Multi-beam sensing method and device and network side equipment

Abstract

The invention provides a multi-beam sensing method, a multi-beam sensing device and network side equipment. The method comprises the following steps: sending a plurality of sensing beams; the plurality of sensing beams meet the following conditions on the multi-symbol subcarrier resources: in the same symbol, subcarriers corresponding to different sensing beams are staggered; in the same symbol, the same sensing beam is in continuous distribution or frequency hopping distribution; in the same symbol, different sensing beams are uniformly distributed or non-uniformly distributed; in the same symbol, different sensing beams occupy the bandwidth of the cell; among the plurality of symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; and the bandwidths of the sensing beams in different sectors are staggered. According to the method provided by the embodiment of the invention, traditional single-beam sensing is expanded into multi-beam sensing, so that the information amount of the fisher matrix is increased, the precision upper limit of the single-beam sensing is broken through, differentiated accumulated gains can be brought through multiple streams and multiple beams, the problem of single-beam energy accumulation redundancy is avoided, and the precision and reliability of sensing detection are improved.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a multi-beam sensing method, apparatus, and network-side device. Background Technology

[0002] In existing ISAC sensing systems, the realization of sensing functions generally relies on single-beam design. This technical solution has significant limitations: on the one hand, from an information theory perspective, the Fisher matrix of existing sensing systems only contains two-dimensional information in the time and frequency domains, resulting in insufficient Fisher information and limiting sensing performance; on the other hand, single-beam sensing requires the joint accumulation of multiple symbols to reach the signal-to-noise ratio threshold required for sensing demodulation. However, in scenarios such as close-range target detection or good channel conditions, once the signal-to-noise ratio reaches the threshold, further increasing the signal-to-noise ratio cannot bring additional gains in sensing accuracy, resulting in energy accumulation redundancy and low sensing efficiency. Summary of the Invention

[0003] This invention provides a multi-beam sensing method, apparatus, and network-side device. By transmitting multiple sensing beams, it extends traditional single-beam sensing to multi-beam sensing, thereby not only increasing the information content of the Fisher matrix and breaking through the accuracy limit of single-beam sensing, but also bringing differentiated cumulative gain through multi-stream and multi-beam transmission, avoiding the energy accumulation redundancy problem of single-beam sensing and improving energy utilization efficiency. Furthermore, by staggering the subcarriers of the multiple beams in different frequency domains, it achieves continuous superposition of the sensing signal energy of each symbol during multi-symbol joint detection, and randomizes clutter interference through the differences in fading of resources in different frequency domains, further improving sensing gain and enhancing the accuracy and reliability of sensing detection.

[0004] This invention provides a multi-beam sensing method, comprising the following steps.

[0005] Multiple sensing beams are transmitted; the multiple sensing beams satisfy the following conditions on multi-symbol subcarrier resources: Within the same symbol, the subcarriers corresponding to different sensing beams are staggered; Within the same symbol, the same sensing beam is either continuously distributed or frequency-hopping distributed; Within the same symbol, different sensing beams may be uniformly or non-uniformly distributed. Within the same symbol, different sensing beams collectively occupy the cell bandwidth; Among multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; The bandwidths of the sensing beams in different sectors are staggered.

[0006] According to a multi-beam sensing method provided by the present invention, transmitting multiple sensing beams includes: In multiple sensing beams, the starting position of the subcarriers of the same sensing beam is the same in different symbols, and the sensing beam occupies i consecutive subcarriers for frequency hopping in the i-th symbol. The subcarrier density occupied by each sensing beam in each symbol is the same.

[0007] This invention provides a multi-beam sensing method, wherein transmitting multiple sensing beams includes: The subcarriers corresponding to the same sensing beam are staggered across multiple symbols, and different sensing beams within each symbol are staggered in adjacent subcarriers.

[0008] According to a multi-beam sensing method provided by the present invention, the method further includes: Based on the channel characteristic detection value of the sensing beam, the subcarrier density corresponding to the sensing beam in the next time domain symbol is determined.

[0009] This invention provides a multi-beam sensing method, wherein determining the subcarrier density of the sensing beam in the next time domain symbol based on the channel characteristic detection value of the sensing beam includes: If the channel characteristic detection value of the sensing beam is less than a first threshold, the subcarrier density corresponding to the sensing beam in the next time domain symbol is reduced. If the channel characteristic detection value of the sensing beam is greater than the second threshold, the subcarrier density corresponding to the sensing beam in the next time domain symbol is increased.

[0010] According to a multi-beam sensing method provided by the present invention, determining the subcarrier density of the sensing beam in the next time domain symbol based on the channel characteristic detection value of the sensing beam includes: The channel characteristic detection value of the sensing beam is input into the target model, and the subcarrier density corresponding to the sensing beam in the next time domain symbol is output.

