Imitation radio frequency division multiplexing full duplex inductance integrated system interference elimination method based on distance Doppler diagram

Abstract

The invention discloses an imitated radio frequency division multiplexing full duplex inductance integrated system interference elimination method based on a distance Doppler diagram. The method comprises the following steps: acquiring a sending symbol of a base station end or a user end; carrying out simulated radio frequency division multiplexing modulation on a sending symbol of the base station side or the user side to obtain a modulated sending signal; sending the modulated sending signal through a channel to obtain a receiving signal of a base station end; performing simulated radio frequency division multiplexing demodulation on the received signal of the base station end to obtain a demodulated received signal; sending a symbol according to the demodulated receiving signal, and calculating a channel gain, a time delay and a Doppler index by using a distance Doppler diagram method; calculating to obtain a sensing signal according to the channel gain, the time delay and the Doppler index; and according to the sensing signal and the demodulated receiving signal, obtaining an interference-eliminated receiving signal. The method has the characteristic of good perception performance.

Description

Technical Field

[0001] This invention relates to the field of simulated radio frequency multiplexing (RFD) technology, and more specifically, to an interference cancellation method for a simulated RFD full-duplex inductive integrated system based on distance Doppler maps. Background Technology

[0002] In traditional single-base full-duplex integrated sensing systems, only downlink communication is considered, while uplink communication is not. If sensing echo, uplink communication, and downlink communication are considered simultaneously, self-interference signals will be generated due to the full-duplex mode.

[0003] Since self-interference signals can cause strong interference to sensing and communication functions, and sensing signals can also interfere with uplink communication, it is necessary to solve the interference problems caused by self-interference and sensing signals, while acquiring sensing information and correctly demodulating communication signals.

[0004] Existing technology discloses an interference cancellation method for a full-duplex integrated inductive system based on simulated radio frequency multiplexing waveforms. This method includes the following steps: acquiring input data; performing a first serial-to-parallel conversion on the data to obtain a first parallel signal; modulating the first parallel signal to obtain a second parallel signal; performing a first parallel-to-serial conversion on the second parallel signal to obtain a first serial signal; performing a second serial-to-parallel conversion on the first serial signal to obtain a third parallel signal; demodulating the third parallel signal to obtain a fourth parallel signal; performing channel estimation on the fourth parallel signal to obtain channel state information; reconstructing an interference signal based on the channel state information and the first parallel signal; canceling interference on the fourth parallel signal based on the interference signal to obtain a fifth parallel signal; and performing a second parallel-to-serial conversion on the fifth parallel signal to obtain output data. This method is computationally complex, and the frame structure is fixed and difficult to adjust. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies, such as computational complexity and interference from self-interference signals in sensing communication. It provides an interference cancellation method for a simulated radio frequency division multiplexing full-duplex integrated sensing system based on range Doppler maps. This method features excellent sensing performance.

[0006] The primary objective of this invention is to solve the aforementioned technical problems. The technical solution of this invention is as follows:

[0007] An interference cancellation method for a simulated radio frequency multiplexing full-duplex inductive integrated system based on range Doppler maps, wherein the simulated radio frequency multiplexing full-duplex inductive integrated system includes: a base station end and a user end, comprising: S1: Obtain the transmitted symbols from the base station or user terminal; S2: Perform radio frequency division multiplexing modulation on the transmitted symbols of the base station or user terminal to obtain the modulated transmitted signal; S3: The modulated transmission signal is transmitted through the channel to obtain the received signal at the base station; S4: Perform simulated radio frequency multiplexing demodulation on the received signal at the base station to obtain the demodulated received signal; S5: Based on the demodulated received signal and transmitted symbol, calculate the channel gain, delay, and Doppler index using the range Doppler graph method; S6: Calculate the sensing signal based on the channel gain, time delay, and Doppler index; S7: Obtain the interference-canceled received signal based on the sensed signal and the demodulated received signal.

[0008] Furthermore, in step S4, the formula for simulated RF multiplexing demodulation is as follows:

[0009] This represents the demodulated received signal, where m represents the symbol number, N represents the number of subcarriers, and n represents the linear frequency modulation period prefix signal number. This indicates the received signal at the base station. Represents the field of complex numbers. , This indicates the parameters of the simulated radio frequency multiplexing.

