Communication sensing method, device and system

Abstract

The invention provides a communication sensing method, device and system, and the method can be applied to a communication sensing scene exemplarily. In the method, a network device sends a first sensing signal to a user set served by the network device according to a communication demand and a sensing demand, and the network device receives a first echo signal of the first sensing signal and obtains a first sensing result of the user set served by the network device according to the first echo signal; the network equipment sends sensing indication information to the high-altitude platform, wherein the sensing indication information is used for indicating to sense a user set served by the high-altitude platform; and the network equipment receives a second sensing result sent by the high-altitude platform for a user set serving the high-altitude platform, and the network equipment determines a target sensing result according to the first sensing result and the second sensing result. The method can guarantee the perception performance of the users on the line-of-sight path and the non-line-of-sight path, and improves the perception coverage and precision.

Description

Technical Field

[0001] This application relates to the field of communication sensing, and more particularly to a communication sensing method, apparatus, and system. Background Technology

[0002] Future mobile communication systems are expected to possess both communication and sensing capabilities. With continuously increasing frequency points, wider bandwidths, and the use of ultra-massive multiple-input multiple-output (UM-MIMO) technology, communication signals exhibit high resolution in the time delay, Doppler, and angular domains, making high-precision sensing possible. Furthermore, emerging services such as digital twins and vehicle-to-everything (V2X) are driving the convergence of communication and radar systems in terms of spectrum, technological trends, and applications. Therefore, an integrated design for wireless communication and sensing is necessary to ultimately achieve mutual assistance in communication and sensing capabilities, network synergy, improved frequency efficiency, and reduced hardware costs.

[0003] Integrated sensing and communication (ISAC) is a key technology in next-generation wireless communication networks. It aims to integrate wireless communication and sensing functions into the same system, utilizing the various propagation characteristics of wireless signals to achieve target localization, detection, imaging, and identification, thereby acquiring information about the surrounding physical environment, exploring communication capabilities, and enhancing user experience.

[0004] However, wireless sensing relies on line-of-sight transmission paths. When users move or obstacles obstruct the environment, the direct path may be blocked or drastically changed, leading to a sharp decrease in sensing signal strength and deterioration of channel quality. This not only causes a sharp drop in sensing accuracy (such as positioning errors and velocity estimation deviations), but also directly affects the reliability and speed of communication due to the deterioration of channel conditions.

[0005] Currently, while fixed intelligent reflective surface technology can construct virtual line-of-sight paths, it suffers from inflexible deployment, significant echo attenuation, and inability to adapt to mobile users. This results in low resource allocation efficiency and compromised sensing and communication performance in dynamic multi-user scenarios. Particularly in scenarios involving UAV communication and sensing, it increases control overhead, making it difficult for the overall system efficiency and real-time performance to meet the high reliability, low latency, and high precision requirements of integrated sensing and communication. Summary of the Invention

[0006] This application provides a communication sensing method, apparatus, and system that enables a base station and a drone to jointly perform sensing tasks. The base station senses the location of users within line of sight, while the drone senses the location of users outside line of sight. Through hierarchical sensing, the sensing results of all users can be obtained, thereby improving sensing coverage and accuracy.

[0007] Firstly, a communication sensing method is provided. This method can be executed by a network device, or by a component (such as a circuit, chip, or chip system) configured in the network device, or by a logic module or software capable of implementing all or part of the functions of the network device. This application does not limit this approach. The following description uses a network device as an example.

[0008] The method includes: a network device acquiring communication needs and sensing needs; the network device sending a first sensing signal to a set of users served by the network device based on the communication needs and sensing needs; a line-of-sight link existing between the set of users served by the network device and the network device; the network device receiving a first echo signal of the first sensing signal and acquiring a first sensing result of the set of users served by the network device based on the first echo signal; the network device sending sensing indication information to an aerial platform, the sensing indication information being used to instruct sensing of the set of users served by the aerial platform, the sensing indication information including communication needs and sensing needs; a non-line-of-sight link existing between each user in the set of users served by the aerial platform and the network device; the network device receiving a second sensing result of the set of users served by the aerial platform sent from the aerial platform; and the network device determining a target sensing result based on the first and second sensing results.

[0009] Based on the first aspect, the network device senses the user set on the line-of-sight path, while the high-altitude platform assists in sensing the user set on the non-line-of-sight path. Through the hierarchical sensing of the network device and the high-altitude platform, the network device can perform efficient sensing in scenarios where obstacles are obstructing the view, ensuring the sensing performance of users on both the line-of-sight and non-line-of-sight paths, and improving sensing coverage and accuracy.

[0010] In one possible implementation of the first aspect, the method further includes: when a triggering condition is met, the network device determines that the location of the high-altitude platform needs to be updated; then, the network device determines the target service location of the high-altitude platform and controls the high-altitude platform to move from its current location to the target service location; wherein the triggering condition includes: a change in the user set served by the high-altitude platform; or, the average degree of change in the movement of the user set served by the high-altitude platform is greater than a preset threshold.

[0011] In this implementation, the target service location of the drone is adaptively determined by the movement changes of the user set of the drone service, which can reduce the frequent movement of the drone and control the signaling overhead and power consumption of the drone.

[0012] In one possible implementation of the first aspect, the user set of the aerial platform service changes, including: the existence of users leaving the user set of the aerial platform service, and / or the existence of users joining the user set of the aerial platform service.

[0013] In one possible implementation of the first aspect, the average degree of motion change is determined based on the relative change in the location information of each user of the high-altitude platform service within a predefined update period.

[0014] In one possible implementation of the first aspect, determining the average mobility variability includes: for each user in the user set of the high-altitude platform service, determining the mobility variability of each user; and taking the average of the mobility variability of all users in the user set of the high-altitude platform service as the average mobility variability.

[0015] In one possible implementation of the first aspect, the motion change rate is a linear combination of the rate of change of angle and the rate of change of distance during the user's perception period.

[0016] In one possible implementation of the first aspect, the rate of change of angle is: The rate of change of distance is: .

[0017] In one possible implementation of the first aspect, determining the target service location of the high-altitude platform includes: acquiring network status information, which includes at least the location of network devices, the current location of the high-altitude platform, and the locations of all users; based on the network status information, establishing a communication channel model and a sensing echo channel model; constructing a location optimization problem using the target service location of the high-altitude platform as the optimization variable; wherein the objective function for location optimization is used to maximize the channel gain of the communication channel and the sensing echo channel; the channel gain includes the sum of the relay communication channel gain of the user set served by the high-altitude platform and the network devices, and the sensing echo channel gain of the network devices and the high-altitude platform; the constraints of the location optimization problem include at least the maximum flight distance constraint and the location area constraint of the high-altitude platform; and solving the location optimization problem to obtain the target service location of the high-altitude platform.

[0018] In one possible implementation of the first aspect, a communication channel model is used to characterize the one-way path loss of signal transmission, and the channel gain of the communication channel is inversely proportional to the square of the distance; a sensing echo channel model is used to characterize the two-way path loss of the signal after reflection by the sensing user, and the channel gain of the sensing echo channel is inversely proportional to the fourth power of the distance.

[0019] In one possible implementation of the first aspect, the channel gain of the communication channel is determined by the minimum of a first channel gain from the network device to the high-altitude platform and a second channel gain of the communication users in the set of users served by the high-altitude platform.

[0020] In one possible implementation of the first aspect, the location optimization problem is: ;in, This is the sensing echo channel from the high-altitude platform to the network equipment. This serves as the communication channel between the high-altitude platform and network equipment. The communication channel for the kth user in the set of users serving high-altitude platforms; The set of users who provide services for network devices. A collection of communication users serving high-altitude platforms.

[0021] In one possible implementation of the first aspect, the sensing echo channel from the high-altitude platform to the network device is: ;in, This is the channel power at a reference distance of 1m. It is the average value of the radar cross-section of the high-altitude platform; It is the steering vector of the network device's receiver array. This refers to the number of receiving antennas on the network device. The angle of arrival of the echo signal from the network device to the receiving array of the network device; It is the steering vector of the network device's transmission array. It refers to the number of transmitting antennas of the network device. It is the starting angle from which the network device array emits signals.

[0022] In one possible implementation of the first aspect, the communication channel from the high-altitude platform to the network device is: ;in, This is the channel power at a reference distance of 1m. It is the wavelength of the carrier wave; It is the steering vector of the network device's transmission array. It refers to the number of transmitting antennas of the network device. It is the starting angle for the signal emitted by the network device array; It is the guide vector of the high-altitude platform receiving array; It refers to the number of receiving antennas on the high-altitude platform. The angle of arrival of the signal received by the high-altitude platform; the communication channel from the high-altitude platform to the k-th user in the user set served by the high-altitude platform is: ;in, This is the channel power at a reference distance of 1m. It is the wavelength of the carrier wave; It is the receive antenna gain of the k-th user. It is the guide vector of the high-altitude platform launch array. This refers to the number of transmitting antennas on the high-altitude platform. The starting angle for sending signals to the high-altitude platform array.

[0023] In one possible implementation of the first aspect, the position constraints, constructed based on the maximum moving speed of the high-altitude platform and a predefined update cycle, are as follows: ;in, This indicates the current location of the aerial platform. The target service location for the high-altitude platform. This represents the maximum moving speed of the high-altitude platform. This is a predefined update cycle.

[0024] In one possible implementation of the first aspect, the method further includes: acquiring network state information, which includes at least: the location of the network device, the current location of the high-altitude platform, and the locations of all users; calculating, based on the network state information, the communication rate of the users served by the network device and the communication rate of the users served by the high-altitude platform; calculating, based on the network state information and a pre-configured transmit beamforming vector, the received power of the sensing signal transmitted by the network device reaching the sensing user served by the network device and the received power of the sensing signal transmitted by the high-altitude platform reaching the sensing user served by the high-altitude platform; and constructing a beamforming optimization problem. The problem involves a beamforming optimization problem where the optimization variables are the set of transmit beamforming vectors for network devices and the set of transmit beamforming vectors for the high-altitude platform. The objective function of the beamforming optimization problem is to maximize the sum of the rates of all communication users. The constraints of the beamforming optimization problem include: total system transmit power constraints, receive power constraints for perceived users served by network devices, and receive power constraints for perceived users served by the high-altitude platform. Solving the beamforming optimization problem yields a first beamforming vector and a second beamforming vector. The first beamforming vector is used for signal transmission by network devices, and the second beamforming vector is used for signal transmission by the high-altitude platform.

[0025] In this implementation, network devices allocate resources based on the target service location, and the network devices and the high-altitude platform work together to perform beamforming, which can ensure the communication performance of users in different environments.

