Sensing beam management method and device

Abstract

The embodiment of the invention provides a sensing beam management method and device, and the method comprises the steps: calculating the three-dimensional position of a sensing target at a current moment, and enabling the three-dimensional position to be a three-dimensional measurement position or a three-dimensional prediction position; wherein the sensing target is a target sensed by the sensing base station; the arrival angle and the emission angle of the sensing target are calculated based on the three-dimensional position of the sensing target, and the sensing target is distributed to the target queue of the corresponding sensing cell; grouping the sensing targets in the target queue of each sensing cell; determining a current beam set of the group based on the arrival angle mean value and the emission angle mean value of the sensing target of each group; and comparing the current beam set of each group with a historical beam set, and marking a state for each beam in the current beam set and the historical beam set. According to the method and the device, the sensing base station can track the target in real time and adjust the tracking beam range, the sensing resource overhead is reduced while the tracking continuity is ensured, and the tracking time delay is reduced.

Description

A sensing beam management method and device Technical Field

[0001] This application relates to the field of wireless communication technology, and in particular to a sensing beam management method and apparatus. Background Technology

[0002] In a sensing-integrated network, when a base station acts as a sensing transmitter, it typically transmits sensing signals in all directions through full-range beam scanning. When a target is detected on a certain sensing beam, the target generates an echo signal. The sensing receiver (which can be the sensing transmitter, another sensing base station, or the sensing target itself; the first case is A transmits and A receives, and the latter two cases are A transmits and B receives) receives the echo signal from the target, thereby initially determining the target's location information.

[0003] In the existing technology, the A transmit A receive mode has high resource overhead and latency for full-range beam scanning to track targets, and improper configuration of small beam sets can easily lead to target tracking interruption; in the A transmit B receive mode, the matching of transmitting and receiving beams is complex, resulting in even greater resource overhead and latency. Summary of the Invention

[0004] In view of this, this application provides a sensing beam management method and apparatus to solve the above-mentioned technical problems.

[0005] In a first aspect, embodiments of this application provide a sensing beam management method, comprising: calculating the three-dimensional position of a sensing target at the current moment, wherein the three-dimensional position is a three-dimensional measured position or a three-dimensional predicted position; wherein the sensing target is a target sensed by a sensing base station; calculating the angle of arrival and transmission angle of the sensing target based on the three-dimensional position of the sensing target, and allocating the sensing target to a target queue of a corresponding sensing cell; grouping the sensing targets in the target queue of each sensing cell; determining the current beam set of the group based on the average angle of arrival and average transmission angle of the sensing targets in each group; comparing the current beam set of each group with a historical beam set, and labeling the status of each beam in the current beam set and the historical beam set.

[0006] Secondly, embodiments of this application provide a sensing beam management device, comprising: a calculation unit, configured to calculate the three-dimensional position of a sensing target at the current moment, wherein the three-dimensional position is a three-dimensional measured position or a three-dimensional predicted position; wherein the sensing target is a target sensed by a sensing base station; an allocation unit, configured to calculate the angle of arrival and transmission angle of the sensing target based on the three-dimensional position of the sensing target, and allocate the sensing target to a target queue of a corresponding sensing cell; a grouping unit, configured to group the sensing targets in the target queue of each sensing cell; a determination unit, configured to determine the current beam set of the group based on the average angle of arrival and average transmission angle of the sensing targets in each group; and a labeling unit, configured to compare the current beam set of each group with a historical beam set, and label the status of each beam in the current beam set and the historical beam set.

[0007] Thirdly, embodiments of this application provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the method of embodiments of this application.

[0008] Fourthly, embodiments of this application provide a computer-readable storage medium storing computer instructions that, when executed by a processor, implement the methods of embodiments of this application.

[0009] Fifthly, embodiments of this application provide a computer program product, including a computer program / instructions, which, when executed by a processor, implement the method of embodiments of this application.

[0010] This application enables the sensing base station to track targets and adjust the tracking beam range in real time, thereby reducing sensing resource overhead and tracking latency while ensuring tracking continuity. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0012] Figure 1 is a flowchart of the sensing beam management method provided in the embodiment of this application; Figure 2 is a schematic diagram of the main beam and 8 adjacent beams provided in the embodiment of this application; Figure 3 is a functional structure diagram of the sensing beam management device provided in the embodiment of this application; Figure 4 is a structural diagram of the electronic device provided in the embodiment of this application. Detailed Implementation

[0013] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0014] Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0015] First, a brief introduction to the design concept of the embodiments of this application will be given.