[0010] Furthermore, in step S5, the formula for the channel gain is as follows:

[0011] Indicates pulse accumulation. Indicates the sending symbol.

[0012] Furthermore, the formula for calculating pulse accumulation is as follows:

[0013] Represents the time-delayed Doppler plane [ l,k Pulse accumulation at position, and These represent the time delay and Doppler index on the time delay Doppler plane, respectively. This indicates the number of time-domain sampling points within the chirped waveform. This indicates the number of chirped waveform periods within a subcarrier. n Indicates the sampling point number. v Indicates the period number of the chirped waveform within the subcarrier. This represents the demodulated received signal in the time-delayed Doppler plane. Represents the transmitted symbol in the time-delayed Doppler plane. This represents the phase matching factor.

[0014] Furthermore, the formula for calculating the phase matching factor is as follows:

[0015] Represents the field of complex numbers. Indicates the number of subcarriers. This indicates the number of time-domain sampling points within the chirped waveform. l、k Indicates time delay. v Indicates the period number of the chirped waveform within the subcarrier. n Indicates the sampling point number.

[0016] Furthermore, in step S6, the calculation formula for the sensed signal is as follows:

[0017] P represents the number of paths in the channel. This represents the number of subcarriers, and i represents the path number. Indicates the channel gain of path i. Represents the transmitted symbol in the time-delayed Doppler plane. and These represent the time delay and Doppler index on the Doppler plane, respectively. , ] represents the position of the detected object with radius i in the time-delay Doppler plane. This indicates the number of time-domain sampling points within the chirped waveform. This indicates the number of chirped waveform periods within a subcarrier. Represents the field of complex numbers. Indicates the number of subcarriers. This indicates the number of time-domain sampling points within the chirped waveform.

[0018] Furthermore, in step S7, the formula for the received signal with interference cancellation is as follows:

[0019] Indicates the perceived signal. This indicates the demodulated received signal. This indicates an interference cancellation signal.

[0020] Furthermore, after step S7, the following steps are also included: S8: Perform threshold detection on the received signal after interference cancellation to obtain the current position of the embedded pilot of the received signal; S9: Calculate the channel information based on the current position of the embedded pilot of the received signal.

[0021] Furthermore, the channel information includes:

[0022]

[0023]

[0024] Indicates the received channel gain of path i. The current position of the embedded pilot is represented by y, the received signal is represented by x, the transmitted symbol is represented by q, the embedded pilot position is represented by j, the complex domain is represented by N, and the number of subcarriers is represented by N. , Indicates the parameters of simulated radio frequency multiplexing. l Indicates time delay. This represents an intermediate variable representing the path i.

[0025] An interference cancellation system for a simulated radio frequency multiplexing full-duplex inductive integrated system based on distance Doppler maps includes: Signal acquisition module: Acquires transmitted symbols; Signal modulation module: Performs radio frequency division multiplexing modulation on the transmitted symbols to obtain the modulated transmitted signal; Signal transmission module: transmits the modulated transmission signal through the channel to obtain the received signal; Signal demodulation module: Performs simulated radio frequency multiplexing demodulation on the received signal to obtain the demodulated received signal; Gain calculation module: Based on the demodulated received and transmitted signals, calculates the channel gain, delay, and Doppler index using the range Doppler graph method; Sensing signal calculation module: Calculates the sensing signal based on the channel gain, time delay, and Doppler index; Interference cancellation module: Based on the sensed signal and the demodulated received signal, it obtains the received signal with interference cancellation.

[0026] Compared with the prior art, the beneficial effects of the present invention are: This invention utilizes the range-Doppler map method to calculate channel gain, delay, and Doppler information, and reconstructs the sensing signal based on the channel gain, delay, and Doppler information, thereby eliminating interference. This method features good sensing performance. Attached Figure Description

[0027] Figure 1 The flowchart shows a method for interference cancellation in a simulated radio frequency multiplexing full-duplex inductive integrated system based on a distance Doppler image, as provided in Example 1.