[0011] The present invention also provides a multi-beam sensing device, comprising the following modules: A transmitting module is used to transmit multiple sensing beams; the multiple sensing beams satisfy the following conditions on multi-symbol subcarrier resources: Within the same symbol, the subcarriers corresponding to different sensing beams are staggered; Within the same symbol, the same sensing beam is either continuously distributed or frequency-hopping distributed; Within the same symbol, different sensing beams may be uniformly or non-uniformly distributed. Within the same symbol, different sensing beams collectively occupy the cell bandwidth; Among multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; The bandwidths of the sensing beams in different sectors are staggered.

[0012] The present invention also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the multi-beam sensing method as described above.

[0013] The present invention also provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the multi-beam sensing method as described above.

[0014] The present invention also provides a computer program product, including a computer program that, when executed by a processor, implements the multi-beam sensing method as described above.

[0015] The multi-beam sensing method, apparatus, and network-side equipment provided by this invention extend traditional single-beam sensing to multi-beam sensing by transmitting multiple sensing beams. This not only increases the information content of the Fisher matrix and breaks through the accuracy limit of single-beam sensing, but also brings differentiated cumulative gain through multi-stream and multi-beam transmission, avoiding the energy accumulation redundancy problem of single-beam sensing and improving energy utilization efficiency. Furthermore, by staggering the subcarriers of the multiple beams in different frequency domains, it is possible to achieve continuous superposition of the sensing signal energy of each symbol during multi-symbol joint detection. It also randomizes clutter interference through the differences in fading of resources in different frequency domains, further improving sensing gain and enhancing the accuracy and reliability of sensing detection. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is one of the flowcharts of the multi-beam sensing method provided by the present invention.

[0018] Figure 2 This is a schematic diagram of time-frequency resource configuration for the beam frequency domain semi-overlap accumulation method provided by the present invention.

[0019] Figure 3 This is a schematic diagram of the time-frequency resource configuration of the beam dual-domain staggered accumulation method provided by the present invention.

[0020] Figure 4 This is a schematic diagram of resource allocation adjustment for the symbol-level empty molecular carrier adaptive scheme provided by the present invention.

[0021] Figure 5This is a schematic diagram of the structure of the multi-beam sensing device provided by the present invention.

[0022] Figure 6 This is a schematic diagram of the structure of the electronic device provided by the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] The following is combined with Figures 1-6 The present invention describes a multi-beam sensing method, apparatus, and network-side device.

[0025] To facilitate a clearer understanding of the technical solutions of the various embodiments of this application, some technical content related to the various embodiments of this application will be introduced first.

[0026] In existing ISAC sensing systems, the sensing function generally relies on a single-beam design. From an information theory perspective, based on the Cramer-Rao bound formula corresponding to the sensing system, it can be seen that the information content of its Fisher matrix only includes the two-dimensional information in the time and frequency domains mentioned above. In engineering implementation, current sensing beams in ISAC sensing systems are all based on a single beam, without expanding the spatial information. Therefore, there is room for further expansion in the theoretical performance limits and specific implementation methods of sensing systems. On the other hand, regarding the problems of single-beam sensing, although sensing requires the joint accumulation of multiple symbols to reach a certain signal-to-noise ratio (SNR) threshold, in good or close-range scenarios, once the (13dB) threshold is met, further increases in SNR do not bring additional gains. Spatial single-beam sensing faces limitations in performance improvement.

[0027] Unlike communication systems, which measure efficiency based on Shannon's theoretical upper bound, the ISAC (Interactive Sensor-Assessment) system emphasizes the accuracy of sensing capabilities, typically using the Crammér-Rao formula as a theoretical guideline for evaluating sensing estimation performance. The Crammér-Rao Bound (CRB) is a crucial concept in parameter estimation theory, providing a lower bound on the variance of an unbiased estimator. This means that for any unbiased estimator, its variance will not be less than the Crammér-Rao Bound; therefore, the CRB is a standard for measuring the performance of unbiased estimation. For example, in wireless positioning or sensing systems, the CRB can provide the optimal accuracy achievable by an algorithm or system under given signal and noise conditions.

[0028] In the ISAC synesthetic system, the Cramer-Rao boundary formula used to characterize perception is: Var( )represent The variance, the right side of the formula is about the parameter Fisher information is a measure that describes the amount of information that can be gleaned from data about a parameter. The more information Fisher provides, the more accurate our parameter estimates can be.