[0016] In a sensing-integrated network, when a base station acts as a sensing transmitter, it typically transmits sensing signals in all directions through full-range beam scanning. When a target is detected on a certain sensing beam, the target generates an echo signal. The sensing receiver (which can be the sensing transmitter, another sensing base station, or the sensing target itself; the first case is A transmits and A receives, and the latter two cases are A transmits and B receives) receives the echo signal from the target, thereby initially determining the target's location information.

[0017] Using full-range beam scanning to continue target tracking results in significant resource overhead and tracking latency. For a transmit-receive sensing mode, after detecting the target using full-range beam scanning, the system could switch to a smaller beam for tracking based on the target's location information. Furthermore, since the target may move, and the sensing base station may have measurement errors when estimating the target's location from the echo signal, coupled with the time delay between signal transmission, reception, and processing, an inappropriate small beam set range (inappropriate number, or the beam not covering the target's possible movement) could lead to target tracking interruption. The tracking process would then need to be resumed by scanning the full beam set again. Conversely, if the small beam set range is too large, measurement errors may affect the target tracking trajectory, and the resource overhead for single-target tracking increases, potentially leading to resource shortages and increased tracking latency in multi-user scenarios.

[0018] In a sensing mode where A transmits and B receives, there is a process of matching the transmitting and receiving beams. This matching process is often quite complex, and the larger the full-range beam set, the higher the complexity. Furthermore, the resource overhead and tracking latency may be greater than with A transmits and A receives. To address this sensing mode, after the receiving end B detects a target, it notifies A of the target's location and other measurement information. Then, the sensing transmitting base station can switch to transmitting sensing signals from a smaller range of sensing beam sets after receiving the target information, thus enabling the tracking of the target.

[0019] To address the aforementioned issues, this application proposes a target location-based sensing beam management method. First, the time-frequency resources of the sensing signal are divided into scanning resources and tracking resources using time-division multiplexing. The sensing base station uses a full-range scanning beam on the scanning resources to detect the target and estimate its initial position, and uses a small-range tracking beam on the tracking resources to track the target and update its position. Next, based on the target's location information, the distance to the base station, the measured angle of arrival, and the transmission angle are calculated to determine whether the target is near or far. Then, targets with similar location characteristics are grouped by cell, and an angle reference value is determined for each group, thereby determining the range of candidate tracking beam sets and calculating the angle differences. Afterward, the calculated angle differences are sorted from smallest to largest, and a tracking beam set is selected based on the configured number of beams. Finally, the beam status is updated, and it is determined whether the tracking beams can be deleted. The updated tracking beam set serves as a reference for the next tracking resource allocation.

[0020] This application eliminates the need for full-range beam training and pairing at the transceiver end. It determines a small-range tracking beam based on the target coordinates and selects the beam by combining measured and predicted coordinate information, ensuring continuous target tracking. Furthermore, it considers scenarios such as target misses and beam deletion, resulting in fast response and reduced tracking latency. In addition, it independently controls the number of tracking beams based on the difference in beam switching probabilities between near and far targets, saving tracking resource overhead and having no restrictions on target type or application scenario.

[0021] After introducing the application scenarios and design concepts of the embodiments of this application, the technical solutions provided by the embodiments of this application will be described below.

[0022] As shown in Figure 1, this embodiment provides a sensing beam management method, including: Step 101: Calculate the three-dimensional position of the sensing target at the current moment, where the three-dimensional position is either a three-dimensional measured position or a three-dimensional predicted position; wherein, the sensing target is the target sensed by the sensing base station; Step 102: Calculate the angle of arrival and transmission angle of the sensing target based on its three-dimensional position, and assign the sensing target to the target queue of the corresponding sensing cell; Step 103: Group the sensing targets in the target queue of each sensing cell; Step 104: Determine the current beam set of each group based on the average angle of arrival and average transmission angle of the sensing targets in each group; Step 105: Compare the current beam set of each group with the historical beam set, and label the status of each beam in the current beam set and the historical beam set.