[0028] Figure 2This is a schematic diagram of a single-base station integrated sensing system model based on simulated radio frequency multiplexing provided in Example 1.

[0029] Figure 3 This is a schematic diagram of the frame structure of the base station provided in Example 1.

[0030] Figure 4 This is a schematic diagram of the frame structure of the user terminal provided in Example 1.

[0031] Figure 5 The distance Doppler image provided for Example 1.

[0032] Figure 6 This is a schematic diagram of the distance Doppler sensing results provided in Example 1.

[0033] Figure 7 The flowchart for calculating channel information provided in Example 1.

[0034] Figure 8 A line graph showing the root mean square error of the time delay provided in Example 1.

[0035] Figure 9 The line graph shows the root mean square error of Doppler provided in Example 1.

[0036] Figure 10 Line graph showing the perception performance in a single-target scenario provided in Example 1.

[0037] Figure 11 Line graphs showing the communication performance under different signal-to-noise ratio conditions provided in Example 1. Detailed Implementation

[0038] The accompanying drawings are for illustrative purposes only and should not be construed as limiting the scope of this patent. To better illustrate this embodiment, some parts in the accompanying drawings may be omitted, enlarged, or reduced, and do not represent the actual product dimensions; It will be understood by those skilled in the art that certain well-known structures and their descriptions may be omitted in the accompanying drawings.

[0039] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0040] Example 1: like Figure 1 As shown, an interference cancellation method for a simulated radio frequency multiplexing full-duplex inductive integrated system based on distance Doppler maps is disclosed. The simulated radio frequency multiplexing full-duplex inductive integrated system includes: a base station end and a user end, comprising: S1: Obtain the transmitted symbols from the base station or user terminal; S2: Perform radio frequency division multiplexing modulation on the transmitted symbols of the base station or user terminal to obtain the modulated transmitted signal; S3: The modulated transmission signal is transmitted through the channel to obtain the received signal at the base station; S4: Perform simulated radio frequency multiplexing demodulation on the received signal at the base station to obtain the demodulated received signal; S5: Based on the demodulated received signal and transmitted symbol, calculate the channel gain, delay, and Doppler index using the range Doppler graph method; S6: Calculate the sensing signal based on the channel gain, time delay, and Doppler index; S7: Obtain the interference-canceled received signal based on the sensed signal and the demodulated received signal.

[0041] In one specific embodiment, the symbols for analog radio frequency division multiplexing (AFDM) are generated in the Discrete Affine Fourier Transform (DAFT) domain and mapped to the time-delay Doppler plane through a mapping relationship, which is as follows:

[0042] in Represents the index in the Discrete Affine Fourier Transform (DAFT) domain. For the number of subcarriers, This represents the number of chirp waveform cycles within the subcarrier. , This represents the number of time-domain sampling points within the chirp waveform. and These represent the Doppler and time delay index on the time-delay Doppler plane, respectively. Therefore, the signal after time-delay Doppler mapping is:

[0043] in, For the Discrete Affine Fourier Transform (DAFT) field notation, For the time-delayed Doppler (DD) plane notation, This is the modulated analog radio frequency multiplexing (AFDM) signal. A cyclic prefix is ​​added to the beginning of this signal, called the chirp-periodic prefix (CPP), denoted as... The length L here needs to be greater than or equal to the maximum value of the channel delay spread.

[0044] For a dual-dispersion channel, the impulse response with P-stripes is expressed as:

[0045] in It is channel gain. It's Doppler frequency shift. It is time delay spread. Doppler shift is considered to be... ,in It is the integer part. This is the fractional part. This invention primarily considers the integer Doppler case. Simultaneously, the normalized delay index is... , and ,in and They are and The maximum value.