[0026] In one possible implementation of the first aspect, in the rate calculation of the communication users of the high-altitude platform service, the signal-to-noise ratio of the communication users of the high-altitude platform service is determined by the minimum of the signal-to-noise ratio from the network device to the high-altitude platform and the signal-to-noise ratio from the high-altitude platform to the communication users of the high-altitude platform service.

[0027] In one possible implementation of the first aspect, the signal-to-noise ratio of the k-th communication user served by the network device is: ; ;in, This is the channel matrix from the network device to the k-th communication user. The beamforming vector corresponding to the channel matrix from the network device to the k-th communication user; The set of communication users serving network equipment; the signal-to-noise ratio of the k-th communication user served by the high-altitude platform is: ; ;in, For the channel matrix from network devices to the high-altitude platform, The channel matrix from the high-altitude platform to the k-th communication user is... The beamforming vector is the channel matrix corresponding to the channel from the network device to the high-altitude platform. The beamforming vector corresponding to the channel matrix from the high-altitude platform to the k-th communication user. A collection of communication users serving high-altitude platforms. This represents noise power.

[0028] In one possible implementation of the first aspect, the received power of the sensing signal sent by the network device to the perceived user served by the network device is: ;in, The steering vector for the network device's receiver array. The steering vector for the network equipment's transmitting array; the received power of the sensing signal transmitted by the high-altitude platform reaching the sensing users served by the high-altitude platform is: ;in, This is the guide vector for the high-altitude platform receiving array. This is the guidance vector for the high-altitude platform launch array.

[0029] In one possible implementation of the first aspect, the beamforming optimization problem is: ; .

[0030] Secondly, a communication sensing method is provided. This method can be executed by a high-altitude platform, or by components (such as circuits, chips, or chip systems) configured in the high-altitude platform, or by a logic module or software capable of implementing all or part of the functions of the high-altitude platform. This application does not limit this approach. The following description uses a high-altitude platform (such as a drone) as an example.

[0031] The method includes: a high-altitude platform receiving sensing indication information from a network device, the sensing indication information being used to instruct a set of users served by the high-altitude platform to perceive, the sensing indication information including communication requirements and perception requirements; each user in the set of users served by the high-altitude platform having a non-line-of-sight link with the network device; the high-altitude platform sending a second sensing signal to the set of users served by the high-altitude platform according to the communication requirements and perception requirements; the high-altitude platform receiving a second echo signal of the second sensing signal, and obtaining a second perception result of the set of users served by the network device based on the second echo signal; and the high-altitude platform sending the second perception result to the network device.

[0032] In one possible implementation of the second aspect, the high-altitude platform receives a control message from a network device, the control message including the target service location of the high-altitude platform; the high-altitude platform moves from its current location to the target service location according to the control message.

[0033] The second aspect is the implementation on the high-altitude platform side, which corresponds to the first aspect. The explanations, supplements, and descriptions of the beneficial effects of the first aspect also apply to the second aspect, and will not be repeated here.

[0034] Thirdly, a communication method is provided, which may be executed by, for example, a first network device, a first target device, and a first device, or by a component (such as a circuit, chip, or chip system) configured in the first network device, the first target device, and the first device, or by a logic module or software capable of implementing all or part of the functions of the first network device, the first target device, and the first device. This application does not limit this aspect.

[0035] The method includes: a first network device acquiring a sensing requirement of a first device, the sensing requirement including the sensing accuracy required by the first device; the first network device sending a first notification message to a device including at least a first target device according to the sensing requirement, the first notification message including at least one of the following: first indication information, a target device for collaborative sensing, and the sensing accuracy required by the first device; the first indication information being used to instruct the first target device to perform collaborative sensing; the first target device sending a response message to the first network device, and correspondingly, the first network device receiving the response message from the first target device, the response message being used to instruct the first target device to perform collaborative sensing with the first network device; the first network device sending collaborative sensing indication information to the first target device, and correspondingly, the first target device receiving collaborative sensing indication information from the first network device, the collaborative sensing indication information including at least one of the following: a collaborative sensing object, sensing accuracy, sensing mode, and time-frequency resource information for the first target device to sense the first device.

[0036] Furthermore, the first target device senses the first device on the time-frequency resources indicated by the time-frequency resource information and obtains a first sensing result; the first device cooperates with the first target device to sense the time-frequency resources indicated by the time-frequency resource information and obtains a second sensing result. The first target device sends the first sensing result to the first network device; or, the first device sends the second sensing result to the first network device. Correspondingly, the first network device receives the first sensing result from the first target device, or the first network device receives the second sensing result from the first device.

[0037] In one possible design of the third aspect, the first target device transmits a reference signal or communication integrated waveform for sensing on the time-frequency resources indicated by the time-frequency resource information.

[0038] In one possible design of the third aspect, the first network device senses the first device on the time-frequency resources indicated by the time-frequency resource information and obtains a third sensing result; the first network device determines a fourth sensing result based on the first sensing result and the third sensing result, or the first network device determines a fifth sensing result based on the second sensing result and the third sensing result.

[0039] In one possible design of the third aspect, the first device initiates cooperative sensing to the first network device, or the first network device initiates cooperative sensing to the first target device.

[0040] In one possible design of the third aspect, the first network device notifies the first target device that the first network device supports collaborative sensing capabilities, and the first target device initiates a collaborative sensing request.

[0041] In one possible design of the third aspect, the first network device determines the perception requirements of the first device based on the required perception accuracy of the first device, and initiates collaborative perception with the first device.

[0042] The first network device is further configured to perform any of the possible methods described in the first aspect above, as can be referred to in the first aspect. The first target device is further configured to perform any of the possible methods described in the second aspect above, as can be referred to in the second aspect.

[0043] Fourthly, a communication device is provided, comprising a processing module and a transceiver module. The transceiver module and the processing module are used to execute the methods in any possible implementation of any of the above aspects.

[0044] Fifthly, a communication device is provided, including a processor. The processor is coupled to a memory and can be used to execute instructions or data in the memory to implement the methods in any possible implementation of any of the above aspects. Optionally, the communication device further includes a memory. Optionally, the communication device further includes a communication interface, and the processor is coupled to the communication interface.

[0045] In a sixth aspect, a processor is provided, comprising: an input circuit, an output circuit, and a processing circuit. The processing circuit is configured to receive signals through the input circuit and transmit signals through the output circuit, causing the processor to execute a method in any possible implementation of any aspect.

[0046] In specific implementation, the processor can be one or more chips, the input circuit can be input pins, the output circuit can be output pins, and the processing circuit can be transistors, gate circuits, flip-flops, and various logic circuits. The input signal received by the input circuit can be received and input by, for example, but not limited to, a receiver, and the signal output by the output circuit can be, for example, but not limited to, output to and transmitted by a transmitter. Furthermore, the input circuit and the output circuit can be the same circuit, which is used as both the input circuit and the output circuit at different times. This application does not limit the specific implementation of the processor and various circuits.

[0047] In a seventh aspect, a communication device is provided, including a processor and a memory. The processor is used to read instructions stored in the memory and to receive signals via a receiver and transmit signals via a transmitter to execute the method in any possible implementation of any of the above aspects.

[0048] Optionally, the processor may be one or more, and the memory may be one or more.

[0049] Eighthly, a computer program product is provided, the computer program product comprising: a computer program (also referred to as code or instructions) that, when the computer program is run, causes a computer to perform a method in any possible implementation of any of the above aspects.

[0050] In a ninth aspect, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when executed on a computer, causes the computer to perform the methods in any possible implementation of any of the preceding aspects.

[0051] In a tenth aspect, embodiments of this application provide a chip system including one or more processors for calling and executing instructions stored in memory, causing the methods in any of the above aspects or possible implementations to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0052] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0053] Eleventhly, a communication system is provided, including the aforementioned network device and high-altitude platform; or, including the aforementioned first network device, first target device, and first device. Optionally, the communication system may further include other devices that communicate with the network device and / or the high-altitude platform. Attached Figure Description

[0054] Figure 1 A schematic diagram of a communication system provided in an embodiment of this application; Figure 2 A flowchart illustrating a communication sensing method provided in an embodiment of this application; Figure 3 A flowchart illustrating another communication sensing method provided in an embodiment of this application; Figure 4 A flowchart illustrating yet another communication sensing method provided in an embodiment of this application; Figure 5 A schematic diagram illustrating the user set of the drone service at different times provided in the embodiments of this application; Figure 6 A schematic diagram illustrating the average change in user movement at different times, as provided in the embodiments of this application; Figure 7 A flowchart illustrating yet another communication sensing method provided in an embodiment of this application; Figure 8 A flowchart illustrating another communication sensing method provided in an embodiment of this application; Figure 9 This is a schematic diagram of the composition of a communication device provided in an embodiment of this application; Figure 10 This is a schematic diagram illustrating the composition of another communication device provided in an embodiment of this application. Detailed Implementation

[0055] For ease of understanding, the technical terms involved in the embodiments of this application will be introduced below.

[0056] I. ISAC ISAC can also be called Joint Communications and Sensing (JCS) or Joint Communications and Sensing (JCAS).

[0057] In mobile communication systems, higher frequency bands (millimeter waves and even terahertz), wider bandwidths, and larger-scale antenna arrays enable high-precision, high-resolution sensing, allowing ISAC (Interactive Sensor Architecture) to be implemented within a single system, making communication and sensing functions complementary. On one hand, the entire communication network can act as a giant sensor, with network elements transmitting and receiving wireless signals. Utilizing the transmission, reflection, and scattering of radio waves, it can better perceive and understand the physical world. By acquiring distance, speed, and angle information from wireless signals and sensing target attributes, it can provide a wide range of new services such as high-precision positioning, gesture capture, motion recognition, passive object detection, imaging, and environmental reconstruction, realizing "Networks as a Sensor." On the other hand, the high-precision positioning, imaging, and environmental reconstruction capabilities provided by sensing can help improve communication performance, such as more accurate beamforming and faster beam failure recovery, realizing "sensing-assisted communication." Sensing is also a "new channel" for observing and sampling the physical and biological worlds, connecting them to the digital world. Future applications of ISAC systems are likely to include high-precision positioning, synchronization programs, map building, and human sensory enhancement.

[0058] II. Perception The sensing process is achieved using sensing signals, which can refer to signals used to sense or detect targets, or signals used to sense or detect environmental information. For example, a sensing signal can be an electromagnetic wave sent by a network device to sense environmental information.

