Sensitivity fusion system, method and device

Abstract

The embodiment of the invention provides a communication and inductance fusion system, method and device, relates to the technical field of wireless communication sensing, and aims to superpose a low-power delay-Doppler domain sensing signal and a time domain communication signal and broadcast a communication and inductance fusion signal on the basis of an existing communication system and a preprocessing method. Through a post-processing method, perception information is obtained from the sensing fusion signal, and then relative state perception between a transmitter and a receiver is realized through a high-precision distance and speed estimation method. The communication and sensing fusion system provided by the embodiment of the invention has good communication and sensing capabilities, the sensing function does not occupy extra communication resources, the compatibility to an existing mobile communication network based on an OFDM (Orthogonal Frequency Division Multiplexing) system is extremely high, and the cost of fusing the sensing function into the existing communication network can be obviously reduced.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of wireless communication sensing technology, and in particular to a sensing fusion system, method and apparatus. Background Technology

[0002] The rapid development of fifth-generation (5G) mobile communication technology has spurred a new trend of high-precision sensing services, with Integrated Sensing and Communication (ISAC) becoming a key direction for future wireless networks. ISAC technology can serve various application scenarios such as intelligent transportation systems, industrial IoT, and smart cities. In sensing data, the estimation of the relative distance and velocity between the transmitter and receiver provides crucial information for location-based services, supporting the realization of accurate and ubiquitous sensing in various application scenarios.

[0003] 5G technology has limitations in sensing capabilities. Firstly, 5G Orthogonal Frequency Division Multiplexing (OFDM) systems lack high-precision speed estimation capabilities. Secondly, accurate Time of Arrival (TOA) estimation typically requires additional reference signals, consuming significant communication resources. In research aimed at improving 5G technology, Orthogonal Time Frequency Space (OTFS) technology is considered an effective solution for enhancing sensing capabilities. This technology modulates effective information into the delay-Doppler domain, enabling high-precision distance and speed detection. While some high-resolution distance and speed estimation methods based on OTFS have emerged in related research, they often incur extremely high pilot guard interval overhead. Compared to OFDM technology, this technology is significantly insufficient in terms of communication data transmission capabilities in typical scenarios.

[0004] Therefore, while inheriting the good communication capabilities of existing 5G OFDM systems, how to endow wireless systems with high-precision distance and speed estimation capabilities without occupying communication resources is a key challenge facing the research of sensing fusion technology. Summary of the Invention

[0005] The purpose of this invention is to provide a sensor fusion system, method, and apparatus that achieves high-precision distance and speed sensing without consuming additional communication resources and possesses good communication capabilities. The specific technical solution is as follows:

[0006] In a first aspect, embodiments of the present invention provide a sensor fusion system, the system comprising: a transmitter and a receiver, wherein:

[0007] The transmitter is used to generate sensing signals and communication data, and to broadcast the communication and sensing signals simultaneously.

[0008] The receiving end is used to receive the fusion signal, obtain communication information, and obtain sensing information through post-processing.

[0009] Secondly, embodiments of the present invention provide a sensor fusion method for achieving high-precision distance and velocity estimation through the system, the method comprising:

[0010] Based on the aforementioned synergistic fusion system, a synergistic fusion signal is broadcast at the transmitting end, and a time-delay-Doppler domain data matrix is ​​obtained at the receiving end;

[0011] The region used for sensing is obtained from the time-delay-Doppler domain data matrix to obtain the observation data matrix;

[0012] Perform a two-dimensional correlation operation between the locally generated sensing signal matrix and the observation data matrix;

[0013] Calculate the integer estimates of the time delay and Doppler taps based on the relevant calculation results;

[0014] Based on a spectral analysis method, the Doppler fractional estimation result is estimated.

[0015] The distance and velocity are calculated based on the integer time delay estimation and fractional Doppler estimation results.

[0016] Thirdly, embodiments of the present invention provide a sensory fusion device, the device comprising:

[0017] The sensing preprocessing module is used to generate a time-delay-Doppler domain sensing reference signal and convert it to the time-frequency domain, then superimpose it with the communication signal.

[0018] The signal transmission module is used to realize the broadcasting of synergistic signals.