[0029] In the Fisher matrix of the current sensing system, P and B represent a subcarrier in the frequency domain and a time point in the time domain, respectively. This represents a signal received at a certain time t in the time domain and on a certain subcarrier n in the frequency domain, and is a function of [p, b]. Is a given parameter The probability density function of the time-domain data, E represents the expected value. Accumulation represents the signal accumulated over all subcarriers and all time-domain symbols. This represents the target value of the sensing and detection (such as distance, speed, angle, etc.). The second-order partial derivative in the formula represents the difference between a certain signal y and the finally measured sensing index. The correlation between range and velocity parameters is considered. Suppose a sensing system needs to estimate the range and velocity of a target. By constructing the probability density function (PDF) of the target echo signal, the Fisher information matrix (FIM) for the range and velocity parameters can be obtained. The diagonal elements of the inverse FIM matrix are the range and velocity parameters' critical basis (CRB). A larger CRB indicates higher estimation uncertainty; a smaller CRB indicates higher estimation accuracy.

[0030] Figure 1 This is one of the flowcharts of the multi-beam sensing method provided by the present invention, which includes the following: Step 101: Transmit multiple sensing beams; the multiple sensing beams satisfy the following conditions on multi-symbol subcarrier resources: Within the same symbol, the subcarriers corresponding to different sensing beams are staggered; Within the same symbol, the same sensing beam is either continuously distributed or frequency-hopping distributed; Within the same symbol, different sensing beams may be uniformly or non-uniformly distributed. Within the same symbol, different sensing beams collectively occupy the cell bandwidth; Among multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; The bandwidths of the sensing beams in different sectors are staggered.

[0031] Specifically, in the ISAC system multi-beam sensing scheme of this application, two or more sensing beams are simultaneously transmitted through multiple ports of the base station, extending the existing single-beam sensing to multi-beam sensing. Essentially, this introduces a one-dimensional spatial domain, increasing the information content of the Fisher matrix and extending it to a three-dimensional information space of time, frequency, and space, thereby effectively improving sensing efficiency and accuracy. Furthermore, based on the staggering of beams at the symbol and subcarrier levels, channel fading and carrier interference can be randomized, which is beneficial for multipath assessment and frequency domain channel selection. The increased spatial domain information further enhances the gain of multi-beam sensing detection, improving detection performance.

[0032] Optionally, in the embodiments of this application, the multiple sensing beams satisfy the following conditions on the subcarrier resources of multiple symbols: within the same symbol, the subcarriers corresponding to different sensing beams are staggered; within the same symbol, the same sensing beam is continuously distributed or frequency-hopping distributed; within the same symbol, different sensing beams are uniformly or non-uniformly distributed; within the same symbol, different sensing beams jointly occupy the cell bandwidth; between multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; the bandwidths of sensing beams in different sectors are staggered.

[0033] Optionally, within the same symbol, the subcarriers corresponding to different sensing beams are staggered. That is, within a single symbol, non-overlapping frequency domain subcarrier resources are allocated to different sensing beams. For example, beam 1 occupies subcarriers 0, 2, 4..., and beam 2 occupies subcarriers 1, 3, 5..., ensuring that the subcarriers of different beams within the same symbol do not overlap, thereby effectively avoiding frequency domain interference.

[0034] Optionally, within the same symbol, the same sensing beam can be continuously distributed or frequency-hopping distributed. That is, within a single symbol, the subcarrier resources of the same sensing beam can be continuously distributed, i.e., occupying consecutive subcarrier blocks, such as subcarriers 0-3; the subcarrier resources of the same sensing beam can also be frequency-hopping distributed, i.e., occupying discrete subcarriers at fixed intervals, such as subcarriers 0, 4, 8..., to adapt to different channel environments and improve the flexibility of resource allocation.

[0035] Optionally, within the same symbol, the subcarrier resource density of different sensing beams can be uniformly or non-uniformly distributed. That is, within a single symbol, the subcarrier resource density of multiple sensing beams can be configured as needed to be uniformly or non-uniformly distributed. Optionally, in a uniform distribution, each beam occupies an equal number of subcarriers, such as 4 beams sharing 12 subcarriers equally, with 3 subcarriers per beam; in a non-uniform distribution, different numbers of subcarriers are allocated according to beam priority or detection requirements, such as allocating 6 subcarriers to beams for high-precision detection and 2 subcarriers to ordinary beams, thereby effectively improving resource utilization.

[0036] Optionally, within the same symbol, different sensing beams jointly occupy the cell bandwidth. That is, within a single symbol period, the total subcarrier resources of all sensing beams cover the entire available bandwidth of the cell, thereby making full use of frequency domain resources.

[0037] Optionally, the subcarriers corresponding to the same sensing beam can be aligned or staggered across multiple symbols. That is, within multiple consecutive symbol periods, the subcarrier configuration of the same sensing beam can be selected to be aligned or staggered. Optionally, when aligned, beam A has consistent subcarriers across all symbols. For example, beam A occupies subcarrier 0 in symbols 0-3, effectively achieving efficient energy accumulation across multiple symbols. When staggered, beam A's subcarriers corresponding to different symbols are offset according to a fixed rule. For example, beam A occupies subcarrier 0 in symbol 0, subcarrier 1 in symbol 1, and subcarrier 2 in symbol 2, effectively addressing long-distance or strong interference scenarios and balancing fading in different frequency domains.