[0023] This embodiment does not require the transceiver to simultaneously train based on full-range beams to achieve the process of transceiver beam pairing. After a single scan detects the target, the distance and angle between the target and the sensing base station can be calculated based on the target's coordinate information. A small-range tracking beam is determined based on the distance and angle, and the tracking beam is updated in real time according to the target's position update results. To avoid the configured small-range tracking beam set being unable to match the position change caused by the target's movement, when selecting the tracking beam, in addition to referring to the currently measured and updated position information, the predicted coordinate information is also considered. The current angle and the predicted angle are combined to select the tracking beam set, ensuring the continuous tracking requirement of the target to the greatest extent.

[0024] The method in this embodiment can track the target position and adjust the tracking beam range in real time, ensuring tracking continuity while reducing sensing resource overhead and thus reducing tracking latency. It is also applicable to the A-to-transmit, B-to-receive mode, the only difference being that the module for detecting the target and updating measurement information is located at B, and the results need to be notified to A. Ultimately, A performs the selection and management of the target tracking beam, allocating tracking resources. Furthermore, the method in this embodiment is easy to implement and completely independent of the sensing target; therefore, it has no limitations on target type or application scenario.

[0025] In some embodiments, the method further includes: dividing the available time-frequency resources of the sensing signal into scanning resources and tracking resources in a time-division multiplexing manner based on the sensing frame structure, wherein the scanning resources and tracking resources appear alternately in the time domain according to a period; controlling the sensing base station to schedule a full-range scanning beam to transmit sensing signals on the scanning resources to discover the sensing target and the initial position estimate; and scheduling a preset range tracking beam to transmit sensing signals on the tracking resources to realize the tracking of the sensing target and the position update.

[0026] This embodiment can achieve orderly detection and tracking of perceived targets, improve resource utilization efficiency, and reduce tracking latency.

[0027] For example, the location information here includes longitude, latitude and elevation, which need to be converted into ENU three-dimensional location coordinates (x, y, z) with the sensing base station as the origin.

[0028] In some embodiments, calculating the three-dimensional position of the perceived target at the current moment includes: determining whether there is a three-dimensional measurement value for the perceived target at the current moment; if not, using the three-dimensional position of the perceived target before the current moment to predict the three-dimensional position of the perceived target at the current moment, thereby obtaining the three-dimensional predicted value of the perceived target.

[0029] Specifically, the sensing base station estimates the position of the target based on the signal transmitted on the tracking resource, thereby enabling the tracking of the target position and the prediction of the target position when the next tracking opportunity (the next time a sensing signal is detected on the tracking resource) occurs (the predicted position can be achieved using existing algorithms, such as the Kalman filter algorithm). The predicted position is the three-dimensional position in ENU coordinates with the sensing base station as the origin.

[0030] At the current measurement moment of the tracked resource, if there is a target measurement value at that moment, update the target's 3D position measurement value; otherwise, determine that the target was missed at that moment. If the target is only missed occasionally, the target's 3D position measurement value can be left unupdated and the historical measurement value can still be used. If the target is missed for a long time, the reliability of the historical position information is low. In this case, the predicted position information of the target at the current moment can be used as the target's current measurement value as the reference value for subsequent beam selection.

[0031] To determine whether a target has been missed, the following conditions must be met: the current tracking beam exists in the target's tracking beam set and there is no measurement value in this instance.

[0032] In some embodiments, if there are multiple sensing cells under a sensing base station (e.g., 3 cells under a cellular network base station), the sensing targets are assigned to the corresponding cells according to their angle of arrival. A queue of sensing targets is established for each cell, and the queue is maintained in a certain order, such as sorting according to a polling rule. Newly discovered targets are added to the tail of the sensing target queue.

[0033] In some embodiments, the sensed targets in the target queue of each sensed cell are grouped; this includes: calculating the distance between the sensed base station and the sensed target. ; distance and the preset distance threshold Compare, if If the target is a distant target, it is determined to be a near target; otherwise, it is determined to be a near target. The angle of arrival and emission angle between the target and the base station are calculated based on the three-dimensional measurement position of the target, and / or the predicted angle of arrival and emission angle between the target and the base station are calculated based on the three-dimensional predicted position of the target. The target queue is divided into multiple groups, and the targets in each group are either distant targets or near targets, and the difference in angle of arrival and emission angle between each target is less than a preset threshold.