[0019] The signal receiving module is used to receive the fusion signal and demodulate the communication signal.

[0020] The sensing post-processing module is used to convert the time-frequency domain signal to the time-delay-Doppler domain to obtain sensing information.

[0021] In one embodiment of the present invention, the perception preprocessing module is specifically used for:

[0022] The sensing reference signal is configured in the time-delay-Doppler domain and converted to the time-frequency domain, and then superimposed on the communication signal in the time-frequency domain.

[0023] In one embodiment of the present invention, the signal transmitting module is specifically used for:

[0024] The time-frequency domain inductive fusion signal is modulated into a time-domain radio frequency signal for broadcasting.

[0025] In one embodiment of the present invention, the signal receiving module is specifically used for:

[0026] The radio frequency signal is received and demodulated to the time-frequency domain. This time-frequency domain signal serves as the input to the sensing post-processing module and is also used to acquire communication data.

[0027] In one embodiment of the present invention, the post-sensing processing module is specifically used for:

[0028] The time-frequency domain signal is converted to the time-delay-Doppler domain, and the relative distance and velocity estimation results between the receiver and the transmitter are obtained based on the aforementioned sensing fusion method.

[0029] Beneficial effects of the embodiments of the present invention:

[0030] This invention provides a sensing fusion system, method, and apparatus that achieves high-precision distance and speed sensing without consuming additional communication resources, while possessing excellent communication capabilities. Compared with related technologies, this invention has strong compatibility with existing 5G OFDM systems, its sensing function does not consume communication resources, and it can achieve high-precision distance and speed estimation. Therefore, this invention can enhance the feasibility of deploying sensing fusion systems in practical scenarios and significantly improve sensing capabilities based on mobile communication networks. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present 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 only some embodiments of the present invention. For those skilled in the art, other embodiments can be obtained based on these drawings.

[0032] Figure 1 This is a schematic diagram of a sensory fusion system provided in an embodiment of the present invention;

[0033] Figure 2 This is a schematic diagram of a method for configuring a sensing reference signal in the time-delay-Doppler domain according to an embodiment of the present invention;

[0034] Figure 3 This is a schematic diagram of a sensory fusion device provided in an embodiment of the present invention. Detailed Implementation

[0035] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art based on the present invention are within the scope of protection of the present invention.

[0036] In order to enhance the sensing function of the system while being as compatible as possible with the existing 5G communication system, and to achieve high-precision distance and speed sensing without occupying communication resources, this invention provides a sensing fusion system, method and device, which are described in detail below.

[0037] First, a sensory fusion system provided by an embodiment of the present invention will be described.

[0038] Figure 1 This is a schematic diagram of a sensor fusion system provided in an embodiment of the present invention. The system includes two parts: a transmitter 101 and a receiver 102.

[0039] Transmitter 101 is used to generate sensing signals and communication data, and broadcasts the communication and sensing signals simultaneously, specifically as follows:

[0040] Generate pseudo-random sequences for sensing and perform... modulation, The number of constellation diagram signal points is typically 4, 16, 64, 256, etc. The resulting symbols are arranged in column-first, row-second order into a matrix B of size P × Q. The power of the sensing reference signal is amplified by α times and placed in a time-delay-Doppler domain resource grid of size M × N (M >> P, N >> Q), such as... Figure 2 As shown. The size of the region used for sensing is (M) τ +P)×(2N v +Q), where τ max and v max Δf represents the relative distance and upper velocity limit of the target under test, respectively, and Δf is the system subcarrier spacing parameter.

[0041] The time-delay-Doppler domain data matrix written to the sensing signal is denoted as X. dd,se .

[0042] For X dd,se Performing an inverse symplectic finite Fourier transform (ISFFT) yields the time-frequency domain data X. tf,se This can be achieved using the following formula:

[0043]

[0044] forl=0,1,…,M-1,k=0,1,…N-1.

[0045] The sensed signal and the time-frequency domain communication data matrix X tf,da By superimposing the data, we obtain the time-frequency domain synesthetic fusion data, i.e., X. tf [l,k]=X tf,se [l,k]+X tf,da [l,k], l=0,1,…,M-1,k=0,1,…N-1. Since the total power of the sensing reference signal is much lower than that of the communication signal, after the ISFFT transformation, the power of the sensing signal in the time-frequency domain is nearly uniformly distributed. Therefore, it can be regarded as noise or weak interference signal for the communication data, and its impact on communication is negligible.

