any of the above methods.

[0433] In some embodiments, the chip 7200 further includes one or more interface circuits 7202. Optionally, the terms interface circuit, interface, transceiver pin, and the like can be replaced with each other. In some embodiments, the chip 7200 further includes one or more memories 7203 for storing data. Optionally, all or part of the memory 7203 can be outside the chip 7200. Optionally, the interface circuit 7202 is connected to the memory 7203, and the interface circuit 7202 can be configured to receive data from the memory 7203 or other devices, and the interface circuit 7202 can be configured to send data to the memory 7203 or other devices. For example, the interface circuit 7202 can read data stored in the memory 7203 and send the data to the processor 7201.

[0434] In some embodiments, the interface circuit 7202 performs at least one of the communication steps such as sending and / or receiving in the above methods. The interface circuit 7202 performing the communication steps such as sending and / or receiving in the above methods means that the interface circuit 7202 performs data interaction between the processor 7201, the chip 7200, the memory 7203, or a transceiver device. In some embodiments, the processor 7201 performs at least one of the other steps.

[0435] The modules and / or devices described in various embodiments of virtual devices, physical devices, chips, etc. can be combined or separated according to circumstances. Alternatively, part or all of the steps can also be performed by multiple modules and / or devices in cooperation, which is not limited here.

[0436] The disclosure also proposes a storage medium, and the storage medium stores instructions, which, when executed on the communication device 7100, causes the communication device 7100 to perform any of the above methods. Alternatively, the storage medium is an electronic storage medium. Alternatively, 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. Alternatively, 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.

[0437] The disclosure also proposes a program product, which, when executed by the communication device 7100, causes the communication device 7100 to perform any of the above methods. Alternatively, the program product is a computer program product.

[0438] The disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any of the above methods. Industrial applicability

[0439] In the ISAC system, the positioning processing device can obtain measurement information from the first sensing device and / or the second sensing device to obtain time information of signal transmission on the transmission path between the two sensing devices, so that the positioning processing device can locate the SO in combination with the influence of the SO on the transmission time of the transmission path, thereby improving the accuracy of target positioning in the ISAC system.