[0059] After the sensing signal is acted upon by the sensing target in the environment, it can generate an echo signal. The time delay of the echo signal relative to the transmitted sensing signal reflects the distance of the sensing target, and the Doppler frequency shift of the echo signal relative to the transmitted sensing signal reflects the relative velocity between the sensing node and the sensing target. Therefore, the distance and / or movement speed of the sensing target can be determined by sensing the echo signal corresponding to the sensing signal, and the actual position of the sensing target can be further sensed based on the distance and / or movement speed of the sensing target.

[0060] In this embodiment of the application, the echo signal after the sensing signal passes through the sensing target can also be referred to as the signal reflected by the sensing target, the signal refracted by the sensing target, the signal diffracted by the sensing target, the signal transmitted by the sensing target, or the signal scattered or diffracted by the sensing target. No specific limitation is made in this regard.

[0061] In this embodiment, the sensing target may include various tangible objects on the ground that can be sensed, such as mountains, forests, or buildings, and may also include movable objects such as vehicles and terminals. The sensing target is a target that a network device with sensing capabilities can sense, and this target can feed back electromagnetic waves to the network device. The sensing target may also be referred to as the detected target, the sensed object, the object being sensed, or the sensed device, etc., without limitation.

[0062] It is understood that the aforementioned sensing targets can be moving or stationary, and can be active or passive. Active targets can refer to sensing targets with data processing capabilities, such as base stations, mobile phones, routers, vehicles, drones, and radio frequency identification (RFID) devices. Passive targets can refer to sensing targets without data processing capabilities, such as animals, plants, vehicles, and buildings.

[0063] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0064] The technical solutions provided in this application can be applied to various communication systems that support sensing, such as: Global System for Mobile Communications (GSM), General Packet Radio Service (GPRS), Wireless Local Area Network (WLAN), Long Term Evolution (LTE), LTE Frequency Division Duplex (FDD), LTE Time Division Duplex (TDD), sidelink communication systems, Universal Mobile Telecommunication System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX), non-terrestrial network (NTN), 5th generation (5G) mobile communication systems, or new radio access technology (NR). Among these, 5G mobile communication systems can include non-standalone (NSA) and / or standalone (SA) networking. The technical solutions provided in this application can also be applied to future communication systems. This application does not limit the scope of these applications.

[0065] Figure 1 This is a schematic diagram of a communication system applied in an embodiment of this application. The communication system includes network devices, an aerial platform, a first user set, and a second user set. The network devices and the aerial platform can also be referred to as sensing nodes (or communication and sensing nodes), where a sensing node is a node possessing both communication and sensing functions; that is, the network devices and the aerial platform are used for communication and sensing. Specifically, in the embodiment of this application, in a sensing scenario, the network devices can be used to sense the surrounding environment, and the aerial platform is used to assist the network devices in sensing the surrounding environment. Optionally, in addition to including network devices and an aerial platform, the communication system may also include other nodes that only possess communication functions, such as sensing function (SF) network elements.

[0066] In this application, the network equipment can be network-side equipment such as access network and core network equipment. Access network equipment is sometimes also called an access node. Access network equipment has wireless transceiver capabilities for communicating with terminals. Access network equipment includes, but is not limited to, base stations, evolved NodeBs (eNodeBs), transmission reception points (TRPs) in the aforementioned communication systems, next-generation NodeBs (gNBs) in 5G mobile communication systems, access network equipment or modules of access network equipment in open RAN (ORAN) systems, satellites in NTN communication systems, base stations in future mobile communication systems, or access nodes in WiFi systems. Access network equipment can also be modules or units capable of implementing some of the functions of a base station. Access network equipment can be a macro base station, micro base station, indoor station, relay node, donor node, or a wireless controller in a cloud radioaccess network (CRAN) scenario. Optionally, access network equipment can also be a server, wearable device, or vehicle-mounted equipment, etc. For example, the access network equipment in vehicle-to-everything (V2X) technology can be a roadside unit (RSU). Multiple access network devices in a communication system can be base stations of the same type or different types. Base stations can communicate with terminals directly or via relay stations. Terminals can communicate with multiple base stations using different access technologies. The embodiments of this application do not limit the specific technology or device form used in the access network equipment. In this application, the access network equipment is referred to as a network device.

[0067] In this application, the means for implementing the functions of a network device can be a network device itself, or a means capable of supporting the network device in implementing those functions, such as a processor, circuit, chip, or chip system. This means can be installed in or connected to the network device. In the technical solutions provided in this application, the example of a network device being used to implement the functions of a network device is used to describe the technical solutions provided in this application.

[0068] High-altitude platforms refer to large platforms capable of remaining at high altitudes such as the stratosphere for extended periods, serving as aerial communication nodes or base stations. Examples of high-altitude platforms include drones.

[0069] Here, the first user set is the set of users on the line-of-sight (LOS) path, where all users in the first user set have a line-of-sight link with the network device. Alternatively, the first user set is in a line-of-sight environment, or the channel between the first user set and the network device satisfies the line-of-sight condition. The first user set can also be referred to as the first target object set, etc., without limitation.

[0070] The second user set is the set of users on a non-line-of-sight (NLOS) path. All users in the second user set have a non-line-of-sight link with the network device, meaning there are obstacles obstructing the connection between them. In other words, the second user set is in a non-line-of-sight environment, or the channel between the second user set and the network device satisfies the non-line-of-sight condition. The second user set can also be referred to as the second target object set, etc., without limitation.

[0071] In this embodiment, the first user set is the user set served by the network device, meaning the network device senses the first user set. The second user set is the user set served by the high-altitude platform, meaning the high-altitude platform senses the second user set, or in other words, the high-altitude platform assists the network device in sensing the second user set. It should be noted that all users in both the first and second user sets are users within the coverage area of ​​the network device.

[0072] For example, the first user set and the second user set may include communication users and sensing users. Communication users refer to devices capable of receiving and transmitting data, such as base stations and terminals; while sensing users refer to objects that need to be detected, located, or identified by wireless signals. Specifically, sensing users can be the aforementioned sensing targets, which can be active or passive.

[0073] As an example, a network device can determine, based on channel conditions or network planning, a first set of users directly served by the network device, a second set of users assisted by the high-altitude platform, a set of perceived users served by the network device, and a set of perceived users served by the high-altitude platform, etc. After determining the above user sets, the network device and the high-altitude platform can execute the methods of the embodiments described below in this application.

[0074] In this application, the terminal can be a wireless terminal device capable of receiving network device scheduling and instruction information. The wireless terminal device can be a device providing voice and / or data connectivity to a user, a handheld device with wireless connectivity, or other processing devices connected to a wireless modem. For example, the terminal device can communicate with one or more core networks or the Internet via a radio access network (RAN). The terminal device can also be referred to as a terminal, user equipment (UE), mobile station, mobile terminal, etc. Terminal devices can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IoT), ultra-reliable low-latency communication (URLLC), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, smart transportation, smart cities, or satellite communication, etc. The terminal can be a mobile phone, tablet computer, computer with wireless transceiver capabilities, wearable device, vehicle, aircraft (such as drone, helicopter, airplane), hot air balloon, ship, robot, robotic arm, or smart home device, etc. The embodiments of this application do not limit the form of the terminal device.

[0075] In this application, the device for implementing the terminal's functions can be a terminal itself, or any device capable of supporting the terminal in implementing those functions, such as a processor, circuit, chip, or chip system. This device can be installed in the terminal or connected to the terminal for use. In the technical solutions provided in this application, the terminal is used as an example to illustrate the technical solutions provided in this application.

[0076] Access network devices and / or terminals can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; on water; or in the air on aircraft, balloons, and satellites. This application does not limit the application scenarios of the access network devices and terminals. Access network devices and terminal devices can be deployed in the same or different scenarios; for example, both can be deployed on land; or the access network device can be deployed on land, and the terminal device on water, etc., and so on.

[0077] In practical applications, multiple network devices can collaborate to assist terminals in achieving wireless access, with different network devices each implementing a portion of the base station's functions. For example, network devices can be central units (CUs), distributed units (DUs), CUs (control planes, CPs), CUs (user planes, UPs), or radio units (RUs), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs).

[0078] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called O-CU (Open CU), DU can also be called O-DU, CU-CP can also be called O-CU-CP, CU-UP can also be called O-CU-UP, and RU can also be called O-RU. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. CU (or CU-CP and CU-UP), DU, and RU can implement different protocol layer functions.

[0079] In wireless sensing scenarios, wireless sensing requires a line-of-sight environment. When there are obstacles blocking the view or when sensing users are moving, wireless sensing faces great challenges, and communication performance will also be affected. Drones can be used to assist in communication and sensing, which can compensate for the decline in sensing performance.

[0080] In some embodiments, by setting the initial values ​​of the STAR-RIS reflection and transmission phase shift matrices and the UAV altitude, the optimal STAR-RIS reflection and transmission phase shift matrices are calculated based on the initial UAV altitude. The receiving rate expression for the communication user is then calculated based on the optimal STAR-RIS reflection and transmission phase shift matrices, and the expression for the optimal UAV altitude is derived from this expression, ultimately yielding the optimal flight altitude for the UAV. This scheme leverages the advantages of UAVs equipped with STAR-RIS for assisted communication and sensing when there are no direct links between the base station, the communication user, or the target. This effectively improves the receiving rate for the communication user while ensuring target detection. However, using STAR-RIS for sensing via reflection and for communication via transmission, determining the UAV altitude based on the communication and target altitudes, is not suitable for multi-user scenarios. Furthermore, the sensing performance is limited due to significant echo signal attenuation.

[0081] In other embodiments, a sensor-integrated UAV is used as a relay node. Based on perceived information such as user location and orientation, passive beamforming technology on the UAV's intelligent reflector is used to form a millimeter-wave beam pointing towards the user. By adjusting the passive beam direction and combining it with the user's centimeter-wave feedback signal, the angle direction with the maximum received power at the user's location is obtained, and the angle correction is calculated. This relay forwarding method based on a sensor-integrated UAV can suppress the impact of sensing errors in sensor-integrated technology and ensure the millimeter-wave communication quality of the UAV relay node. However, constructing a virtual line-of-sight path using RIS presents a return attenuation problem.

[0082] In view of this, this application provides a communication sensing method in which a base station senses the user set on the line-of-sight path and a drone assists in sensing the user set on the non-line-of-sight path. Through the hierarchical sensing of the base station and the drone, the base station can perform efficient sensing in scenarios where obstacles block the view, ensuring the sensing performance of users on both the line-of-sight and non-line-of-sight paths and improving sensing coverage and accuracy.