[0046] X is transformed using the Heisenberg transform. tf Modulation in the time domain can be viewed as a generalized OFDM modulation process, as shown in the following formula:

[0047]

[0048] Where T = 1 / Δf, g tx This represents the transmitted pulse waveform.

[0049] Receiver 102 is used to receive sensing fusion signals, acquire communication information, and obtain sensing information through post-processing. Specifically:

[0050] The received time-domain waveform y(t) is transformed to the time-frequency domain using the Wigner transform to obtain Y. tf This process can be viewed as a generalized OFDM demodulation process. The obtained data is used to acquire communication information. The formula is as follows:

[0051]

[0052] Y tf [l,k]=Y(f,t)| f＝lΔf,t＝kT

[0053] To achieve sensing functionality, the time-frequency domain data needs to be demodulated to the time-delay-Doppler domain. Therefore, for Y... tf The formula for performing the symplectic finite Fourier transform (SFFT) is as follows:

[0054]

[0055] Based on the aforementioned sensor fusion system, this embodiment of the invention also provides a sensor fusion method for achieving high-precision distance and velocity estimation, as follows:

[0056] First, the signal is broadcast at the transmitting end and received at the receiving end using the aforementioned sensor fusion system, thereby obtaining the time-delay-Doppler domain sampling data matrix Y. dd .

[0057] From Y dd The region used for perception is obtained from the data, denoted as Y. obs Through Y obs A two-dimensional correlation operation is performed between the locally generated perception matrix B and the output matrix D. Since the correlation process does not require the modification of Y... obs Make any padding to preserve edge information, so the resulting matrix D has a size of (M) τ +1)×(2N v +1).

[0058] Find the row index l0 and column index k0 of the element with the largest absolute value in matrix D. Since the index values ​​start from 0, the integer values ​​of the delay and Doppler tap are... and

[0059] Under normal parameter configuration, through Accurate distance estimation can be obtained, but integer Doppler taps usually have low resolution. Therefore, this embodiment of the invention further provides a method for accurate fractional estimation of Doppler taps, which will be described in detail below.

[0060] The formula for calculating matrix R is as follows:

[0061]

[0062] Perform eigenvalue decomposition on R, arrange the eigenvalues ​​in descending order, and take the last 2N values. v +QP eigenvalues, resulting in the corresponding eigenvectors forming a matrix U. n .

[0063] Choose the discretized parameter θ according to an appropriate step size. i , Enter the spectral analysis function f(θ) sequentially, as shown in the following formula.

[0064]

[0065] The input that maximizes the absolute value of f(θ) And calculate

[0066] Depend on and The accurate distance and velocity estimates are calculated, where c represents the speed of light.

[0067] Corresponding to the system and method described above, this embodiment of the invention also provides a sensory fusion device, as detailed below.

[0068] Figure 3 This is a schematic diagram of a sensing fusion device provided in an embodiment of the present invention. It is used to implement a sensing fusion system based on a wireless communication network. The device includes a sensing preprocessing module 301, a signal transmitting module 302, a signal receiving module 303, and a sensing postprocessing module 304.

[0069] In one embodiment of the present invention, the aforementioned sensing preprocessing module 301 is specifically used as a front-end module of a generalized OFDM communication signal broadcasting device to generate a time-delay-Doppler domain sensing reference signal, convert it to the time-frequency domain, and superimpose it with the communication signal, thereby maximizing the preservation of the integrity of the existing OFDM communication system while providing sensing functionality.

[0070] In one embodiment of the present invention, the signal transmitting module 302 is specifically used to: modulate the time-frequency domain synergistic information to realize the broadcasting of the synergistic signal;

[0071] In one embodiment of the present invention, the signal receiving module 303 is specifically used to: receive a fusion signal and demodulate it to the time-frequency domain. The time-frequency domain signal serves as the input to the sensing post-processing module and is also used to demodulate the communication signal.