[0038] Optionally, the bandwidths of the sensing beams between different sectors are staggered. That is, in a multi-sector network scenario, the sensing beams of different sectors occupy non-overlapping frequency domain bandwidths. For example, in a 3-sector scenario, each sector beam occupies 30MHz bandwidth, and in a 2-sector scenario, each sector beam occupies 50MHz bandwidth. This ensures that there is no overlap in the bandwidth of sensing beams between sectors, avoids interference between beams of adjacent sectors in the frequency domain, and effectively eliminates sensing interference between sectors.

[0039] It should be noted that in existing ISAC integrated sensing systems, the sensing function generally relies on a single-beam design. This technical solution has significant limitations: Firstly, from an information theory perspective, the Fisher matrix of existing sensing systems only contains two-dimensional information in the time and frequency domains, resulting in insufficient Fisher information and limiting the upper limit of sensing performance. Secondly, single-beam sensing relies on the joint accumulation of multiple symbols to reach the signal-to-noise ratio (SNR) threshold required for sensing demodulation. However, in scenarios involving close-range target detection or favorable channel conditions, once the SNR reaches the threshold, further increasing the SNR cannot bring additional gains in sensing accuracy, leading to energy accumulation redundancy and low sensing efficiency. This application extends existing single-beam sensing to multi-beam sensing, i.e., simultaneously transmitting two or more beams for sensing shaping. Essentially, it introduces a one-dimensional spatial space, increasing the information content of the Fisher matrix and extending it to a three-dimensional information space encompassing time, frequency, and space. From an information theory perspective, this increases the information content of the Fisher matrix, thus further reducing the Cramer-Rao lower bound and improving the upper limit of sensing performance and sensing accuracy. On the other hand, it can overcome the limitations of single-beam energy accumulation, and different accumulation gains can be achieved through multi-stream multi-beam. In addition, through the multi-beam sensing method of this application, the subcarriers of multiple beams are staggered in different frequency domains. While the signal energy is continuously superimposed during multi-symbol joint detection, the randomization of clutter interference can be achieved through the differences in resource fading in different frequency domains, which will further improve the sensing gain.

[0040] Furthermore, to achieve a certain signal-to-noise ratio (SNR) threshold for the received echo signal, multiple symbols need to be jointly received to ensure that the cumulative energy of the multiple symbols meets the SNR threshold for sensing demodulation. The multi-beam sensing method of this application performs beam-level subcarrier frequency division multiplexing on the sensing pilot, and then transmits it on different ports, ultimately forming dual-channel or multi-channel dual-stream sensing signals. Thus, after detecting the presence of a sensing target, multi-beam superposition sensing can be performed on the target. This introduces an additional one-dimensional spatial information into the sensing process without changing the total system transmit power or reducing the sensing coverage. Through the superposition of information, the redundancy and anti-interference capability of the sensing signal are effectively improved, thereby significantly optimizing the accuracy and reliability of sensing detection. This solves the detection performance bottleneck problem caused by insufficient information dimension in traditional single-beam sensing.

[0041] The method described in the above embodiments extends traditional single-beam sensing to multi-beam sensing by transmitting multiple sensing beams. This not only increases the information content of the Fisher matrix and breaks through the accuracy limit of single-beam sensing, but also brings differentiated cumulative gain through multi-stream and multi-beam transmission, avoiding the energy accumulation redundancy problem of single-beam sensing and improving energy utilization efficiency. Furthermore, by staggering the subcarriers of the multiple beams in different frequency domains, it is possible to achieve continuous superposition of the sensing signal energy of each symbol during multi-symbol joint detection. Additionally, the randomization of clutter interference can be achieved through the differences in fading of resources in different frequency domains, further enhancing the sensing gain and improving the accuracy and reliability of sensing detection.

[0042] In some embodiments, transmitting multiple sensing beams includes: In multiple sensing beams, the starting position of the subcarriers of the same sensing beam is the same in different symbols, and the sensing beam occupies i consecutive subcarriers for frequency hopping in the i-th symbol. The subcarrier density occupied by each sensing beam in each symbol is the same.

[0043] Specifically, in the embodiments of this application, within the multi-symbol time domain period, for any one of the multiple sensing beams, such as beam 1, its subcarrier start position is fixed in all symbols to ensure that the subcarrier start point of the beam remains consistent across different symbols such as symbol 0, symbol 1, symbol 2, etc. For example, beam 1 allocates resources starting from subcarrier 0 in all symbols, thereby enabling the same beam to form a frequency domain semi-overlapping distribution across multiple symbols. In subsequent multi-symbol joint detection, the energy of the overlapping area can be directly accumulated, improving the accuracy and reliability of sensing detection.