[0046] The single-base station integrated sensing system model based on simulated radio frequency multiplexing (AFDM) considered in this invention is as follows: Figure 2 As shown, this includes a base station and a user terminal, both equipped with a single antenna, operating in scenarios with some scattering objects. The signal frame structure design of the base station and user terminal is as follows. Figure 3 , Figure 4 By sending a simulated radio frequency division multiplexing (AFDM) signal, sensing and communication functions can be achieved. The signal is sent to the communicating party for communication, while the echo of this signal can be used for sensing. The signals sent by the base station (BS) and the user (UE) are represented as follows:

[0047]

[0048] Meanwhile, the existence of self-interference signals is also considered, which is an unavoidable problem in full-duplex operation. Taking the base station as an example, its received signal is as follows:

[0049] After removing CPP, the matrix form corresponding to the above equation is:

[0050] in and These are the time-domain equivalent matrix forms of the communication channel and the sensing channel, respectively. It is the channel gain of the self-interference channel, and and These are the simulated radio frequency multiplexing (AFDM) signals from the base station and the user end, respectively, with noise vectors of... .

[0051] Furthermore, in step S4, the formula for simulated RF multiplexing demodulation is as follows:

[0052] This represents the demodulated received signal, where m represents the symbol number, N represents the number of subcarriers, and n represents the linear frequency modulation period prefix signal number. This indicates the received signal at the base station. Represents the field of complex numbers. , This indicates the parameters of the simulated radio frequency multiplexing.

[0053] The discrete affine Fourier transform (DAFT) domain symbols obtained at this point can be mapped to the corresponding l and k positions by using the above mapping relationship and traversing l and k, thus obtaining the m-th symbol in the discrete affine Fourier transform (DAFT) domain.

[0054] Therefore, for the analog radio frequency division multiplexing (AFDM) signal passing through the channel, we can directly focus on its input-output relationship in the time delay Doppler (DD) domain, which can be expressed as:

[0055] Furthermore, in step S5, the formula for the channel gain is as follows:

[0056] Indicates pulse accumulation. Indicates the sending symbol.

[0057] In one specific embodiment, for a zero-delay, zero-Doppler self-interference channel, reconstructing the self-interference signal requires obtaining the channel gain, which can be directly calculated using the zero-delay, zero-Doppler characteristics:

[0058] Furthermore, due to the designed frame structure, the channel gain calculated by this formula is not affected by the uplink communication signal. Based on the known transmitted symbols, the self-interference signal can be reconstructed for self-interference cancellation, expressed as:

[0059] Furthermore, the formula for calculating pulse accumulation is as follows:

[0060] Represents the time-delayed Doppler plane [ l,k Pulse accumulation at position, and These represent the time delay and Doppler index on the time delay Doppler plane, respectively. This indicates the number of time-domain sampling points within the chirped waveform. This indicates the number of chirped waveform periods within a subcarrier. n Indicates the sampling point number. v Indicates the period number of the chirped waveform within the subcarrier. This represents the demodulated received signal in the time-delayed Doppler plane. Represents the transmitted symbol in the time-delayed Doppler plane. This represents the phase matching factor.

[0061] It should be noted that the above pulse accumulation can be plotted as follows: Figure 5 , Figure 6 The distance Doppler graph shown.

[0062] Furthermore, the formula for calculating the phase matching factor is as follows:

[0063] Represents the field of complex numbers. Indicates the number of subcarriers. This indicates the number of time-domain sampling points within the chirped waveform. l、k Indicates time delay. v Indicates the period number of the chirped waveform within the subcarrier. n Indicates the sampling point number.

[0064] When detecting multiple targets, for target detection in the time-delay Doppler (DD) plane, a Constant False Alarm Rate Detector (CFAR) is used to detect the targets:

[0065] in, The detection threshold is set to a value greater than the specified threshold. This confirms the presence of a target, from which the time-delay Doppler index can be obtained, further yielding the distance and velocity:

[0066] The distance and velocity are the perceived target information, and the channel gain can be calculated using a formula.

[0067] When the detection is a single-target detection, the detection... Find the maximum value within the range and obtain the delay Doppler index. Then, calculate the delay Doppler and channel gain in the same way.

[0068] Furthermore, in step S6, the calculation formula for the sensed signal is as follows:

[0069] P represents the number of paths in the channel. This represents the number of subcarriers, and i represents the path number. Indicates the channel gain of path i. Represents the transmitted symbol in the time-delayed Doppler plane. and These represent the time delay and Doppler index on the Doppler plane, respectively. , ] represents the position of the detected object with radius i in the time-delay Doppler plane. This indicates the number of time-domain sampling points within the chirped waveform. This indicates the number of chirped waveform periods within a subcarrier. Represents the field of complex numbers. Indicates the number of subcarriers. This indicates the number of time-domain sampling points within the chirped waveform.