Claims

A communication method, performed by a positioning processing device, comprises: receiving first measurement information transmitted by a first sensing device, and / or receiving second measurement information transmitted by a second sensing device; wherein the first measurement information comprises time information of signal transmission between the first sensing device and the second sensing device, and the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device; determining a position of a sensing object SO according to the first measurement information and / or the second measurement information, the SO being located on a transmission path for signal transmission between the first sensing device and the second sensing device. The method of claim 1, wherein, The method further comprises: transmitting indication information to the first sensing device and / or the second sensing device, the indication information being used to indicate at least one transmission path in which the SO is located among a plurality of transmission paths between the first sensing device and the second sensing device. The method of claim 1 or 2, wherein the first measurement information comprises a first time interval, the first time interval being an interval between transmitting a first sensing reference signal by the first sensing device and receiving a second sensing reference signal in a K1th path among the plurality of transmission paths, the second sensing reference signal being transmitted by the second sensing device after receiving the first sensing reference signal; the second measurement information comprises a second time interval, the second time interval being an interval between receiving the first sensing reference signal in a K2th path among the plurality of transmission paths and transmitting the second sensing reference signal by the second sensing device, K1 and K2 being indexes of the transmission path in which the SO is located. The method of claim 3, wherein the first measurement information further comprises a third time interval, the third time interval being an interval between receiving a third sensing reference signal in the K1th path by the first sensing device and transmitting a fourth sensing reference signal; the second measurement information further comprises a fourth time interval, the fourth time interval being an interval between transmitting the third sensing reference signal and receiving the fourth sensing reference signal in the K2th path by the second sensing device. The method of any one of claims 3 to 4, wherein, The determining the position of the SO according to the first measurement information and / or the second measurement information comprises: determining a signal transmission delay of the transmission path in which the SO is located according to the first measurement information and the second measurement information; determining the position of the SO according to the signal transmission delay. The method of claim 1 or 2, wherein The first measurement information and / or the second measurement information comprises a time difference, the time difference being a time difference between a signal of a first path received by the first sensing device or the second sensing device and a signal of a transmission path where the SO is located; wherein the first path is a transmission path where a sensing reference signal sent by the second sensing device is first received by the first sensing device, or the first path is a transmission path where a sensing reference signal sent by the first sensing device is first received by the second sensing device. The method of claim 6, wherein, When there is a direct-LOS path between the first sensing device and the second sensing device, the first path is the LOS path. The method of claim 6, wherein, When there is no LOS path between the first sensing device and the second sensing device, the first measurement information comprises a fifth time interval, the fifth time interval being an interval between sending a fifth sensing reference signal by the first sensing device and receiving a sixth sensing reference signal in the first path, the sixth sensing reference signal being sent by the second sensing device after receiving the fifth sensing reference signal; The second measurement information comprises a sixth time interval, the sixth time interval being an interval between receiving the fifth sensing reference signal in the first path by the second sensing device and sending the sixth sensing reference signal. The method of claim 8, wherein, The first measurement information further comprises a seventh time interval, the seventh time interval being an interval between receiving a seventh sensing reference signal in the first path by the first sensing device and sending an eighth sensing reference signal, the seventh sensing reference signal being sent by the second sensing device after sending the sixth sensing reference signal; The second measurement information comprises an eighth time interval, the eighth time interval being an interval between sending the seventh sensing reference signal by the second sensing device and receiving the eighth sensing reference signal in the first path. The method of any one of claims 6 to 9, wherein, The determining the position of the sensing target SO according to the first measurement information and / or the second measurement information comprises: determining the position of the SO according to the time difference, the position of the first sensing device, and the position of the second sensing device; or, comprising: determining a signal transmission delay on the first path; determining the position of the SO according to the time difference, the signal transmission delay on the first path, the position of the first sensing device, and the position of the second sensing device. The method of any one of claims 1 to 10, wherein, the first measurement information comprises time information corresponding to sensing reference signals with different configuration identifications; and / or, the second measurement information comprises time information corresponding to sensing reference signals with different configuration identifications; wherein configuration information of the sensing reference signals with different configuration identifications is different, the configuration information comprising at least one of: time domain resource; frequency domain resource; beam information. The method of any one of claims 1 to 11, wherein, The method further comprises: Receiving auxiliary information sent by the first sensing device and / or the second sensing device, the auxiliary information being used to indicate measurement errors of the first measurement information and / or the second measurement information. A communication method, performed by a first sensing device, the method comprising: sending first measurement information to a positioning processing device, wherein the first measurement information comprises time information of signal transmission between the first sensing device and a second sensing device, and the first measurement information is used to determine a position of a sensing object (SO) located on a transmission path for signal transmission between the first sensing device and the second sensing device. The method of claim 13, wherein, The method further comprises: receiving indication information sent by the positioning processing device, the indication information being used to indicate at least one transmission path in which the SO is located among a plurality of transmission paths between the first sensing device and the second sensing device. The method of claim 13 or 14, wherein, The method further comprises: sending a first sensing reference signal to the second sensing device; receiving a second sensing reference signal in a K1th transmission path among the plurality of transmission paths sent by the second sensing device, wherein the second sensing reference signal is sent by the second sensing device after receiving the first sensing reference signal, and K1 is an index of the transmission path in which the SO is located. The method of claim 15, wherein the first measurement information comprises a first time interval, and the first time interval is an interval between sending the first sensing reference signal and receiving the second sensing reference signal by the first sensing device. The method of claim 15 or 16, wherein, The method further comprises: receiving a third sensing reference signal in the K1th transmission path sent by the second sensing device, wherein the third sensing reference signal is sent by the second sensing device after sending the second sensing reference signal; sending a fourth sensing reference signal to the second sensing device, and K1 is an index of the transmission path in which the SO is located. The method of claim 17, wherein the first measurement information further comprises a third time interval, and the third time interval is an interval between receiving the third sensing reference signal and sending the fourth sensing reference signal by the first sensing device. The method of claim 13 or 14, wherein the first measurement information comprises a time difference, and the time difference is a time difference between a signal of a first transmission path received by the first sensing device and a signal of the transmission path in which the SO is located; and wherein the first transmission path is a transmission