[0034] Specifically, if the three-dimensional position of the perceived target is (x, y, z), then the angle of arrival... and launch angle The calculation formula is:

[0035]

[0036] This embodiment considers the impact of position update interruptions caused by target misses. Beam deletion is triggered by the disappearance of a target from a certain beam. Beam addition and deletion can be triggered in real time based on target movement, resulting in fast response speed and significantly reducing target tracking latency. Considering the probability difference between near and far targets switching beams, and the fact that near and far targets are distributed in different target groups, the number of selected tracking beams is independently controlled, reducing the number of beams that need to be tracked simultaneously at the cell level and saving tracking resource overhead.

[0037] In some embodiments, the current beam set of a group is determined based on the mean angle of arrival and mean emission angle of the sensed target in each group; this includes: for each group, calculating the mean of the angle of arrival measurement and the mean of the emission angle measurement within it, as reference values ​​for angle of arrival and emission angle; determining the main beam based on the reference values ​​for angle of arrival and emission angle; determining the adjacent beams of the main beam based on the main beam; naming the main beam and its adjacent beams as K first candidate beams, and arranging the K first candidate beams to obtain a first candidate beam sequence; for each group, calculating the mean of the angle of arrival measurement and the mean of the emission angle measurement within it. The mean of the predicted angle of arrival (AHA) and the mean of the predicted angle of transmission (ACH) are used as the predicted AHA and ACH values, respectively. Based on the predicted AHA and ACH values, the predicted beam is determined. Based on the predicted beam, the adjacent beams of the predicted beam are determined. The predicted beam and its adjacent beams are named J second candidate beams. The J second candidate beams are arranged to obtain a second candidate beam sequence. The first N1 beams are selected from the first candidate beam sequence, and the first N2 beams are selected from the second candidate beam sequence. The beam set consisting of the N1 beams and the first N2 beams is determined as the current beam set.

[0038] Specifically, if the absolute values ​​of the two selected differences are the same as the corresponding beam ID, then the beam is counted twice.

[0039] This embodiment utilizes the measured and predicted coordinates of the sensed target to determine a small-scale tracking beam set. By calculating the distance between the target and the sensing base station, and measuring and predicting the angle of arrival and transmission angle, the target is assessed for proximity and grouped. Based on the angle reference values ​​of the groups, the range of candidate tracking beam sets is determined. The tracking beams are selected by comprehensively considering current and predicted angle information to ensure continuous target tracking and avoid the impact of improper beam configuration on tracking performance. It also features a cell-level tracking beam deletion judgment and a real-time updated tracking beam set maintenance scheme, adjusting beams promptly according to the target status to reduce tracking resource overhead.

[0040] In some embodiments, K first candidate beams are arranged to obtain a first candidate beam sequence; including: calculating the angle of arrival and emission angle values ​​of the normal directions of the K first candidate beams; based on the angle of arrival reference value... and the reference value of the launch angle Calculate the deviation of the normal direction of the k-th first candidate beam. :

[0041] in, This indicates the index number of the first candidate beam. ; Let be the angle of arrival value of the k-th first candidate beam; Let be the emission angle value of the k-th first candidate beam; based on Arrange the K candidate beams in ascending order to obtain the first candidate beam sequence.

[0042] In some embodiments, the J second candidate beams are arranged to obtain a second candidate beam sequence; the angle of arrival and transmission angle of the normal directions of the J second candidate beams are calculated; and the angle of arrival is predicted based on the angle of arrival. and predicted launch angle Calculate the deviation of the normal direction of the j-th second candidate beam. :

[0043] in, Indicates the index number of the second candidate beam. ; Let be the angle of arrival value of the j-th second candidate beam; Let be the emission angle value of the j-th second candidate beam; based on The J candidate beams are arranged in ascending order to obtain the candidate beam sequence.

[0044] In some embodiments, the main beam is determined based on the angle of arrival reference value and the transmit angle reference value; the adjacent beams of the main beam are determined based on the main beam; including: matching the angle of arrival reference value and the transmit angle reference value in a pre-established angle and beam ID mapping table to obtain the main beam ID; and obtaining 8 (as shown in Figure 2, red is the main beam and green is the adjacent beam) or 5 adjacent beam IDs around it based on the main beam ID (if the main beam is located at the cell edge, there are no adjacent beams on one side of the main beam, and the number of adjacent beams found is reduced to 5).