[0070] Furthermore, in step S7, the formula for the received signal with interference cancellation is as follows:

[0071] Indicates the perceived signal. This indicates the demodulated received signal. This indicates an interference cancellation signal.

[0072] Furthermore, such as Figure 7 As shown, after step S7, the following steps are also included: S8: Perform threshold detection on the received signal after interference cancellation to obtain the current position of the embedded pilot of the received signal; S9: Calculate the channel information based on the current position of the embedded pilot of the received signal.

[0073] right Perform a Discrete Affine Fourier Transform (DAFT) to the DAFT domain, obtain the current position u of the embedded pilot of the uplink signal through threshold detection, and combine it with the position q of the embedded pilot of the uplink signal to obtain the uplink channel information. The calculation formula is as follows: Furthermore, the channel information includes:

[0074]

[0075]

[0076] Indicates the received channel gain of path i. The current position of the embedded pilot is represented by y, the received signal is represented by x, the transmitted symbol is represented by q, the embedded pilot position is represented by j, the complex domain is represented by N, and the number of subcarriers is represented by N. , Indicates the parameters of simulated radio frequency multiplexing. l Indicates time delay. This represents an intermediate variable representing the path i.

[0077] In the Discrete Affine Fourier Transform (DAFT) domain, the transmitted symbol and received signals The relationship is: ,in , , It is the discrete Fourier transform matrix. It is the actual channel matrix, including channel gain. Delay Doppler Information. Therefore, based on the calculations... , ,and The estimated equivalent channel can be reconstructed. . Perform a Discrete Affine Fourier Transform (DAFT) to obtain the Discrete Affine Fourier Transform (DAFT) domain. To perform minimum mean square error equalization Then, symbol determination and other operations are performed to achieve the communication function.

[0078] An interference cancellation system for a simulated radio frequency multiplexing full-duplex inductive integrated system based on distance Doppler maps includes: Signal acquisition module: Acquires transmitted symbols; Signal modulation module: Performs radio frequency division multiplexing modulation on the transmitted symbols to obtain the modulated transmitted signal; Signal transmission module: transmits the modulated transmission signal through the channel to obtain the received signal; Signal demodulation module: Performs simulated radio frequency multiplexing demodulation on the received signal to obtain the demodulated received signal; Gain calculation module: Based on the demodulated received signal and transmitted symbol, calculates the channel gain, delay, and Doppler index using the range Doppler graph method; Sensing signal calculation module: Calculates the sensing signal based on the channel gain, time delay, and Doppler index; Interference cancellation module: Based on the sensed signal and the demodulated received signal, it obtains the received signal with interference cancellation.

[0079] Using bit error rate (BER) as a communication performance metric and root mean square error (RMSE) as a perception performance metric, 50,000 Monte Carlo simulations were performed, and the results are shown below.

[0080] In the simulation system, assuming the pilot signal-to-noise ratio (SNR) is 30 dB higher than the data SNR, the carrier frequency is set... This frequency belongs to the typical millimeter-wave communication band and can be used to verify the system's performance in a high-frequency transmission environment. Subcarrier spacing This value corresponds to the common millimeter-wave communication subcarrier spacing standard, which can maintain a reasonable symbol duration while ensuring sufficient frequency resolution. The system uses a total of Each subcarrier is used for signal modulation and transmission. The total bandwidth of the system is given by the product of the subcarrier spacing and the number of subcarriers, i.e. This bandwidth setting satisfies the demands of high-speed communication while balancing simulation complexity and computational accuracy. Therefore, the symbol duration is... The system's time resolution is determined by the symbol period. This parameter combination can effectively simulate the time-frequency characteristics in millimeter-wave communication scenarios, providing a foundation for subsequent simulations and performance analysis. Furthermore, in the simulation, a comparison was made with the Embedded Pilot Aided (EPA) channel estimation method. It can be concluded that the Range Doppler Map (RDM) method proposed in this invention is very close to the Embedded Pilot Aided (EPA) method in terms of communication performance, but due to the sensing gain brought by the Range Doppler Map (RDM), its sensing performance is better than that of the Embedded Pilot Aided (EPA) method.