[0044] Optionally, in this embodiment, for the i-th time-domain symbol, i consecutive subcarrier resources are allocated to each sensing beam, and the distribution is carried out using a frequency hopping method. For example, in symbol 1, beam 1 occupies 1 consecutive subcarrier, such as subcarrier 0; in symbol 1, beam 1 occupies 2 consecutive subcarriers, such as subcarrier 0-1; in symbol 2, beam 1 occupies 3 consecutive subcarriers, such as subcarrier 0-2, and so on. This allows the same beam to cover a wider frequency domain range, enhances the ability to resist frequency-selective fading, and improves the adaptability of the beam to complex channel environments.

[0045] Optionally, in the embodiments of this application, each sensing beam within each symbol occupies the same subcarrier density, which can avoid the decrease in sensing accuracy due to insufficient resource allocation of a certain beam, maximize the utilization of frequency domain resources, reduce frequency domain crosstalk between beams, and improve the demodulation accuracy of sensing signals.

[0046] For example, such as Figure 2As shown, the waveform in a low-altitude scenario of 4.9 GHz is used as an example scenario, in which four pulse waves are generated for four consecutive symbols in the time domain. The specific configuration method is as follows: (1) Within the first symbol symbol0, beam 1 and beam 2 are single subcarrier frequency hopping: beam 1 corresponds to subcarriers 0, 2, 4, 6..., beam 2 corresponds to subcarriers 1, 3, 5, 7..., and beam 1 and beam 2 are staggered by 1 subcarrier.

[0047] (2) In the second symbol symbol1, beam 1 continues the same subcarrier starting point. Beam 1 and beam 2 occupy consecutive dual subcarrier frequency hopping: beam 1 corresponds to subcarriers 0, 1, 4, 5, 8, 9..., and beam 2 corresponds to subcarriers 2, 3, 6, 7, 10, 11...

[0048] (3) Within the third symbol symbol2, beam 1 continues with the same subcarrier starting point, and beam 1 and beam 2 occupy three consecutive subcarrier frequency hopping: beam 1 corresponds to 0, 1, 2, 6, 7, 8, ..., and beam 2 corresponds to subcarriers 3, 4, 5, 9, 10, 11, ...

[0049] (4) In the fourth symbol symbol3, beam 1 continues the same subcarrier starting point. Beam 1 and beam 2 occupy 4 consecutive subcarrier frequency hopping: beam 1 corresponds to subcarriers 0, 1, 2, 3, 8, 9, 10, 11..., and beam 2 corresponds to subcarriers 4, 5, 6, 7...

[0050] The method described in the above embodiments, by fixing the subcarrier start positions of the same sensing beam across different symbols, enables the same beam to form a frequency-domain semi-overlapping distribution across multiple symbols. During joint detection of multiple symbols, the energy in the overlapping region can be directly accumulated, improving the accuracy and reliability of sensing and detection. For the i-th time-domain symbol, i consecutive subcarrier resources are allocated to each sensing beam, thereby enhancing the ability to resist frequency-selective fading and improving the beam's adaptability to complex channel environments. At the same time, the uniform subcarrier density allocation ensures the fairness of multi-beam sensing, avoids insufficient resources of a single beam, maximizes the utilization of frequency-domain resources, and reduces frequency-domain crosstalk between beams. While improving the accuracy and reliability of sensing and detection, it also enhances the adaptability to complex channel environments, providing an efficient and feasible multi-beam sensing solution for integrated sensing scenarios such as low-altitude monitoring.

[0051] In some embodiments, transmitting multiple sensing beams includes: The subcarriers corresponding to the same sensing beam are staggered across multiple symbols, and different sensing beams within each symbol are staggered in adjacent subcarriers.

[0052] Specifically, in the embodiments of this application, within the multi-symbol time domain period of the integrated sensing system, the subcarriers corresponding to the same sensing beam are staggered, and the different sensing beams within each symbol are staggered in adjacent subcarriers, ensuring that the subcarriers of the same beam do not overlap between multiple symbols. This can effectively balance the frequency selective fading on different frequency domain and time domain resources, eliminate interference between beams, and improve the accuracy of demodulation.

[0053] For example, such as Figure 3 As shown, four pulse waves are generated for three consecutive symbols in the time domain. The specific configuration method is as follows: (1) Within the symbol, the four beams are staggered in modulus 4 and distributed according to single-carrier level frequency hopping: In symbol 0: beam 1 corresponds to the subcarrier position with modulus 4 of 1; beam 2 corresponds to the subcarrier position with modulus 4 of 2; beam 3 corresponds to the subcarrier position with modulus 4 of 3; and beam 4 corresponds to the subcarrier position with modulus 4 of 0.