[0045] In some embodiments, determining the main beam based on the angle of arrival reference value and the transmission angle reference value; determining adjacent beams based on the main beam; including: generating grouped beamforming weights based on the angle of arrival reference value and the transmission angle reference value, and using the beamforming as the main beam; adding or subtracting an angle of arrival step amount to the angle of arrival reference value to obtain several adjacent angle of arrival values; adding or subtracting a transmission angle step amount to the transmission angle reference value to obtain several adjacent transmission angle values; combining the adjacent angle of arrival values ​​and the adjacent transmission angle values ​​to obtain an adjacent direction and generating beamforming weights for the corresponding adjacent beams, thereby obtaining the adjacent beams.

[0046] In some embodiments, the current beam set of each group is compared with the historical beam set, and the status of each beam in the current beam set and the historical beam set is marked, including: for a beam that belongs to both the current beam set and the historical beam set, the beam is marked as "updated"; for a beam that belongs to the current beam set but not to the historical beam set, the beam is marked as "added"; for a beam that does not belong to the current beam set but belongs to the historical beam set, the beam is marked as "deleted".

[0047] In some embodiments, the method further includes: merging the current beam set and the historical beam set of each group to obtain a merged beam set; and updating the historical beam set to the merged beam set.

[0048] For example, after traversing the tracking beam sets and states of all targets, the union of the tracking beam sets of all targets is obtained to obtain the complete set of tracking beams to be reported. For each beam ID in the complete set of tracking beams, it is necessary to query each tracking target attached to that beam, and combine the states of each target with respect to that beam to determine whether the beam can be deleted. To avoid false judgments, this judgment is only performed on the time slot of the transmitted tracking beam, checking whether there are no targets to be tracked under that beam. If it is determined multiple times in a row that there are no targets to be tracked, then the beam is deleted from the complete set of tracking beams to be reported; otherwise, the beam cannot be deleted.

[0049] In some embodiments, the method further includes: using the merged beam set as a small-range tracking beam set that needs to be referenced for the next tracking resource allocation opportunity in the beam management of the sensing base station; the sensing base station allocates tracking resources only to the beams within this range; and sends sensing signals on the beams within this range based on the tracking resources.

[0050] Based on the same inventive concept, this application provides a sensing beam management device. Referring to FIG3, the sensing beam management device 200 provided in this application includes at least: a calculation unit 201, used to calculate the three-dimensional position of the sensing target at the current time, wherein the three-dimensional position is a three-dimensional measured position or a three-dimensional predicted position; wherein the sensing target is the target sensed by the sensing base station; an allocation unit 202, used to calculate the angle of arrival and transmission angle of the sensing target based on the three-dimensional position of the sensing target, and allocate the sensing target to the target queue of the corresponding sensing cell; a grouping unit 203, used to group the sensing targets in the target queue of each sensing cell; a determination unit 204, used to determine the current beam set of the group based on the average angle of arrival and average transmission angle of the sensing targets in each group; and a labeling unit 205, used to compare the current beam set of each group with the historical beam set, and label the status of each beam in the current beam set and the historical beam set.

[0051] It should be noted that the principle of the sensing beam management device 200 provided in this application embodiment to solve the technical problem is similar to the method provided in this application embodiment. Therefore, the implementation of the sensing beam management device 200 provided in this application embodiment can refer to the implementation of the method provided in this application embodiment, and the repeated parts will not be described again.

[0052] Based on the same inventive concept, this application also provides an electronic device, as shown in FIG4, including: a memory and a processor, wherein the memory stores an executable program, and the processor executes the executable program to implement the steps of the sensing beam management method provided in the above embodiments.

[0053] The aforementioned processor can be a general-purpose processor, a digital signal processor, an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The aforementioned PLD can be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof. The general-purpose processor can be a microprocessor or any conventional processor, etc.

[0054] Since the electronic device described in this application embodiment is an electronic device equipped with a memory that implements the sensing beam management method disclosed in this application embodiment, those skilled in the art can understand the structure and variations of the electronic device described in this application embodiment based on the sensing beam management method described in this application embodiment, and therefore will not be described again here.

[0055] This application also provides a computer-readable storage medium storing a computer program thereon, which, when run by a processor, implements the steps of the sensing beam management method provided in the above embodiments.