[0081] Figure 8 and Figure 9 The root mean square error (RMSE) for time delay and Doppler is denoted as RMS and represents the sensing performance, respectively. It can be seen that as the signal-to-noise ratio increases, the root mean square error (RMSE) gradually decreases, but the decrease is not significant. This indicates that the accuracy of distance-Doppler map (RDM) calculation increases with the increase of signal-to-noise ratio, but the influence of noise is not the main factor.

[0082] Figure 10 shows the perception performance in a single-target scene. Using the detection probability as the performance indicator, the distance Doppler map (RDM) method is used for perception, which can obtain perception gain and achieve high detection probability even in low signal-to-noise ratio scenes. Therefore, the perception performance is better than the embedded pilot (EPA) method.

[0083] Figure 11 illustrates the communication performance of the proposed system under different signal-to-noise ratio (SNR) conditions. The horizontal axis represents the SNR of the data portion of the communication signal (unit: dB), with the pilot SNR fixed at 40 dB. The vertical axis represents the bit error rate (BER). The BER performance of the system is mainly affected by two factors: the effectiveness of the interference cancellation algorithm and the accuracy of the communication channel estimation. Under ideal interference cancellation and ideal channel state information (CSI) conditions, the system performance reaches the theoretical optimal level, corresponding to the curves "ideal interference cancellation and ideal channel information". To further analyze the actual effect of interference cancellation, the results of channel information estimation are plotted as the curves "ideal interference cancellation and estimated channel information". As can be seen from the figure, the proposed interference cancellation methods (including both range-Doppler diagram (RDM) and embedded pilot (EPA) schemes) can significantly reduce the BER under actual ideal interference cancellation and ideal channel state information (CSI) estimation conditions. Their performance curves are highly close to the ideal reference curve, indicating that the method can still effectively recover the communication signal in the presence of interference. Without interference cancellation (curve "no interference cancellation and estimated channel information"), the bit error rate stabilizes at approximately 50%, showing almost no change with the signal-to-noise ratio, indicating that the system is in a state of communication failure due to severe interference. The overall results demonstrate that the proposed interference cancellation algorithm can significantly improve communication performance under strong interference conditions, bringing the system bit error rate close to the ideal level. This verifies the effectiveness and robustness of the Range Doppler Map (RDM) method, and the communication performance is very close to that of the Embedded Pilot (EPA) method.

[0084] The same or similar labels correspond to the same or similar parts; The terms used to describe positional relationships in the accompanying drawings are for illustrative purposes only and should not be construed as limiting this patent. Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the implementation of the present invention. Those skilled in the art can make other variations or modifications based on the above description. It is neither necessary nor possible to exhaustively describe all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the claims of the present invention.

Claims

1. An interference cancellation method for a simulated radio frequency multiplexing full-duplex inductive integrated system based on distance Doppler maps, wherein the simulated radio frequency multiplexing full-duplex inductive integrated system comprises: The base station and user terminal are characterized by including: S1: Obtain the transmitted symbols from the base station or user terminal; S2: Perform radio frequency division multiplexing modulation on the transmitted symbols of the base station or user terminal to obtain the modulated transmitted signal; S3: The modulated transmission signal is transmitted through the channel to obtain the received signal at the base station; S4: Perform simulated radio frequency multiplexing demodulation on the received signal at the base station to obtain the demodulated received signal; S5: Based on the demodulated received signal and transmitted symbol, calculate the channel gain, delay, and Doppler index using the range Doppler graph method; S6: Calculate the sensing signal based on the channel gain, time delay, and Doppler index; S7: Obtain the interference-canceled received signal based on the sensed signal and the demodulated received signal.