[0072] In one embodiment of the present invention, the above-mentioned sensing post-processing module 304 is specifically used as a post-module of a generalized OFDM communication signal receiving device to convert the time-frequency domain signal to the time-delay-Doppler domain for obtaining sensing information.

Claims

1. A system for sensory fusion, characterized in that, The system includes: The transmitting end generates sensing reference signals and communication signals to complete the broadcast of the fusion signal. The receiving end realizes the reception of fusion signals and acquires communication information and sensing information.

2. The sensory fusion system according to claim 1, characterized in that: The transmitter generates a sensing reference signal in the time-delay-Doppler domain and converts it to the time-frequency domain. The transmitting end generates communication data in the time-frequency domain; The transmitting end superimposes the sensing signal and the communication signal in the time and frequency domain, modulates them into the time domain, and then broadcasts them.

3. The sensory fusion system according to claim 1, characterized in that: The receiving end converts the received synergistic signal into the time-frequency domain and obtains communication information from the received data in the time-frequency domain. After obtaining the time-frequency domain received data, the receiving end further converts it to the time-delay-Doppler domain and obtains sensing information from the time-delay-Doppler domain received data.

4. A method of convergent fusing, characterized in that, The method includes: Based on the system, the broadcasting and reception of the fusion signal are completed. At the transmitting end, the time-delay-Doppler domain sensing signal and the time-frequency domain communication signal are generated, and the broadcasting of the fusion signal is completed. At the receiving end, the time-frequency domain received data is obtained for communication, and the time-delay-Doppler domain received data is further obtained for the sensing function. The region used for sensing is extracted from the time-delay-Doppler domain received data and used as sensing observation data; The integer estimates of the time delay and Doppler taps are calculated based on the sensor observation data. Based on the integer estimates of the Doppler taps, calculate the fractional estimates of the Doppler taps; Distance and velocity estimates are calculated based on the integer estimates of the time delay taps and the fractional estimates of the Doppler taps.

5. The method of claim 4, wherein, Calculating the integer estimates of the time delay and Doppler taps includes: The sensing observation data and the time-delay-Doppler domain sensing reference signal are correlated in two dimensions to obtain the correlation output matrix. Integer estimates of the time delay and Doppler taps are obtained based on the index of the element with the largest absolute value in the relevant output matrix.

6. The method of claim 4, wherein, Calculating the fractional estimate of the Doppler tap includes: treating each column of data as a set of output data based on the sensing observation data, and calculating the covariance matrix between different columns of data; The covariance matrix is ​​decomposed into eigenvalues, and the eigenvalues ​​are arranged from largest to smallest. The eigenvalues ​​are divided according to the number of rows and columns of the sensing observation data. The eigenvalues ​​at the bottom of the sort are taken, and the matrix composed of their corresponding eigenvectors is used as the noise subspace. Based on the integer estimates of the Doppler taps, a set of fractional Doppler tap candidate values ​​is generated; Construct spectral analysis functions; The set of fractional Doppler tap candidate values ​​are sequentially input into the spectral analysis function to obtain the input with the largest absolute value, which is used as the fractional estimate of the Doppler tap.

7. A sensory fusion device, characterized by The device includes a sensing preprocessing module, a signal transmitting module, a signal receiving module, and a sensing postprocessing module.

8. The sensory fusion device according to claim 7, characterized in that: The sensing preprocessing module is used to generate a time-delay-Doppler domain sensing reference signal, convert it to the time-frequency domain, and superimpose it with the time-frequency domain communication signal.

9. The sensory fusion device according to claim 7, characterized in that: The signal transmission module takes the time-frequency domain synergistic fusion data output by the sensing preprocessing module as input and outputs a time-domain waveform to realize the broadcasting of synergistic fusion signals.

10. The synesthetic fusion device according to claim 7, characterized in that: The signal receiving module takes the received time-domain sensing fusion signal as input and outputs time-frequency domain received data. It serves as the input to the sensing post-processing module and is also used to demodulate the communication signal.

11. The sensory fusion device according to claim 7, characterized in that: The sensing post-processing module takes as input the time-frequency domain data output by the signal receiving module and outputs as time-delay-Doppler domain received data, which is used to acquire sensing information.

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