[0083] The communication sensing method provided in this application embodiment will be described below with reference to the accompanying drawings, using a network device as a base station and a drone as a high-altitude platform. It is understood that in this application embodiment, each node or network element can execute some or all of the steps in this application embodiment. These steps or operations are merely examples, and this application embodiment can also execute other operations or variations of various operations. Furthermore, the steps can be executed in different orders as presented in this application embodiment, and it is not necessary to execute all the operations in this application embodiment.

[0084] It should be noted that the message names between devices or the names of parameters in the messages in the embodiments of this application are just examples. In specific implementations, other names may also be used. This application does not specifically limit this.

[0085] like Figure 2 The diagram shown is a flowchart illustrating a communication sensing method provided in an embodiment of this application. The method includes: S201, Base stations acquire communication and sensing requirements.

[0086] For example, communication requirements may include service quality requirements and perceived service requirements. Service quality requirements refer to the quality requirements that communication services must meet, and these may include Quality of Service (QoS) requirements (such as rate, latency, etc.). Perceived service requirements may include, for example, the object being perceived, the perception accuracy, etc.

[0087] For example, perception requirements include the perception object, perception type, and perception accuracy. The perception object is any entity or target capable of reflecting, scattering, or modulating wireless communication signals (such as radio frequency signals). For example, perception objects include, but are not limited to: vehicles, pedestrians, non-motorized vehicles, roadside infrastructure (such as traffic signs and guardrails), buildings, and obstacles. The perception type refers to the type of target state or environmental information that can be extracted by receiving and processing the wireless signals reflected, scattered, or modulated by the target object. For example, perception types include: real-time obstacle avoidance for drones, drone tracking, environmental perception, parking space detection, and data acquisition.

[0088] The sensing accuracy includes at least one of distance accuracy, velocity accuracy, and angle accuracy. For example, distance accuracy refers to the estimation error range of the distance between the sensing object and the sensing device. Velocity accuracy refers to the estimation error range of the radial velocity of the sensing object. Angle accuracy refers to the estimation error range of the azimuth or pitch angle of the sensing object relative to the sensing device.

[0089] In some embodiments, such as Figure 3 As shown, the base station's acquisition of communication and sensing needs can include: S301. The terminal sends a scheduling request message to the base station, and the base station receives the scheduling request message from the terminal.

[0090] The scheduling request message includes communication requirements.

[0091] For example, in S301, the terminal refers to a communication user in the first user set and the second user set. In addition to the terminal, the communication user can also be other devices that can communicate with the base station, without limitation.

[0092] S302. The sensing function sends a sensing request message to the base station, and the base station receives the sensing request message from the sensing function.

[0093] Among them, the perception request message includes perception requirements.

[0094] Optionally, the perception request message may also include a priority identifier, which is used to identify the perception priority of the perception service. For example, the priority identifier can be an integer or an enumeration value. For instance, the numbers 1, 2, 3, and 4 can be used to represent the four priority levels of "highest priority," "highest priority," "medium priority," and "lowest priority," respectively.

[0095] In some embodiments, after receiving a sensing request message, the base station parses the sensing request message to obtain sensing requirements and priority identifiers. For example, the base station can classify the sensing priorities of sensing services based on a predefined priority mapping relationship.

[0096] For example, predefined priority mappings are used to indicate the correspondence between perception priorities, perception use cases (or perception types), and business quality requirements. For instance, predefined priority mappings are shown in Table 1 below.

[0097] Table 1 Perception Priority Perception use cases Business quality requirements highest priority Real-time obstacle avoidance for drones Low latency and high reliability High priority Drone tracking and environmental perception High update rate, high accuracy Medium priority Parking space inspection Large data volume, low real-time requirements low priority Data collection Low latency and low accuracy requirements For example, based on Table 1 above, if the perception request message includes the perception use case of "real-time obstacle avoidance for drones" and the service quality requirement is "low latency and high reliability", then the base station determines the perception service as the highest priority.

[0098] S202. Based on communication and sensing needs, the base station sends a first sensing signal to the set of users served by the base station. Correspondingly, the set of users served by the base station receives the first sensing signal from the base station.

[0099] In this context, the user set served by the base station has a line-of-sight link with the base station. For example, combining the above... Figure 1 As shown, the set of users served by the base station is the first user set.

[0100] It should be noted that the sensing signal can be used by the receiver simultaneously to demodulate communication data and extract environmental awareness information; the sensing signal can also be called an integrated sensing signal. In the embodiments of this application, the first sensing signal refers to the signal that can be used by the set of users served by the base station to simultaneously demodulate communication data and extract environmental awareness information. For example, the first sensing signal includes a communication data domain and an integrated reference signal domain, the integrated reference signal domain being used simultaneously for communication channel estimation and target perception parameter estimation.

[0101] S203, The user set served by the base station sends the first echo signal of the first sensing signal to the base station, and the base station receives the first echo signal of the first sensing signal accordingly.

[0102] S204. The base station obtains the first perception result of the user set served by the base station based on the first echo signal.

[0103] For example, the first sensing result includes the location information of each user in the user set served by the base station. For example, the base station can perform signal processing on the first echo signal to obtain the location information of each user in the user set served by the base station. The location information may include at least one of the user's distance, direction, speed, and angle.

[0104] For example, signal processing may include one or more of the following: matched filtering, constant false alarm rate (CFRA), direction of arrival (DOA), uplink time difference of arrival (UL-TDOA), angle of arrival (AOA), time of arrival (DOA), and beam management.

[0105] Taking the base station's processing based on the first echo signal as an example, the signal received by its array of M antennas is: ; The covariance matrix of the received signal Perform eigenvalue decomposition, setting the number of repetitions of the smallest eigenvalue (or the number of clusters of smallest eigenvalues) to be... Then the estimated number of signals is .make The eigenvector set corresponding to the smallest eigenvalues ​​is Traverse the guiding vector Calculate the spatial spectrum: ; corresponding The direction corresponding to the largest peak value is the signal direction. Similarly, calculate the spatial spectrum: ; corresponding The time delay corresponding to the maximum peak value is the signal delay, from which the distance is obtained.

[0106] S205. The base station sends a sensing instruction to the drone, and the drone receives the sensing instruction from the base station accordingly.

[0107] The sensing indication information is used to instruct the set of users of the drone service to perceive the target audience. This sensing indication information includes communication requirements and perception requirements. Optionally, the sensing indication information may also include perception resources, which the drone can use to perceive the set of users of the drone service.

[0108] For example, the sensing indication information can be carried in radio resource control (RRC) signaling, medium access control control element (MAC CE) signaling, and downlink control information (DCI) signaling.

[0109] In this context, each user in the drone service user set has a non-line-of-sight link with the base station, combined with the above... Figure 1 As shown, the set of users for drone services can be referred to as the second user set.

[0110] S206. The drone sends a second sensory signal to the user set of the drone service according to communication and perception needs, and the user set of the drone service receives the second sensory signal from the drone.

[0111] For an example of the second sensing signal, please refer to the relevant description in the above embodiments, which will not be repeated here.

[0112] S207. The user group of the drone service sends the second echo signal of the second sensing signal to the drone, and the drone receives the second echo signal of the second sensing signal accordingly.

[0113] S208. The drone obtains the second perception result of the user set served by the drone based on the second echo signal.

[0114] For example, the second perception result includes the location information of each user in the user set served by the drone. For instance, the drone can perform signal processing on the second echo signal to obtain the location information of each user in the drone user set. For example, the drone can estimate AOA and TOA based on the second echo signal to obtain the direction and distance of each user in the user set served by the drone.

[0115] For examples of location information and signal processing, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0116] S209. The drone sends the second sensing result to the base station, and the base station receives the second sensing result from the drone.

[0117] For example, the second perception result can be transmitted as data on the data plane.

[0118] S210, The base station determines the target perception result based on the first perception result and the second perception result.

[0119] For example, the target perception results include the location information of each user in the user set served by the base station and the location information of each user in the user set served by the drone.

[0120] In summary, the solution adopted in this application embodiment involves the base station sensing the user set on the line-of-sight path and the drone assisting in sensing the user set on the non-line-of-sight path. Through the hierarchical perception of the base station and the drone, the base station can perform efficient perception in scenarios with obstructions, ensuring the perception performance of users on both the line-of-sight and non-line-of-sight paths, and improving perception coverage and accuracy.

[0121] It should be noted that in practical applications, the user set of drone services includes users who are constantly moving. In order to ensure perception and communication performance, the drone's location needs to be updated as the users move.

[0122] Optional, such as Figure 4 As shown, the method also includes: S401. When the triggering conditions are met, the base station determines that the location of the drone needs to be updated.

[0123] For example, the base station determines whether the drone's location needs to be updated at the current moment based on triggering conditions. If the base station determines that the drone's location needs to be updated at the current moment, it determines the update time. For example, the update time can be t+T, where t is the current moment and T is a predefined update period; the update period can be understood as the time interval between the current update time and the previous update time.

[0124] Optionally, the base station can determine whether the drone's location needs to be updated every preset time interval. For example, the preset time interval can be multiple transmission time intervals (TTIs). Since user distribution changes slowly and the drone's location does not need frequent adjustments, the preset time interval can be set relatively long, such as tens, hundreds, or even thousands of TTIs. For instance, the preset time interval can be a few seconds (e.g., 10 seconds) or a few minutes (e.g., 5 minutes), and is not limited to any particular duration.

[0125] This avoids frequent movement of the drone, reducing control overhead and energy consumption.

[0126] In some embodiments, the triggering conditions may include the following conditions 1 to 3.

[0127] Condition 1: The user set of the drone service changes.

[0128] For example, the user set of the drone service may change, including: users leaving the user set of the drone service, and / or users joining the user set of the drone service.

[0129] For example, the user set of drone services is If the user base of drone services If changes occur, it determines that the drone's location needs to be updated. Correspondingly, if the user set of the drone service... If no changes have been made, then it is determined that the drone's location does not need to be updated.

[0130] For example, the user set of drone services Satisfy expression At that time, the location of the drone that needs to be updated is determined. For example, the user set of the drone service at different times can be like this: Figure 5 As shown.

[0131] Condition 2: The average mobility variation of the user set of the drone service is greater than a preset threshold.

[0132] For example, the average mobility variability is determined based on the relative change in location information of each user of the drone service within a predefined update period. For example, for each user in the user set of the drone service, the base station determines the mobility variability of each user, and then uses the average mobility variability of all users in the user set of the drone service as the average mobility variability.

[0133] For example, the user's motion change rate is a linear combination of the user's angle change rate and distance change rate within a perception period. For instance, within each perception period, the drone calculates the angle change rate and distance change rate based on the distance and direction of each user in the user set of the drone service obtained through wireless sensing.