[0056] The storage medium in this embodiment may be included in an electronic device; or it may exist independently and not be assembled into an electronic device. The storage medium carries one or more computer programs, which, when executed, implement the steps of the sensing beam management method provided in the above embodiments.

[0057] It should be understood that the various solutions in this embodiment have the same technical effects as those in the above method embodiments, and will not be repeated here.

[0058] According to embodiments of this application, the computer-readable storage medium can be a non-volatile computer-readable storage medium, such as including but not limited to: portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. Optionally, specific examples in this embodiment can refer to the examples described in any embodiment of this application, which will not be repeated here. Obviously, those skilled in the art should understand that the various modules or steps of this application described above can be implemented using general-purpose computing devices. They can be centralized on a single computing device or distributed across a network of multiple computing devices. Optionally, they can be implemented using computer-executable program code, thereby storing them in a storage device for execution by a computing device. In some cases, the steps shown or described can be performed in a different order than those presented here, or they can be fabricated as separate integrated circuit modules, or multiple modules or steps can be fabricated as a single integrated circuit module. Thus, this application is not limited to any particular hardware and software combination.

[0059] This application also provides a computer program product, including a computer program / instruction, which, when executed by a processor, implements the steps of the sensing beam management method provided in the above embodiments.

[0060] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions targeted in the blocks may occur in a different order than those targeted in the drawings. For example, two consecutively represented blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0061] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. Multitasking and parallel processing may be advantageous in certain environments. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this application. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

Claims

1. A sensing beam management method, characterized in that, include: Calculate the three-dimensional position of the target at the current moment, where the three-dimensional position is either a three-dimensional measured position or a three-dimensional predicted position; wherein, the target is the target sensed by the sensing base station; calculate the angle of arrival and transmission angle of the target based on the three-dimensional position of the target, and assign the target to the target queue of the corresponding sensing cell; The sensed targets in the target queue of each sensed cell are grouped; based on the mean angle of arrival and mean angle of transmission of the sensed targets in each group, the current beam set of the group is determined; the current beam set of each group is compared with the historical beam set, and the status of each beam in the current beam set and the historical beam set is marked.

2. The method according to claim 1, characterized in that, The method further includes: based on the sensing frame structure, dividing the available time-frequency resources of the sensing signal into scanning resources and tracking resources in a time-division multiplexing manner, wherein the scanning resources and tracking resources appear alternately in the time domain according to a period; controlling the sensing base station to schedule a full-range scanning beam to send sensing signals on the scanning resources to discover the sensing target and estimate the initial position; and scheduling a preset range tracking beam to send sensing signals on the tracking resources to achieve tracking of the sensing target and position update.

3. The method according to claim 1, characterized in that, Calculating the three-dimensional position of the perceived target at the current moment includes: determining whether the perceived target has a three-dimensional measurement value at the current moment; if not, using the three-dimensional position of the perceived target before the current moment to predict the three-dimensional position of the perceived target at the current moment, and obtaining the three-dimensional predicted value of the perceived target.

4. The method according to claim 1, characterized in that, Grouping the sensed targets in the target queue of each sensed cell; including: calculating the distance between the sensed base station and the sensed target. ; distance and the preset distance threshold Compare, if If the target is a distant target, it is determined to be a near target; otherwise, it is determined to be a near target. The angle of arrival and emission angle between the target and the base station are calculated based on the three-dimensional measurement position of the target, and / or the predicted angle of arrival and emission angle between the target and the base station are calculated based on the three-dimensional predicted position of the target. The target queue is divided into multiple groups, and the targets in each group are either distant targets or near targets, and the difference in angle of arrival and emission angle between each target is less than a preset threshold.