path in which a sensing reference signal sent by the second sensing device is first received by the first sensing device. The method of claim 19, wherein, when there is a direct view line of sight (LOS) path between the first sensing device and the second sensing device, the first transmission path is the LOS path; or when there is no LOS path between the first sensing device and the second sensing device, the first measurement information comprises a fifth time interval, and the fifth time interval is an interval between sending a fifth sensing reference signal and receiving a sixth sensing reference signal in the first transmission path by the first sensing device, and the sixth sensing reference signal is sent by the second sensing device after receiving the fifth sensing reference signal. The method of claim 20, wherein, the first measurement information further comprises a seventh time interval, the seventh time interval being an interval from when the first sensing device receives a seventh sensing reference signal in the first track to when the first sensing device transmits an eighth sensing reference signal, the seventh sensing reference signal being transmitted by the second sensing device after transmitting a sixth sensing reference signal. The method of any one of claims 13 to 21, wherein, The method further comprises: transmitting configuration information to the second sensing device, the configuration information being different for different configuration-identified sensing reference signals, the configuration information comprising at least one of: time domain resource; frequency domain resource; beam information. The method of claim 22, wherein, the first measurement information comprises time information corresponding to different configuration-identified sensing reference signals. A communication method, performed by a second sensing device, the method comprising: transmitting second measurement information to a positioning processing device, wherein the second measurement information comprises time information of signal transmission between the second sensing device and a first sensing device, the second measurement information being used to determine a position of a sensing object (SO) located on a transmission track between the first sensing device and the second sensing device for signal transmission. The method of claim 24, wherein, The method further comprises: receiving indication information transmitted by the positioning processing device, the indication information indicating at least one transmission track in which the SO is located among a plurality of transmission tracks between the first sensing device and the second sensing device. The method of claim 24 or 25, wherein, The method further comprises: receiving a first sensing reference signal in a K2th track among a plurality of transmission tracks transmitted by the first sensing device; transmitting a second sensing reference signal to the first sensing device, wherein the second sensing reference signal is transmitted by the second sensing device after receiving the first sensing reference signal, and K2 is an index of a transmission track in which the SO is located. The method of claim 26, wherein, the second measurement information comprises a second time interval, the second time interval being an interval from when the second sensing device receives the first sensing reference signal to when the second sensing device transmits the second sensing reference signal. The method of claim 26 or 27, wherein, The method further comprises: transmitting a third sensing reference signal to the first sensing device, wherein the third sensing reference signal is transmitted by the second sensing device after transmitting the second sensing reference signal; receiving a fourth sensing reference signal in the K2th track transmitted by the first sensing device, K2 being an index of a transmission track in which the SO is located. The method of claim 28, wherein, the second measurement information further comprises a fourth time interval, the fourth time interval being an interval from when the second sensing device transmits the third sensing reference signal to when the second sensing device receives the fourth sensing reference signal. The method of claim 24 or 25, wherein, the second measurement information comprises a time difference, the time difference being a time difference between a signal of a first track received by the second sensing device and a signal of a transmission track in which the SO is located, the first track being a transmission track in which a sensing reference signal transmitted by the first sensing device is first received by the second sensing device. The method of claim 30, wherein, when there is a LOS path between the first sensing device and the second sensing device, the first path is the LOS path; or when there is no LOS path between the first sensing device and the second sensing device, the second measurement information comprises a sixth time interval, the sixth time interval being an interval between a fifth sensing reference signal received in the first path by the second sensing device and a sixth sensing reference signal transmitted by the second sensing device after receiving the fifth sensing reference signal. The method of claim 31, wherein, the second measurement information further comprises an eighth time interval, the eighth time interval being an interval between a seventh sensing reference signal transmitted by the second sensing device after transmitting the sixth sensing reference signal and an eighth sensing reference signal received in the first path. The method further comprises: The method of any one of claims 24 to 32, wherein, receiving configuration information transmitted by the first sensing device, the configuration information corresponding to different configuration-identified sensing reference signals being different, the configuration information comprising at least one of: time domain resource; frequency domain resource; beam information. The method of claim 33, wherein, the time information corresponding to different configuration-identified sensing reference signals is comprised in the second measurement information. The method further comprises: The method of any one of claims 24 to 34, wherein, transmitting, to the positioning processing device, assistance information, the assistance information being used to indicate a measurement error of the second measurement information. A positioning processing device, comprising: a transceiver module, configured to receive first measurement information transmitted by a first sensing device and / or receive second measurement information transmitted by a second sensing device; wherein the first measurement information comprises time information of signal transmission between the first sensing device and the second sensing device, and the second measurement information comprises time information of signal transmission between the second sensing device and the first sensing device; a processing module, configured to determine a position of a sensing target SO according to the first measurement information and / or the second measurement information, the SO being located on a transmission path for signal transmission between the first sensing device and the second sensing device. A sensing device, comprising: a transceiver module, configured to transmit, to a positioning processing device, first measurement information, wherein the first measurement information comprises time information of signal transmission between the first sensing device and a second sensing device, and the first measurement information is used to determine a position of a sensing target SO, the SO being located on a transmission path for signal transmission between the first sensing device and the second sensing device. A sensing device, comprising: a transceiver module, configured to transmit, to a positioning processing device, second measurement information, wherein the second measurement information comprises time information of signal transmission between the second sensing device and a first sensing device, and the second measurement information is used to determine a position of a sensing target SO, the SO being located on a transmission path for signal transmission between the first sensing device and the second sensing device. A communication device, comprising: one or more processors; ​ The communication device is configured to implement the method of any one of claims 1 to 12, or claims 13 to 23, or claims 24 to 35. A communication system comprising a positioning processing device, a first sensing device and a second sensing device, wherein The positioning processing device is configured to implement the method of any one of claims 1 to 12; The first sensing device is configured to implement the method of any one of claims 13 to 23; The second sensing device is configured to implement the method of any one of claims 24 to 35. A storage medium having stored thereon instructions, wherein The instructions, when executed on a communication device, cause the communication device to perform the method of any one of claims 1 to 12, or claims 13 to 23, or claims 24 to 35. A program product, wherein The program product, when executed by a communication device, causes the communication device to perform the method of any one of claims 1 to 12, or claims 13 to 23, or claims 24 to 35.

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