[0054] (2) Between symbols, the same beam performs subcarrier modulo 3 offset at the starting point of 3 different symbols: for beam 1, the starting subcarrier of symbol 0 corresponds to the position with modulo 3 of 1, the starting subcarrier of symbol 1 corresponds to the position with modulo 3 of 2, and the starting subcarrier of symbol 3 corresponds to the position with modulo 3 of 0.

[0055] In other words, in this embodiment of the application, for n consecutive symbols and m beams, the subcarriers of the same beam in each symbol are staggered, and for that beam, frequency division accumulation is achieved among multiple symbols in the frequency domain; and adjacent subcarriers are staggered for each beam within a symbol. Optionally, the scheme of this embodiment of the application is applicable to both n≥m and n<m.

[0056] The method described above, through a dual staggered design of staggering the subcarriers of the same sensing beam across multiple symbols and staggering adjacent subcarriers of different sensing beams within a single symbol, not only enables the same beam to form frequency division accumulation across multiple symbols, effectively balancing the frequency selective fading of different frequency bands, but also effectively eliminates crosstalk between different beams, maximizing the utilization of frequency domain resources.

[0057] In some embodiments, the multibeam sensing method further includes: Based on the channel characteristic detection value of the sensing beam, the subcarrier density corresponding to the sensing beam in the next time domain symbol is determined.

[0058] Specifically, in this embodiment, by adjusting the subcarrier pilot density of the next time-domain symbol and optimizing the configuration of the sensing beam in real time, the sensing detection accuracy can be effectively improved. Optionally, the echo signals of each sensing beam in the previous time-domain symbol can be demodulated by the base station to extract key parameters characterizing the channel state as channel characteristic detection values. Optionally, after obtaining the channel characteristic detection values ​​of the sensing beam, the subcarrier density corresponding to the sensing beam in the next time-domain symbol can be dynamically adjusted based on the channel characteristic detection values ​​of the sensing beam to optimize sensing performance.

[0059] For example, the signals of each beam from the previous joint reception can be demodulated first. During target detection, the UAV's flight attitude and displacement affect the channel characteristics and fading at different times and in different frequency domains, such as the influence of LOS and non-LOS paths, and the impact of UAV attitude changes on the RCS of different beam detections. These factors all affect the final signal quality, such as SNR. Therefore, by utilizing the different channel characteristics (frequency-selective fading characteristics, noise, and clutter interference) caused by the staggered frequency domain subcarriers of multiple beams, information such as the frequency impulse response of each beam can be obtained. Optionally, the greater the channel characteristic fading, the greater the amplitude drop or phase change, and the worse the beam detection performance. Furthermore, based on the obtained beam fading characteristics and demodulation effects on different subcarriers, the configuration density of beam pilots on subcarriers and in the symbol domain can be adjusted to optimize sensing performance.

[0060] The method described above demodulates the echo signals of each sensing beam in the previous time-domain symbol by the base station, extracts channel characteristic detection values ​​including signal-to-noise ratio (SNR) and frequency impulse response, accurately captures channel characteristic differences and fading fluctuations, and then dynamically adjusts the subcarrier pilot density of the sensing beam in the next time-domain symbol based on these detection values, thereby achieving symbol-level real-time optimization of the sensing beam configuration and effectively improving the sensing detection accuracy.

[0061] In some embodiments, determining the subcarrier density of the sensing beam in the next time domain symbol based on the channel characteristic detection value of the sensing beam includes: If the detected channel characteristic value of the sensing beam is less than the first threshold, reduce the subcarrier density of the sensing beam in the next time domain symbol. If the channel characteristic detection value of the sensing beam is greater than the second threshold, increase the subcarrier density of the sensing beam in the next time domain symbol.

[0062] Specifically, in this embodiment, after determining the channel characteristic detection value of the sensing beam, the subcarrier density corresponding to the sensing beam in the next time domain symbol can be dynamically adjusted based on the channel characteristic detection value, thereby optimizing the sensing performance. Optionally, if the channel characteristic detection value of the sensing beam is less than a first threshold, it indicates that the current channel has problems such as strong interference and deep fading, and cannot support high subcarrier density transmission. In this case, the subcarrier density corresponding to the sensing beam in the next time domain symbol can be reduced. If the channel characteristic detection value of the sensing beam is greater than a second threshold, it indicates that the channel is stable and has weak interference, and has the ability to carry higher subcarrier density. In this case, the subcarrier density corresponding to the sensing beam in the next time domain symbol can be increased, thereby efficiently achieving resource optimization and improving sensing performance.