[0134] For example, the rate of change of angle satisfies the following expression: The rate of change of distance .

[0135] As an example, the degree of change in a user's movement satisfies the following expression: ;in, The larger the value, the more frequently users move within the user set of the drone service, and therefore the drone's location updates should also be more frequent; correspondingly, The smaller the value, the lower the user movement frequency in the user set of the drone service, and the lower the drone's location update frequency should also be.

[0136] For example, the average degree of change in movement satisfies the following expression: ; A collection of users who provide services for drones.

[0137] For example, if the average movement variation of the user set served by the drone service is greater than a preset threshold, it is determined that the drone's location needs to be updated. Conversely, if the average movement variation of the user set served by the drone service is less than or equal to the preset threshold, it is determined that the drone's location does not need to be updated. For example, the preset threshold can be predefined, such as 10%, 20%, etc., and is not limited; the preset threshold can be set according to actual needs.

[0138] For example, the average degree of change of movement satisfies Then, the location of the drone that needs to be updated is determined. For example, the average change in movement at different times can be calculated as follows: Figure 6 As shown.

[0139] Condition 3: Does a "highest priority" or "high priority" sensing service exist, and does the drone cover the sensing user corresponding to that sensing service?

[0140] For example, if a "highest priority" or "highest priority" sensing service exists, and the drone does not cover the sensing user corresponding to that sensing service, then it is determined that the drone's location needs to be updated. Conversely, if no "highest priority" or "highest priority" sensing service exists, or if the drone covers the sensing user corresponding to that sensing service, then it is determined that the drone's location does not need to be updated.

[0141] S402. The base station determines the target service location of the drone and controls the drone to move from its current location to the target service location.

[0142] The target service location is the updated location of the drone, or in other words, the target service location is the location of the drone at the next moment.

[0143] For example, after determining the target service location of the drone at the current time (i.e., time t), the base station can control the drone to move from its current location to the target service location when the update time (i.e., t+T) arrives, meaning the base station predicts the target service location of the drone in advance. Alternatively, the base station can determine the target service location of the drone when the update time (i.e., t+T) arrives and control the drone to move from its current location to the target service location.

[0144] As an example, determining the target service location of a drone can include the following steps: Step 1: The base station obtains network status information.

[0145] The network status information includes at least: the location of the base station, the current location of the drone, and the locations of all users. The locations of all users include the locations of each user in the user set served by the base station and the locations of each user in the user set served by the drone. The user set served by the base station includes communication users and sensing users, and the user set served by the drone also includes communication users and sensing users. Therefore, the locations of all users can include: the locations of sensing users and communication users served by the base station, and the locations of sensing users and communication users served by the drone.

[0146] Step 2: The base station constructs a communication channel model and a sensing echo channel model based on the network status information.

[0147] For example, the communication channel model is used to characterize the one-way path loss of signal transmission, and the channel gain of the communication channel is inversely proportional to the square of the distance; the sensing echo channel model is used to characterize the two-way path loss of the signal after being reflected by the sensing user, and the channel gain of the sensing echo channel is inversely proportional to the fourth power of the distance.

[0148] For example, the channel gain of the communication channel is determined by the minimum of a first channel gain from the base station to the drone and a second channel gain from the drone to the user set of users in the drone service.

[0149] Step 3: Construct a location optimization problem using the target service location of the UAV as the optimization variable.

[0150] The objective function of the location optimization problem is to maximize the channel gain of the communication channel and the sensing echo channel. The channel gain includes the sum of the user set served by the UAV and the relay communication channel gain of the base station, and the sensing echo channel gain of the base station and the UAV. The constraints of the location optimization problem include at least the maximum flight distance constraint of the UAV and the location area constraint of the UAV.

[0151] For example, the location optimization problem is: ; in, For the sensing echo channel from the drone to the base station, This is the communication channel from the drone to the base station. The communication channel for the k-th user in the set of users providing drone-to-drone services. The set of users serving the base station. A collection of communication users serving drones.

[0152] in, The first channel gain from the base station to the drone. The second channel gain for communication users in the user set serving drone-to-drone services. The sensing echo channel gain from the drone to the base station.

[0153] For example, the sensing echo channel from the drone to the base station is: ; in, This is the channel power at a reference distance of 1m. It is the average radar cross-section of the UAV; It is the steering vector of the base station receiver array. This refers to the number of receiving antennas at the base station. The angle of arrival of the base station echo signal to the base station receiving array. It is the steering vector of the base station's transmission array. It refers to the number of base station transmitting antennas. It is the starting angle from which the base station array emits signals.

[0154] For example, the communication channel from the drone to the base station is: ; in, This is the channel power at a reference distance of 1m. It is the wavelength of the carrier wave; It is the steering vector of the base station's transmission array. It refers to the number of base station transmitting antennas. It is the starting angle for the signal emitted by the base station array; It is the steering vector of the UAV receiver array; It refers to the number of receiving antennas on the drone. It is the angle of arrival for the signal received by the drone.

[0155] For example, the communication channel from the drone to the kth user in the user set of the drone service is: ; in, This is the channel power at a reference distance of 1m. It is the wavelength of the carrier wave; It is the receive antenna gain of the k-th user. It is the guidance vector of the UAV launch array. The number of transmitting antennas for the drone. The starting angle for sending signals to the drone array.

[0156] For example, the perceived echo channel for the kth user in the user set of the drone-to-drone service is: ; in, It is the steering vector of the UAV receiver array. This is the channel power at a reference distance of 1m. The angle of arrival of the drone echo signal to the drone receiving array.

[0157] For example, the maximum flight distance constraint is a positional constraint constructed based on the drone's maximum movement speed and a predefined update period. For instance, the maximum flight distance constraint is that the drone's movement distance does not exceed... For example, the maximum flight distance constraint is: ; in, This is the current location of the drone. Location for the target of the drone. The maximum speed of movement of the drone. This is a predefined update cycle.

[0158] For example, the location area constraint for a drone is that its location is within a preset area. For instance, the location area constraint for a drone is: ;in, , , The coordinates of the UAV are in three-dimensional space.

[0159] When the base station determines whether to update the drone's location based on the sensing priority, if there is a "highest priority" or "high priority" sensing service and the drone does not cover the user corresponding to that sensing service, the base station controls the drone to move to the area where the user is located, or the base station instructs the drone to adjust its beam to point to the area where the user is located, in order to achieve the fastest coverage response.

[0160] Optionally, if multiple "highest priority" or "highest priority" sensing services exist, and the drone does not cover the user corresponding to that sensing service, the target service location of the drone can be obtained by solving a location optimization problem. For example, to optimize the drone's location and maximize the gain of the communication channel and sensing echo channel, priority weights can be introduced into the location optimization problem. These priority weights are set according to the sensing priority. For example, the highest priority has a priority weight of 3, the high priority has a priority weight of 2, the medium priority has a priority weight of 1, and the low priority has a priority weight of 0.5.

[0161] For example, after introducing priority weights, the optimized position is: ; in, The communication channel of the user with priority j in the user set serving drone-to-drone services.

[0162] Optionally, after introducing priority weights into the location optimization problem, the constraints of the location optimization problem can also include: priority weight constraints. For example, a priority weight constraint is: .

[0163] Step 4: Solve the location optimization problem to obtain the target service location of the UAV.

[0164] Based on the above, by adaptively determining the target service location of the drone by observing the movement changes of the user set served by the drone, the frequent movement of the drone can be reduced, and the signaling overhead and power consumption of the drone can be controlled. Furthermore, in scenarios where multiple "highest priority" or "high priority" sensing services coexist, by introducing priority weights into the location optimization problem, it can be ensured that the drone's location covers the sensing users corresponding to the sensing service, thus ensuring the performance of critical sensing services (such as obstacle avoidance and tracking).

[0165] In some embodiments, after confirming the target service location of the drone, such as Figure 7 As shown, the method also includes: S701, the base station allocates resources based on the target service location of the drone.

[0166] For example, S701 may specifically include the following steps: Step a: The base station obtains network status information.

[0167] The network status information includes at least: the location of the base station, the current location of the drone, and the locations of all users. Examples of network status information can be found in the descriptions of the above embodiments, and will not be repeated here.

[0168] Step b: Based on the network status information, the base station calculates the communication rate for the users served by the base station and the communication rate for the users served by the drone.

[0169] For example, the base station constructs and solves a user rate model to obtain the communication rates served by the base station and the communication rates served by the drone. For instance, the user rate model is: ;in, The signal-to-noise ratio of the k-th communication user serving the base station, or, The signal-to-noise ratio of the k-th communication user serving the drone.

[0170] For example, the signal-to-noise ratio of the k-th communication user served by the base station is: ; ; in, Let the channel matrix be from the base station to the k-th communication user. The beamforming vector corresponding to the channel matrix from the base station to the k-th communication user; The set of communication users serving the base station.

[0171] For example, in the calculation of the communication rate of a drone service user, the signal-to-noise ratio (SNR) of the drone service user is determined by the minimum of the SNR from the base station to the drone and the SNR from the drone to the drone service user.

[0172] For example, the signal-to-noise ratio of the kth communication user in the drone service is: ; ; in, The channel matrix from the base station to the drone. Let U be the channel matrix from the UAV to the k-th communication user. The beamforming vector corresponding to the channel matrix from the base station to the UAV. This is the beamforming vector corresponding to the channel matrix from the UAV to the k-th communication user. A collection of communication users serving drones. This represents noise power.

[0173] Step c: Based on the network status information and the pre-configured transmit beamforming vector, the base station calculates the received power of the sensing signal transmitted by the base station to the sensing user served by the base station, and the received power of the sensing signal transmitted by the UAV to the sensing user served by the UAV.

[0174] For example, the received power of the sensing signal sent by the base station to the sensed user served by the base station is: ; in, This is the steering vector of the base station receiver array. This is the steering vector for the base station's transmission array. Used to characterize how a base station uses communication signals as sensing signals.

[0175] For example, the receiving power of the sensing signal sent by the drone to the sensing user of the drone service is: ; in, This is the steering vector for the UAV receiver array. This is the guidance vector for the UAV launch array. This is used to characterize how drones use communication signals as sensing signals.

[0176] Step d: Base station beamforming optimization problem.

[0177] The optimization variables in the beamforming optimization problem are the set of transmitted beamforming vectors of the base station and the set of transmitted beamforming vectors of the UAV; the objective function of the beamforming optimization problem is to maximize the sum of the rates of all communication users; the constraints of the beamforming optimization problem include: the total transmit power constraint of the system, the constraint that the received power of the sensing users served by the base station is not lower than the first sensing threshold, and the constraint that the received power of the sensing users served by the UAV is not lower than the second sensing threshold.