2. The interference cancellation method for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on distance Doppler maps according to claim 1, characterized in that, In step S4, the formula for simulated RF multiplexing demodulation is as follows: This represents the demodulated received signal, where m represents the symbol number, N represents the number of subcarriers, and n represents the linear frequency modulation period prefix signal number. This indicates the received signal at the base station. Represents the field of complex numbers. , This indicates the parameters of the simulated radio frequency multiplexing.

3. The interference cancellation method for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on distance Doppler maps according to claim 1, characterized in that, In step S5, the formula for channel gain is as follows: Indicates pulse accumulation. Indicates the sending symbol.

4. The interference cancellation method for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on distance Doppler maps according to claim 3, characterized in that, The formula for calculating pulse accumulation is as follows: Represents the time-delayed Doppler plane [ l,k Pulse accumulation at position, and These represent the time delay and Doppler index on the time delay Doppler plane, respectively. This indicates the number of time-domain sampling points within the chirped waveform. This indicates the number of chirped waveform periods within a subcarrier. n Indicates the sampling point number. v Indicates the period number of the chirped waveform within the subcarrier. This represents the demodulated received signal in the time-delayed Doppler plane. Represents the transmitted symbol in the time-delayed Doppler plane. This represents the phase matching factor.

5. The interference cancellation method for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on distance Doppler maps according to claim 4, characterized in that, The formula for calculating the phase matching factor is as follows: Represents the field of complex numbers. Indicates the number of subcarriers. This indicates the number of time-domain sampling points within the chirped waveform. l、k Indicates time delay. v Indicates the period number of the chirped waveform within the subcarrier. n Indicates the sampling point number.

6. The interference cancellation method for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on range Doppler maps according to claim 1, characterized in that, In step S6, the formula for calculating the sensed signal is as follows: P represents the number of paths in the channel. This represents the number of subcarriers, and i represents the path number. Indicates the channel gain of path i. Represents the transmitted symbol in the time-delayed Doppler plane. and These represent the time delay and Doppler index on the Doppler plane, respectively. , ] represents the position of the detected object with radius i in the time-delay Doppler plane. This indicates the number of time-domain sampling points within the chirped waveform. This indicates the number of chirped waveform periods within a subcarrier. Represents the field of complex numbers. Indicates the number of subcarriers. This indicates the number of time-domain sampling points within the chirped waveform.

7. The interference cancellation method for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on distance Doppler maps according to claim 1, characterized in that, In step S7, the formula for the received signal after interference cancellation is as follows: Indicates the perceived signal. This indicates the demodulated received signal. This indicates an interference cancellation signal.

8. The interference cancellation method for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on distance Doppler maps according to claim 1, characterized in that, After step S7, the following is also included: S8: Perform threshold detection on the received signal after interference cancellation to obtain the current position of the embedded pilot of the received signal; S9: Calculate the channel information based on the current position of the embedded pilot of the received signal.

9. The interference cancellation method for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on range Doppler maps according to claim 8, characterized in that, The channel information includes: Indicates the received channel gain of path i. The current position of the embedded pilot is represented by y, the received signal is represented by x, the transmitted symbol is represented by q, the embedded pilot position is represented by j, the complex domain is represented by N, and the number of subcarriers is represented by N. , Indicates the parameters of simulated radio frequency multiplexing. l Indicates time delay. This represents an intermediate variable representing the path i.

10. An interference cancellation system for a simulated radio frequency division multiplexing full-duplex inductive integrated system based on distance Doppler maps, applied to the cancellation method described in any one of claims 1 to 9, characterized in that, include: Signal acquisition module: Acquires transmitted symbols; Signal modulation module: Performs radio frequency division multiplexing modulation on the transmitted symbols to obtain the modulated transmitted signal; Signal transmission module: transmits the modulated transmission signal through the channel to obtain the received signal; Signal demodulation module: Performs simulated radio frequency multiplexing demodulation on the received signal to obtain the demodulated received signal; Gain calculation module: Based on the demodulated received signal and transmitted symbol, calculates the channel gain, delay, and Doppler index using the range Doppler graph method; Sensing signal calculation module: Calculates the sensing signal based on the channel gain, time delay, and Doppler index; Interference cancellation module: Based on the sensed signal and the demodulated received signal, it obtains the received signal with interference cancellation.

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