[0063] For example, in this embodiment, the configuration density of the beam pilot on the subcarriers and symbol domain can be adjusted based on the obtained beam fading characteristics and demodulation effects on different subcarriers. Optionally, one or more step thresholds can be set. The value is used to characterize the fading characteristics or signal quality of the channel. When the detected value is less than 0.5λ, it indicates that the channel has poor detection characteristics and the allocation of subcarrier resources of the pilot should be reduced, and the configuration density of the beam on the corresponding subcarrier should be reduced to 0.5 (λ-m). When the fading characteristics are greater than 1.2λ, it indicates that the channel has good detection performance and the pilot density of the corresponding subcarrier resources should be increased for optimized utilization, and the configuration density of the beam on the corresponding subcarrier should be increased to 1.2 (-λ).

[0064] For example, such as Figure 4 As shown, for beam 1, the preceding detection found that the first 50% of the subcarriers of the first symbol correspond to good channel detection characteristics. Therefore, the configuration ratio of beam 1 and beam 2 in subcarriers 0-5 of symbol 0 is changed from 1:1 to 3:1. For beam 2, it was found that the first 50% of the subcarriers of the second symbol and the last 50% of the subcarriers of the third symbol correspond to good channel characteristics. Therefore, the configuration ratio of beam 1 and beam 2 in subcarriers 0-5 of symbol 1 is changed from 1:1 to 4:2. The configuration ratio of beam 1 and beam 2 in subcarriers 6-11 of symbol 2 is changed from 1:1 to 2:4.

[0065] The method described above dynamically adjusts the subcarrier density of the next time-domain symbol by detecting the channel characteristics of the sensing beam. When the detection value is less than a first threshold, the subcarrier density is reduced to avoid inferior resources and reduce interference accumulation. When the detection value is greater than a second threshold, the subcarrier density is increased to make full use of high-quality channels and increase Fisher information, effectively improving sensing detection accuracy and resource utilization efficiency.

[0066] In some embodiments, determining the subcarrier density of the sensing beam in the next time domain symbol based on the channel characteristic detection value of the sensing beam includes: Input the channel characteristic detection value of the sensing beam into the target model, and output the subcarrier density of the sensing beam in the symbol of the next time domain.

[0067] Specifically, during multi-beam transmission in a sensing-integrated system, the base station or network-side equipment can demodulate the echo signals of each sensing beam in the previous time-domain symbol in real time, extract multi-dimensional channel characteristic detection values, and input them into the target model to obtain the subcarrier density of the sensing beam in the next time-domain symbol. Optionally, the target model can output the optimal subcarrier density adapted to the current scenario based on multi-dimensional channel parameters, achieving global optimization of resource utilization and sensing performance, and realizing intelligent optimal configuration of subcarrier density. Optionally, the target model can be trained based on the channel characteristic detection values ​​and corresponding optimal subcarrier densities under different scenarios. Optionally, the target model can be a machine learning model or a deep learning model.

[0068] For example, in certain scenarios, such as the flight attitude changes of drones and the interference from surrounding clutter, certain patterns can be observed. Based on the preceding reception, the response patterns of the time-frequency resource changes of the pilots corresponding to different beams can be learned, thereby accurately and efficiently determining the non-uniform pilot density configuration among the next set of multiple symbols.

[0069] The method described above collects multi-dimensional channel characteristic detection values ​​of each sensing beam in the previous time domain symbol in real time by the base station, and inputs them into the target model trained with multi-scenario data to obtain the subcarrier density of the next time domain symbol. By learning multi-dimensional channel parameters through the model, the accuracy and efficiency of non-uniform pilot density configuration can be effectively improved, avoiding the limitations of traditional fixed configuration or single threshold adjustment, and achieving global optimization of resource utilization efficiency and sensing performance.

[0070] The multi-beam sensing device provided by the present invention is described below. The multi-beam sensing device described below can be referred to in correspondence with the multi-beam sensing method described above. The multi-beam sensing device of the embodiments of this application is as follows: Figure 5 As shown, it includes: The transmitting module 510 is used to transmit multiple sensing beams; the multiple sensing beams satisfy the following conditions on multi-symbol subcarrier resources: Within the same symbol, the subcarriers corresponding to different sensing beams are staggered; Within the same symbol, the same sensing beam is either continuously distributed or frequency-hopping distributed; Within the same symbol, different sensing beams may be uniformly or non-uniformly distributed. Within the same symbol, different sensing beams collectively occupy the cell bandwidth; Among multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; The bandwidths of the sensing beams in different sectors are staggered.

[0071] Figure 6 A schematic diagram of the physical structure of a network-side device is provided. This electronic device may include a processor 610, a communications interface 620, a memory 630, and a communication bus 640. The processor 610, communications interface 620, and memory 630 communicate with each other via the communication bus 640. The processor 610 can call logical instructions in the memory 630 to execute a multi-beam sensing method. This method includes: transmitting multiple sensing beams; the multiple sensing beams satisfying the following conditions on subcarrier resources of multiple symbols: within the same symbol, the subcarriers corresponding to different sensing beams are staggered; within the same symbol, the same sensing beam is continuously distributed or frequency-hopping distributed; within the same symbol, different sensing beams are uniformly or non-uniformly distributed; within the same symbol, different sensing beams jointly occupy the cell bandwidth; between multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; the bandwidths of sensing beams in different sectors are staggered.