[0178] For example, the beamforming optimization problem is as follows: ; .

[0179] For example, the total system transmit power constraint is: ; This is the maximum transmit power. That is, the total transmit power of the system is less than or equal to the maximum transmit power.

[0180] For example, the received power constraint for the perceived user served by the base station is: , That is, the received power of the sensing users served by the base station is not lower than the first sensing threshold. For example, the received power constraint for the perceived user of the drone service is: , That is, the receiving power of the users of the drone service is not lower than the second sensing threshold.

[0181] It should be noted that "not less than" here can also be replaced with "greater than or equal to" or "greater than".

[0182] Optionally, during beamforming, base stations and drones can prioritize the received signal power of the highest-priority or high-priority users by adding priority weights to the constraints of the beamforming optimization problem. For example, after adding priority weights to the constraints, the received power constraint for the perceived users served by the base station is as follows: , The receiving power constraint for users of the drone service is: , .

[0183] Step e: Solve the beamforming optimization problem to obtain the first beamforming vector and the second beamforming vector.

[0184] The first beamforming vector is used for signal transmission by the base station, and the second beamforming vector is used for signal transmission by the UAV. For example, the first beamforming vector can be represented as... The second beamforming vector can be expressed as .

[0185] For example, the base station can use convex optimization algorithms, continuous convex approximation algorithms, or deep learning algorithms to solve the beamforming optimization problem and obtain the beamforming vector. and .

[0186] For example, the base station uses beamforming vectors The transmitted signal is weighted to generate a spatially directional integrated sensing signal, which is then sent to the user set served by the base station. This integrated sensing signal also serves as the communication signal for transmitting data to the corresponding communication users and the sensing signal for detecting the corresponding sensing users.

[0187] S702: The base station sends control messages to the drone, and the drone receives the control messages from the base station accordingly.

[0188] The control messages include information about the UAV's target service location and beamforming parameters.

[0189] For example, control messages can be carried in RRC, MAC CE, or DCI signaling, or they can be transmitted as data on the data plane.

[0190] For example, after receiving information about the target service location, the drone can move from its current location to the target service location when the update time arrives.

[0191] For example, the beamforming parameters included in the control message can be beamforming vectors. UAVs can use beamforming vectors The transmitted signal is weighted to generate a spatially directional integrated sensor signal, which is then sent to the user set of the drone service.

[0192] Optionally, the base station uses the optimized beamforming vector in actual transmission and re-executes the above S701 and S702 according to system requirements (e.g., for each time slot or each channel change) to achieve dynamic resource allocation and quickly adapt to the user's real-time needs.

[0193] Based on the above, by allocating resources based on the target service location through base stations, and by using base stations and drones to jointly perform beamforming, the communication performance of users in different environments can be guaranteed.

[0194] Figure 8A communication sensing method provided in the embodiments of this application, such as Figure 8 As shown, the method includes: S801, The first network device obtains the sensing requirements of the first device, including the sensing accuracy required by the first device.

[0195] For example, the first device can be the terminal in the above embodiments. The first network device can be the network device in the above embodiments.

[0196] S802. The first network device sends a first notification message to a device including at least a first target device according to the sensing requirements. The first notification message includes at least one of the following: first instruction information, target device for collaborative sensing, and sensing accuracy required by the first device; the first instruction information is used to instruct the first target device to cooperate in sensing.

[0197] For example, the first target device can be a network device (which can be referred to as a second network device, different from the first network device), a terminal, a drone, etc.; or, the first target device can be other devices that serve the first network device. For example, the target device for collaborative sensing is the set of users served by the drone in the above embodiments.

[0198] S803. The first target device sends a response message to the first network device. Correspondingly, the first network device receives the response message from the first target device. The response message is used to instruct the first target device to perform cooperative sensing with the first network device.

[0199] S804. The first network device sends cooperative sensing indication information to the first target device. Correspondingly, the first target device receives the cooperative sensing indication information from the first network device. The cooperative sensing indication information includes at least one of the following: cooperative sensing object, sensing accuracy, sensing mode, and time-frequency resource information used by the first target device to sense the first device.

[0200] S805, The first target device senses the first device on the time and frequency resources indicated by the time and frequency resource information and obtains the first sensing result.

[0201] It should be noted that the first device in S805 can be any user device in the user set of the drone service in the above embodiments.

[0202] For example, the first target device transmits a reference signal or communication integrated waveform for sensing on the time-frequency resources indicated by the time-frequency resource information.

[0203] S806. The first device cooperates with the first target device to perform sensing on the time and frequency resources indicated by the time and frequency resource information, and obtains the second sensing result.

[0204] It should be noted that the first device in S806 can be any user device in the user set of the drone service in the above embodiments.

[0205] S807, the first target device sends a first sensing result of the first device to the first network device; or, the first device sends a second sensing result to the first network device.

[0206] Accordingly, the first network device receives a first perception result from the first target device regarding the first device, or the first network device receives a second perception result from the first device.

[0207] In some embodiments, the method further includes: S808, the first network device senses the first device on the time and frequency resources indicated by the time and frequency resource information and obtains the third sensing result.

[0208] It should be noted that the first device in S808 can be any user equipment in the user set served by the base station in the above embodiments. For ease of distinction, the first device in S808 can be replaced by the second device.

[0209] S809. The first network device determines a fourth perception result (which may be the target perception result in the above embodiment) based on the first perception result and the third perception result; or, the first network device determines a fifth perception result (which may be the target perception result in the above embodiment) based on the second perception result and the third perception result.

[0210] In some embodiments, the first device initiates collaborative sensing to the first network device, or the first network device initiates collaborative sensing to the first target device.

[0211] In some embodiments, the first network device notifies the first target device that the first network device supports collaborative sensing capabilities, and the first target device initiates a collaborative sensing request.

[0212] In some embodiments, the first network device determines, based on the required sensing accuracy of the first device, that the sensing requirements of the first device are met, and initiates collaborative sensing with the first device.

[0213] It should be noted that, for Figure 8 For specific implementation details of the steps shown, please refer to the relevant descriptions in the above embodiments, which will not be repeated here.

[0214] It should be understood that Figures 1 to 8 The flowcharts or scene diagrams shown are for illustrative purposes only and are not intended to limit the embodiments of this application to the examples illustrated. In fact, those skilled in the art can interpret the embodiments based on... Figures 1 to 8 The examples in the document can be transformed into equivalent ways to obtain more implementations.

[0215] The above text combined Figures 1 to 8 This document describes in detail the communication method provided in the embodiments of this application. The following will combine... Figures 9 to 10 The device embodiments of this application are described in detail below. It should be understood that the communication device of this application embodiment can execute the various communication methods of the foregoing embodiments of this application, that is, the specific working processes of the various products below can be referred to the corresponding processes in the foregoing method embodiments.

[0216] In the embodiments described above, the terminal device may execute some or all of the steps in each embodiment; the network device may execute some or all of the steps in each embodiment. These steps or operations are merely examples, and the embodiments of this application may also perform other operations or variations thereof. Furthermore, the steps may be executed in different orders as presented in the embodiments, and it is not necessary to execute all the operations in the embodiments of this application. Moreover, the sequence number of each step does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0217] Figure 9 This is a schematic block diagram of a communication device provided in an embodiment of this application. Figure 9 As shown, the communication device may include a communication module 920. The communication module 920 can implement corresponding communication functions, which can be internal communication functions of the communication device or communication functions between the communication device and other devices. Optionally, the communication module 920 may also be referred to as a communication interface or transceiver module. Optionally, the communication device further includes a processing module 910. The processing module 910 can implement corresponding processing functions.

[0218] Optionally, the communication device further includes a storage module, which can be used to store instructions and / or data; the processing module 910 can read the instructions and / or data in the storage module so that the communication device can implement the aforementioned method embodiments.

[0219] In one possible design, the communication device may correspond to the first network device, the first target device, and the first device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the first network device, the first target device, and the first device. The communication device can be used to execute the steps or processes performed by the first network device, the first target device, and the first device in any of the above method embodiments.

[0220] For example, the communication module 920 is used by the first network device to acquire the sensing requirements of the first device, including the sensing accuracy required by the first device. The communication module 920 is used by the first network device to send a first notification message to a device including at least a first target device according to the sensing requirements. The first notification message includes at least one of the following: first indication information, a target device for collaborative sensing, and the sensing accuracy required by the first device; the first indication information is used to instruct the first target device to perform collaborative sensing. The communication module 920 is used by the first target device to send a response message to the first network device, the response message indicating that the first target device will perform collaborative sensing with the first network device. The communication module 920 is used by the first network device to send collaborative sensing indication information to the first target device, and correspondingly, the first target device receives the collaborative sensing indication information from the first network device. The collaborative sensing indication information includes at least one of the following: collaborative sensing object, sensing accuracy, sensing mode, and time-frequency resource information for the first target device to sense the first device. The processing module 910 is used by the first target device to sense the first device on the time-frequency resources indicated by the time-frequency resource information, and obtain a first sensing result. The processing module 910, in conjunction with the first target device, performs sensing on the time-frequency resources indicated by the time-frequency resource information to obtain a second sensing result. The communication module 920 is used by the first target device to send the first sensing result to the first network device, or by the first device to send the second sensing result to the first network device.

[0221] Optionally, the communication module 920 is used for the first network device to sense the first device on the time-frequency resources indicated by the time-frequency resource information and obtain a third sensing result; the processing module 910 is used for the first network device to determine a fourth sensing result based on the first sensing result and the third sensing result; or, the processing module 910 is used for the first network device to determine a fifth sensing result based on the second sensing result and the third sensing result.

[0222] Optionally, the first device initiates collaborative sensing to the first network device, or the first network device initiates collaborative sensing to the first target device.

[0223] Optionally, the first network device notifies the first target device that the first network device supports collaborative sensing capabilities, and the first target device initiates a collaborative sensing request.

[0224] Optionally, the first network device determines whether the perception requirements of the first device are met based on the required perception accuracy of the first device, and initiates collaborative perception with the first device.

[0225] In one possible design, the communication device may correspond to the network device in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured in the network device. The communication device can be used to perform the steps or processes executed by the network device in any of the above method embodiments.