5. The method according to claim 4, characterized in that, Based on the mean angle of arrival and mean emission angle of the sensed target in each group, the current beam set of the group is determined; including: for each group, calculating the mean of the angle of arrival measurement and the mean of the emission angle measurement, as reference values ​​for angle of arrival and emission angle; determining the main beam based on the reference values ​​for angle of arrival and emission angle; determining the adjacent beams of the main beam based on the main beam; naming the main beam and its adjacent beams as K first candidate beams, arranging the K first candidate beams to obtain a first candidate beam sequence; for each group, calculating the angle of arrival within it. The mean of the predicted values ​​and the mean of the predicted transmission angle are used as the predicted angle of arrival and the predicted transmission angle, respectively. Based on the predicted angle of arrival and the predicted transmission angle, the predicted beam is determined. Based on the predicted beam, the adjacent beams of the predicted beam are determined. The predicted beam and its adjacent beams are named J second candidate beams, and the J second candidate beams are arranged to obtain a second candidate beam sequence. The first N1 beams are selected from the first candidate beam sequence, and the first N2 beams are selected from the second candidate beam sequence. The beam set consisting of the N1 beams and the first N2 beams is determined as the current beam set.

6. The method according to claim 5, characterized in that, Arrange the K candidate beams to obtain a sequence of candidate beams; this includes: calculating the angle of arrival and transmission angle of the normal directions of the K candidate beams; and based on the angle of arrival reference value... and the reference value of the launch angle Calculate the deviation of the normal direction of the k-th first candidate beam. ： in, This indicates the index number of the first candidate beam. ； Let be the angle of arrival value of the k-th first candidate beam; Let be the emission angle value of the k-th first candidate beam; based on Arrange the K candidate beams in ascending order to obtain the first candidate beam sequence.

7. The method according to claim 5, characterized in that, Arrange the J candidate second beams to obtain a sequence of candidate second beams; calculate the angle of arrival and transmission angle of the J candidate second beams in their normal directions; and predict the beams based on the angle of arrival. and predicted launch angle Calculate the deviation of the normal direction of the j-th second candidate beam. ： in, This indicates the index number of the second candidate beam. ； Let be the angle of arrival value of the j-th second candidate beam; Let be the emission angle value of the j-th second candidate beam; based on The J candidate beams are arranged in ascending order to obtain the candidate beam sequence.

8. The method according to claim 5, characterized in that, Based on the angle of arrival reference value and the transmission angle reference value, the main beam is determined; based on the main beam, the adjacent beams of the main beam are determined; including: matching the angle of arrival reference value and the transmission angle reference value in a pre-established angle and beam ID mapping table to obtain the main beam ID; based on the main beam ID, the IDs of 8 or 5 adjacent beams around it are obtained.

9. The method according to claim 5, characterized in that, Based on the angle of arrival (AHA) reference value and the transmit angle (VGA) reference value, the main beam is determined; based on the main beam, adjacent beams are determined, including: generating beamforming weights for the group based on the AHA and VGA reference values, and using the beamforming as the main beam; adding or subtracting an AHA step amount to the AHA reference value to obtain several adjacent AHA values; adding or subtracting an VGA step amount to the VGA reference value to obtain several adjacent VGA values; combining the adjacent AHA values ​​and adjacent VGA values ​​to obtain an adjacent direction and generating beamforming weights for the corresponding adjacent beams, thereby obtaining the adjacent beams.

10. The method according to claim 1, characterized in that, The current beam set of each group is compared with the historical beam set. The status of each beam in the current beam set and the historical beam set is marked, including: for a beam that belongs to both the current beam set and the historical beam set, the beam is marked as "updated"; for a beam that belongs to the current beam set but not to the historical beam set, the beam is marked as "added"; for a beam that does not belong to the current beam set but belongs to the historical beam set, the beam is marked as "deleted".

11. The method according to claim 10, characterized in that, The method further includes: merging the current beam set and the historical beam set of each group to obtain a merged beam set; and updating the historical beam set to the merged beam set.

12. A sensing beam management device, characterized in that, include: The calculation unit is used to calculate the three-dimensional position of the sensing target at the current moment, wherein the three-dimensional position is a three-dimensional measured position or a three-dimensional predicted position; wherein the sensing target is the target sensed by the sensing base station; the allocation unit is used to calculate the angle of arrival and transmission angle of the sensing target based on the three-dimensional position of the sensing target, and allocate the sensing target to the target queue of the corresponding sensing cell. The grouping unit is used to group the sensing targets in the target queue of each sensing cell; the determination unit is used to determine the current beam set of the group based on the mean angle of arrival and mean angle of transmission of the sensing targets in each group; the labeling unit is used to compare the current beam set of each group with the historical beam set and label the status of each beam in the current beam set and the historical beam set.

13. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method as claimed in any one of claims 1-11.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the method as described in any one of claims 1-11.

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