[0072] Furthermore, the logical instructions in the aforementioned memory 630 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0073] On the other hand, the present invention also provides a computer program product, which includes a computer program that can be stored on a non-transitory computer-readable storage medium. When the computer program is executed by a processor, the computer can execute the multi-beam sensing method provided by the above methods. The method includes: transmitting multiple sensing beams; the multiple sensing beams satisfying the following conditions on subcarrier resources of multiple symbols: within the same symbol, the subcarriers corresponding to different sensing beams are staggered; within the same symbol, the same sensing beam is continuously distributed or frequency-hopping distributed; within the same symbol, different sensing beams are uniformly or non-uniformly distributed; within the same symbol, different sensing beams jointly occupy the cell bandwidth; between multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; the bandwidths of sensing beams in different sectors are staggered.

[0074] In another aspect, the present invention also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the multi-beam sensing method provided by the above methods. The method includes: transmitting multiple sensing beams; the multiple sensing beams satisfying the following conditions on subcarrier resources of a multi-symbol domain: within the same symbol, the subcarriers corresponding to different sensing beams are staggered; within the same symbol, the same sensing beam is continuously distributed or frequency-hopping distributed; within the same symbol, different sensing beams are uniformly or non-uniformly distributed; within the same symbol, different sensing beams jointly occupy the cell bandwidth; between multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; and the bandwidths of sensing beams in different sectors are staggered.

[0075] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0076] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-beam sensing method, characterized in that, include: Multiple sensing beams are transmitted; the multiple sensing beams satisfy the following conditions on multi-symbol subcarrier resources: Within the same symbol, the subcarriers corresponding to different sensing beams are staggered; Within the same symbol, the same sensing beam is either continuously distributed or frequency-hopping distributed; Within the same symbol, different sensing beams may be uniformly or non-uniformly distributed. Within the same symbol, different sensing beams collectively occupy the cell bandwidth; Among multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; The bandwidths of the sensing beams in different sectors are staggered.

2. The multi-beam sensing method according to claim 1, characterized in that, The transmission of multiple sensing beams includes: In multiple sensing beams, the starting position of the subcarriers of the same sensing beam is the same in different symbols, and the sensing beam occupies i consecutive subcarriers for frequency hopping in the i-th symbol. The subcarrier density occupied by each sensing beam in each symbol is the same.

3. The multi-beam sensing method according to claim 1, characterized in that, The transmission of multiple sensing beams includes: The subcarriers corresponding to the same sensing beam are staggered across multiple symbols, and different sensing beams within each symbol are staggered in adjacent subcarriers.

4. The multi-beam sensing method according to any one of claims 1-3, characterized in that, The method further includes: Based on the channel characteristic detection value of the sensing beam, the subcarrier density corresponding to the sensing beam in the next time domain symbol is determined.

5. The multi-beam sensing method according to claim 4, characterized in that, The step of determining the subcarrier density of the sensing beam in the next time domain symbol based on the channel characteristic detection value of the sensing beam includes: If the channel characteristic detection value of the sensing beam is less than a first threshold, the subcarrier density corresponding to the sensing beam in the next time domain symbol is reduced. If the channel characteristic detection value of the sensing beam is greater than the second threshold, the subcarrier density corresponding to the sensing beam in the next time domain symbol is increased.

6. The multi-beam sensing method according to claim 4, characterized in that, The step of determining the subcarrier density of the sensing beam in the next time domain symbol based on the channel characteristic detection value of the sensing beam includes: The channel characteristic detection value of the sensing beam is input into the target model, and the subcarrier density corresponding to the sensing beam in the next time domain symbol is output.

7. A multi-beam sensing device, characterized in that, include: A transmitting module is used to transmit multiple sensing beams; the multiple sensing beams satisfy the following conditions on multi-symbol subcarrier resources: Within the same symbol, the subcarriers corresponding to different sensing beams are staggered; Within the same symbol, the same sensing beam is either continuously distributed or frequency-hopping distributed; Within the same symbol, different sensing beams may be uniformly or non-uniformly distributed. Within the same symbol, different sensing beams collectively occupy the cell bandwidth; Among multiple symbols, the subcarriers corresponding to the same sensing beam are aligned or staggered; The bandwidths of the sensing beams in different sectors are staggered.

8. A network-side device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the multi-beam sensing method as described in any one of claims 1 to 6.

9. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the multi-beam sensing method as described in any one of claims 1 to 6.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the multi-beam sensing method as described in any one of claims 1 to 6.

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