[0226] For example, the communication module 920 is used to acquire communication needs and sensing needs, and send a first sensing signal to a set of users served by the network device according to the communication needs and sensing needs; there is a line-of-sight link between the set of users served by the network device and the network device. The communication module 920 is used to receive a first echo signal of the first sensing signal, and acquire a first sensing result of the set of users served by the network device according to the first echo signal; the communication module 920 is used to send sensing indication information to the high-altitude platform, the sensing indication information being used to instruct sensing of the set of users served by the high-altitude platform, the sensing indication information including communication needs and sensing needs; there is a non-line-of-sight link between each user in the set of users served by the high-altitude platform and the network device; the communication module 920 is used to receive a second sensing result of the set of users served by the high-altitude platform sent from the high-altitude platform.

[0227] The processing module 910 is used to determine the target perception result based on the first perception result and the second perception result.

[0228] Optionally, the processing module 910 is further configured to determine the location of the aerial platform that needs to be updated when the triggering conditions are met; the processing module 910 is further configured to determine the target service location of the aerial platform and control the aerial platform to move from the current location to the target service location; wherein the triggering conditions include: the user set served by the aerial platform changes; or, the average movement change of the user set served by the aerial platform is greater than a preset threshold.

[0229] Optionally, the user set of the aerial platform service may change, including: users leaving the user set of the aerial platform service, and / or users joining the user set of the aerial platform service.

[0230] Optionally, the average degree of motion change is determined based on the relative change in location information of each user of the high-altitude platform service within a predefined update period.

[0231] Optionally, the processing module 910 is specifically used to: determine the degree of motion change for each user in the user set of the aerial platform service; and take the average of the degree of motion change of all users in the user set of the aerial platform service as the average degree of motion change.

[0232] Optionally, the motion change rate is a linear combination of the rate of change of angle and the rate of change of distance during the user's perception period.

[0233] Optionally, the rate of change of angle is: The rate of change of distance is: .

[0234] Optionally, the processing module 910 is specifically used for: acquiring network status information, which includes at least: the location of network devices, the current location of the high-altitude platform, and the location of all users; constructing a communication channel model and a sensing echo channel model based on the network status information; constructing a location optimization problem with the target service location of the high-altitude platform as the optimization variable; wherein, the objective function of the location optimization is used to maximize the channel gain of the communication channel and the sensing echo channel; the channel gain includes: the sum of the user set served by the high-altitude platform and the relay communication channel gain of the network devices, and the sensing echo channel gain of the network devices and the high-altitude platform; the constraints of the location optimization problem include at least: the maximum flight distance constraint and the location area constraint of the high-altitude platform; solving the location optimization problem to obtain the target service location of the high-altitude platform.

[0235] Optionally, the communication channel model is used to characterize the one-way path loss of signal transmission, and the channel gain of the communication channel is inversely proportional to the square of the distance; the sensing echo channel model is used to characterize the two-way path loss of the signal after reflection by the sensing user, and the channel gain of the sensing echo channel is inversely proportional to the fourth power of the distance.

[0236] Optionally, the channel gain of the communication channel is determined by the minimum of the first channel gain from the network device to the high-altitude platform and the second channel gain of the communication users in the set of users served by the high-altitude platform.

[0237] Optionally, the location optimization problem is: ;in, This is the sensing echo channel from the high-altitude platform to the network equipment. This serves as the communication channel between the high-altitude platform and network equipment. The communication channel for the kth user in the set of users serving high-altitude platforms; The set of users who provide services for network devices. A collection of communication users serving high-altitude platforms.

[0238] Optionally, the sensing echo channel from the high-altitude platform to the network device is: ;in, This is the channel power at a reference distance of 1m. It is the average value of the radar cross-section of the high-altitude platform; It is the steering vector of the network device's receiver array. This refers to the number of receiving antennas on the network device. The angle of arrival of the echo signal from the network device to the receiving array of the network device; It is the steering vector of the network device's transmission array. It refers to the number of transmitting antennas of the network device. It is the starting angle from which the network device array emits signals.

[0239] Optionally, the communication channel from the high-altitude platform to the network device is: ;in, This is the channel power at a reference distance of 1m. It is the wavelength of the carrier wave; It is the steering vector of the network device's transmission array. It refers to the number of transmitting antennas of the network device. It is the starting angle for the signal emitted by the network device array; It is the guide vector of the high-altitude platform receiving array; It refers to the number of receiving antennas on the high-altitude platform. The angle of arrival of the signal received by the high-altitude platform; the communication channel from the high-altitude platform to the k-th user in the user set served by the high-altitude platform is: ;in, This is the channel power at a reference distance of 1m. It is the wavelength of the carrier wave; It is the receive antenna gain of the k-th user. It is the guide vector of the high-altitude platform launch array. This refers to the number of transmitting antennas on the high-altitude platform. The starting angle for sending signals to the high-altitude platform array.

[0240] Optionally, the position constraints, constructed based on the maximum moving speed of the high-altitude platform and a predefined update cycle, are as follows: ;in, This indicates the current location of the aerial platform. The target service location for the high-altitude platform. This represents the maximum moving speed of the high-altitude platform. This is a predefined update cycle.

[0241] Optionally, the communication module 920 is further configured to: acquire network status information, which includes at least: the location of the network devices, the current location of the high-altitude platform, and the locations of all users; calculate the communication rates of the users served by the network devices and the users served by the high-altitude platform based on the network status information; calculate the received power of the sensing signals transmitted by the network devices to the sensing users served by the network devices and the received power of the sensing signals transmitted by the high-altitude platform to the sensing users served by the high-altitude platform based on the network status information and the pre-configured transmit beamforming vector; and construct a beamforming optimization problem. The optimization variables of the beamforming optimization problem are the set of transmit beamforming vectors of the network devices and the set of transmit beamforming vectors of the high-altitude platform. The objective function of the beamforming optimization problem is to maximize the sum of the rates of all communication users. The constraints of the beamforming optimization problem include: total system transmit power constraint, receive power constraint of the perceived users served by the network devices, and receive power constraint of the perceived users served by the high-altitude platform. Solving the beamforming optimization problem yields the first beamforming vector and the second beamforming vector. The first beamforming vector is used for signal transmission by the network devices, and the second beamforming vector is used for signal transmission by the high-altitude platform.

[0242] Optionally, in the calculation of the communication rate of the communication user of the high-altitude platform service, the signal-to-noise ratio of the communication user of the high-altitude platform service is determined by the minimum of the signal-to-noise ratio from the network device to the high-altitude platform and the signal-to-noise ratio from the high-altitude platform to the communication user of the high-altitude platform service.

[0243] Optionally, the signal-to-noise ratio of the k-th communication user served by the network device is: ; ;in, This is the channel matrix from the network device to the k-th communication user. The beamforming vector corresponding to the channel matrix from the network device to the k-th communication user; The set of communication users serving network equipment; the signal-to-noise ratio of the k-th communication user served by the high-altitude platform is: ; ;in, For the channel matrix from network devices to the high-altitude platform, The channel matrix from the high-altitude platform to the k-th communication user is... The beamforming vector is the channel matrix corresponding to the channel from the network device to the high-altitude platform. The beamforming vector corresponding to the channel matrix from the high-altitude platform to the k-th communication user. A collection of communication users serving high-altitude platforms. This represents noise power.

[0244] Optionally, the received power of the sensing signal sent by the network device to the perceived user served by the network device is: ;in, The steering vector for the network device's receiver array. The steering vector for the network equipment's transmitting array; the received power of the sensing signal transmitted by the high-altitude platform reaching the sensing users served by the high-altitude platform is: ;in, This is the guide vector for the high-altitude platform receiving array. This is the guidance vector for the high-altitude platform launch array.

[0245] Optionally, the beamforming optimization problem is: ; .

[0246] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0247] In one possible design, the communication device may correspond to the aerial platform in the above method embodiments, or to a component (such as a circuit, chip, or chip system) configured within the aerial platform. The communication device can be used to execute the steps or processes performed by the aerial platform in any of the above method embodiments.

[0248] For example, the communication module 920 is used to receive sensing indication information from the network device. The sensing indication information is used to indicate the sensing of the user set of the high-altitude platform service. The sensing indication information includes communication requirements and sensing requirements. Each user in the user set of the high-altitude platform service has a non-line-of-sight link with the network device. The communication module 920 is used to send a second sensing signal to the user set of the high-altitude platform service according to the communication requirements and sensing requirements. The communication module 920 is used to receive a second echo signal of the second sensing signal. The processing module 910 obtains a second sensing result of the user set served by the network device according to the second echo signal. The communication module 920 is used to send the second sensing result to the network device.

[0249] Optionally, the communication module 920 is used to receive control messages from network devices, the control messages including the target service location of the high-altitude platform; the processing module 910 moves from the current location to the target service location according to the control messages.

[0250] The above are merely examples; for detailed steps or procedures, please refer to the descriptions in the foregoing embodiments.

[0251] Figure 10This is another schematic block diagram of the communication device provided in the embodiments of this application. The communication device may be a chip, chip system, or processor, etc., in a terminal device or network device that implements the above-described methods. This communication device can be used to implement the methods described in the above-described method embodiments; for details, please refer to the descriptions in the above-described method embodiments.

[0252] like Figure 10 As shown, the communication device may include one or more processors 1010, which may also be referred to as processing units or processing modules, and can implement certain control functions. The processor 1010 may be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, while the central processing unit can be used to control the communication device (e.g., base station, baseband chip, user, user chip), execute software programs, and process data from the software programs.

[0253] In an alternative design, the processor 1010 may also store instructions and / or data that can be executed by the processor 1010 to cause the communication device to perform the methods described in the above method embodiments.

[0254] In another alternative design, the communication device may include a communication interface 1020 for implementing receiving and transmitting functions. For example, the communication interface 1020 may be a transceiver circuit, interface, interface circuit, or transceiver. The transceiver circuit, interface, interface circuit, or transceiver for implementing receiving and transmitting functions may be separate or integrated. The aforementioned transceiver circuit, interface, interface circuit, or transceiver may be used for reading and writing code / data, or it may be used for transmitting or relaying signals.

[0255] Optionally, the communication device may include one or more memories 1030, which may store instructions that can be executed on the processor 1010, causing the communication device to perform the methods described in the above method embodiments. Optionally, the memories 1030 may also store data. Optionally, the processor 1010 may also store instructions and / or data. The processor 1010 and the memories 1030 may be configured separately or integrated together.

[0256] It should be understood that, in one possible design, the steps in the method embodiments provided in this application can be implemented by integrated logic circuits in the processor's hardware or by instructions in software form. The steps of the methods disclosed in the embodiments of this application can be directly implemented by a hardware processor, or implemented by a combination of hardware and software modules in the processor. The software modules can reside in random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, or other mature storage media in the art. This storage medium is located in memory, and the processor reads information from the memory and, in conjunction with its hardware, completes the steps of the above method. To avoid repetition, detailed descriptions are not provided here.

[0257] In one implementation, the communication device may correspond to the terminal device in the above method embodiments and may be used to execute the various steps and / or processes executed by the terminal device in the above method embodiments. The processor 1010 may be used to execute instructions stored in the memory 1030, and when the processor 1010 executes the instructions stored in the memory, the processor 1010 is used to execute the various steps and / or processes of the above method embodiments corresponding to the terminal device.

[0258] In another implementation, the communication device may correspond to the network device in the above method embodiments and may be used to execute the various steps and / or processes executed by the network device in the above method embodiments. The processor 1010 may be used to execute instructions stored in the memory 1030, and when the processor 1010 executes the instructions stored in the memory, the processor 1010 is used to execute the various steps and / or processes of the above method embodiments corresponding to the network device.

[0259] It should be understood that the aforementioned processing device can be one or more chips. For example, the processing device can be a field-programmable gate array (FPGA), an application-specific integrated circuit (ASIC), a system-on-chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0260] It is understood that the memory in the embodiments of this application can be volatile memory or non-volatile memory, or may include both volatile and non-volatile memory. The non-volatile memory can be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. The volatile memory can be random access memory (RAM), which is used as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM). It should be noted that the memory used in the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0261] According to the method provided in the embodiments of this application, this application also provides a chip system, which includes one or more processors for calling and executing instructions stored in memory, thereby causing the method described in the embodiments of this application to be executed. The chip system may be composed of chips or may include chips and other discrete devices.

[0262] The chip system may include input circuits or interfaces for transmitting information or data, and output circuits or interfaces for receiving information or data.

[0263] According to the method provided in the embodiments of this application, this application also provides a communication system, which includes the aforementioned network device and terminal device.

[0264] According to the method provided in the embodiments of this application, this application also provides a computer program product, which includes: computer program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0265] According to the method provided in the embodiments of this application, this application also provides a computer-readable storage medium storing program code, which, when run on a computer, causes the computer to execute the various steps or processes executed by the network device or terminal device in any of the foregoing method embodiments.

[0266] The computer-readable storage medium may be the aforementioned volatile memory or non-volatile memory, or it may include both volatile memory and non-volatile memory.

[0267] In the embodiments of this application, the terms and English abbreviations are exemplary examples given for ease of description and should not be construed as limiting the application in any way. This application does not preclude the possibility of defining other terms that can achieve the same or similar functions in existing or future agreements.

[0268] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented in software, it can be implemented, in whole or in part, as a computer program product. The computer program product includes one or more computer instructions. When these computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated.

[0269] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0270] It should be understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0271] In summary, the above description is merely a preferred embodiment of the technical solution of this application and is not intended to limit the scope of protection of this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A communication sensing method, characterized in that, Applied to a first network device, the method includes: Obtain the sensing requirements of the first device, including the sensing accuracy required by the first device; Based on the perception requirements, a first notification message is sent to a device that includes at least a first target device. The first notification message includes at least one of the following: first indication information, target device for collaborative perception, and the perception accuracy required by the first device; the first indication information is used to instruct the first target device to cooperate in perception. The first network device receives a response message from the first target device, the response message being used to instruct the first target device to perform cooperative sensing with the first network device; The first network device sends cooperative sensing indication information to the first target device. The cooperative sensing indication information includes at least one of the following: cooperative sensing object, sensing accuracy, sensing mode, and time-frequency resource information for the first target device to sense the first device. The first network device receives a first perception result of the first device sent by the first target device, or the first network device receives a second perception result sent by the first device.

2. The method according to claim 1, characterized in that, The second perception result is obtained by the first device in cooperation with the first target device after sensing the time-frequency resources indicated by the time-frequency resource information.

3. The method according to claim 1 or 2, characterized in that, The first network device senses the time-frequency resources indicated by the time-frequency resource information and obtains a third sensing result. The first network device determines a fourth perception result based on the first perception result and the third perception result; or, the first network device determines a fifth perception result based on the second perception result and the third perception result.

4. The method according to claim 1 or 2, characterized in that, The first target device is another device that serves the first network device or a second network device.

5. The method according to claim 1 or 2, characterized in that, The first device initiates collaborative sensing to the first network device, or the first network device initiates collaborative sensing to the first target device.

6. The method according to claim 1 or 2, characterized in that, The first network device notifies the first target device that it supports collaborative sensing capabilities, and the first target device initiates a collaborative sensing request.

7. The method according to claim 1 or 2, characterized in that, The first network device determines that it meets the first device's perception requirements based on the required perception accuracy, and initiates collaborative perception with the first device.

8. The method according to claim 1, characterized in that, The first target device is an aerial platform, and the method further includes: If the triggering conditions are met, it is determined that the position of the high-altitude platform needs to be updated; Determine the target service location of the aerial platform, and control the aerial platform to move from its current location to the target service location; The triggering conditions include: The user set of the high-altitude platform service changes; or the average degree of change in the mobility of the user set of the high-altitude platform service exceeds a preset threshold.

9. The method according to claim 8, characterized in that, The user set for the high-altitude platform service has changed, including: There exists a set of users who have left the aerial platform service, and / or there exists a set of users who have joined the aerial platform service.

10. The method according to claim 8 or 9, characterized in that, The average motion change is determined based on the relative change in the location information of each user of the high-altitude platform service within a predefined update cycle.

11. The method according to claim 10, characterized in that, Determining the average degree of change of movement includes: For each user in the user set of the high-altitude platform service, determine the degree of movement change for each user; The average mobility change is the average value of the mobility change of all users within the user set of the high-altitude platform service.

12. The method according to claim 11, characterized in that, The motion change rate is a linear combination of the rate of change of angle and the rate of change of distance during the user's perception period.

13. The method according to any one of claims 8-9 or 11-12, characterized in that, Determining the target service location of the high-altitude platform includes: Obtain network status information, which includes at least: the location of the network device, the current location of the high-altitude platform, and the locations of all users; Based on the network state information, a communication channel model and a sensing echo channel model are constructed. Using the target service location of the high-altitude platform as the optimization variable, a location optimization problem is constructed. The objective function of this problem is to maximize the channel gain of the communication channel and the sensing echo channel. The channel gain includes the sum of the relay communication channel gain of the user set served by the high-altitude platform and the relay communication channel gain of the network device, and the sensing echo channel gain of the network device and the high-altitude platform. The constraints of the location optimization problem include at least: a maximum flight distance constraint and a location area constraint of the high-altitude platform. Solve the location optimization problem to obtain the target service location of the high-altitude platform.

14. The method according to claim 13, characterized in that, The communication channel model is used to characterize the one-way path loss of signal transmission, and the channel gain of the communication channel is inversely proportional to the square of the distance. The sensing echo channel model is used to characterize the two-way path loss of a signal after it is reflected by the sensing user. The channel gain of the sensing echo channel is inversely proportional to the fourth power of the distance.

15. The method according to claim 13, characterized in that, The channel gain of the communication channel is determined by the minimum of the first channel gain from the network device to the high-altitude platform and the second channel gain of the communication users in the set of users served by the high-altitude platform.

16. The method according to any one of claims 8-9 and 11-12, characterized in that, The method further includes: Obtain network status information, which includes at least: the location of the network device, the current location of the high-altitude platform, and the locations of all users; Based on the network status information, calculate the communication rate of the network device service users and the communication rate of the high-altitude platform service users respectively. Based on the network status information and the pre-configured transmit beamforming vector, the received power of the sensing signal sent by the network device to the sensing user served by the network device and the received power of the sensing signal sent by the high-altitude platform to the sensing user served by the high-altitude platform are calculated respectively. A beamforming optimization problem is constructed; wherein the optimization variables of the beamforming optimization problem are the set of transmit beamforming vectors of the network device and the set of transmit beamforming vectors of the high-altitude platform; the objective function of the beamforming optimization problem is to maximize the sum of the rates of all communication users; the constraints of the beamforming optimization problem include: total system transmit power constraint, receive power constraint of the sensing users served by the network device, and receive power constraint of the sensing users served by the high-altitude platform; Solving the beamforming optimization problem yields a first beamforming vector and a second beamforming vector; the first beamforming vector is used for signal transmission of the network device, and the second beamforming vector is used for signal transmission of the high-altitude platform.

17. The method according to claim 16, characterized in that, In the calculation of the communication rate of the communication users of the high-altitude platform service, the signal-to-noise ratio of the communication users of the high-altitude platform service is determined by the minimum value between the signal-to-noise ratio from the network device to the high-altitude platform and the signal-to-noise ratio from the high-altitude platform to the communication users of the high-altitude platform service.

18. A communication sensing method, characterized in that, Applied to a first target device, the method includes: The first target device receives a first notification message from a first network device. The first notification message is sent by the first network device according to the first device's sensing requirements, which include the sensing accuracy required by the first device. The first notification message includes at least one of the following: first indication information, target devices for collaborative sensing, and the sensing accuracy required by the first device. The first indication information is used to instruct the first target device to collaborate in sensing. The first target device sends a response message to the first network device, the response message being used to instruct the first target device to perform cooperative sensing with the first network device; The first target device receives cooperative sensing indication information from the first network device. The cooperative sensing indication information includes at least one of the following: cooperative sensing object, sensing accuracy, sensing mode, and time-frequency resource information for the first target device to sense the first device. The first target device senses the first device on the time-frequency resources indicated by the time-frequency resource information; The first target device sends a first perception result of the first device to the first network device.

19. The method according to claim 18, characterized in that, The first target device senses the first device on the time-frequency resources indicated by the time-frequency resource information, including: The first target device transmits a reference signal or a communication integrated waveform for sensing on the time-frequency resources indicated by the time-frequency resource information.

20. A communication device, characterized in that, The device includes at least one processor coupled to a memory storing a program or instructions, the processor executing the program or instructions to cause the device to perform the method as claimed in any one of claims 1-17, or to perform the method as claimed in claim 18 or 19.

21. A computer-readable storage medium having a computer program or instructions stored thereon, characterized in that, When the computer program or instructions are executed, they cause the computer to perform the method as described in any one of claims 1-17, or to perform the method as described in claim 18 or 19.

22. A communication system, characterized in that, Includes the communication device as described in claim 20.

23. A chip system, characterized in that, The chip system includes one or more processors, which are configured to retrieve and execute instructions stored in memory, such that the method as claimed in any one of claims 1-17 is executed, or the method as claimed in claim 18 or 19 is executed.

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