Communication perception fusion method and system and electronic equipment

Abstract

The invention discloses a communication perception fusion method and system and electronic equipment, and the method comprises the steps: receiving an airspace target search request sent by a terminal, sending an airspace target search signal to L airspace targets, and receiving echo signals sent by the L airspace targets based on the airspace target search signal; determining the positions of L airspace targets according to the echo signals, sending a first response signal containing the positions to the terminal, and enabling the terminal to determine a specified airspace target based on the first response signal, thereby achieving the perception of the terminal and the base station on the airspace target. A connection confirmation signal is transmitted between the terminal and the specified airspace target, and communication connection among the terminal, the base station and the specified airspace target is established; and forwarding the control signal sent by the terminal to the specified airspace target based on the communication connection, so that the specified airspace target completes the specified task according to the control signal, thereby realizing a communication process among the terminal, the base station and the airspace target, and enabling the airspace target to complete the specified task according to a user demand.

Description

Technical Field

[0001] This application relates to the field of communication technology, and in particular to a communication sensing fusion method, system and electronic device. Background Technology

[0002] As one of the key technologies of next-generation communication networks (such as 6th Generation Mobile Communication Technology, abbreviated as 6G), Integrated Sensing and Communication (ISAC) deeply integrates communication and sensing functions into the same hardware architecture and signal waveform. This allows for target perception while ensuring communication data transmission performance. For example, it can detect the existence of objects (or people) in the area and their distance, angle, and speed relative to the system; track the motion state (speed, direction) of objects and predict future motion trajectories; or identify the shape, material, and surface texture of objects, as well as human gestures, breathing, and activity behaviors. As a result, it has received widespread attention in application scenarios such as drone logistics and low-altitude security.

[0003] Furthermore, for low-altitude sensing scenarios, millimeter waves, compared to the currently widely used Frequency Range 1 (FR1) band, offer higher angular resolution due to their shorter wavelength and higher distance resolution due to their larger bandwidth, thus finding application in ISAC (Integrated Sensing and Control) technology. Incorporating millimeter wave signals into ISAC technology can improve sensing accuracy. However, millimeter wave signals suffer from high path loss and poor penetration, leading to high infrastructure deployment costs and operational complexity, making wide-area coverage difficult to achieve.

[0004] Furthermore, because the Reconfigurable Intelligent Surface (RIS) can adjust the reflection direction and characteristics of the signal through phase shifting via a software control panel, it effectively solves the blocking effect and expands the coverage area. Therefore, RIS is often used in ISAC technology solutions to address the problems caused by high path loss and poor penetration of millimeter-wave signals.

[0005] However, the current RIS-assisted ISAC technology solution only considers the communication between the base station and the terminal, as well as the simultaneous perception of airspace targets, without considering the communication process between the terminal, the base station, and the airspace targets, resulting in low communication performance between the user and the airspace targets. Summary of the Invention

[0006] This application provides a communication-sensing fusion method, system, and electronic device to realize the communication process between a terminal, a base station, and a spatial target, enabling the spatial target to fully specify tasks according to user requirements. The specific implementation scheme is as follows: In a first aspect, this application provides a communication-aware fusion method applied to a base station, the method comprising: In response to receiving an airspace target search request from a terminal, an airspace target search signal is sent to L airspace targets, and echo signals sent by the L airspace targets based on the airspace target search signal are received; wherein, L is a positive integer; Based on the echo signal, the positions of the L airspace targets are determined, and a first response signal containing the positions is sent to the terminal, so that the terminal can determine the specified airspace target based on the first response signal; A connection confirmation signal is transmitted between the terminal and the designated airspace target to establish a communication connection between the terminal, the base station, and the designated airspace target; Based on the communication connection, the control signal sent by the terminal is forwarded to the designated airspace target, so that the designated airspace target can complete the designated task according to the control signal.

[0007] Through the above-described embodiments, the base station, based on the airspace target search request sent by the terminal, sends airspace target search requests to L airspaces and receives echo signals from the L airspace targets, thereby realizing the base station's perception of the airspace targets. Subsequently, the base station sends a first response signal containing the location determined based on the echo signals to the terminal, enabling the terminal to also perceive the airspace targets. This achieves both terminal and base station perception of the airspace targets. Furthermore, after sending the first response signal to the terminal, the base station transmits a connection confirmation signal between the terminal and the designated airspace target, thereby realizing communication between the terminal, the base station, and the airspace target, successfully establishing a communication connection between the terminal and the designated airspace target. Based on this communication connection, the base station sends control signals from the terminal to the designated airspace target, enabling the designated airspace target to complete the designated task according to the control signals from the terminal. This allows the designated airspace target to complete the designated task according to the terminal's requirements. Thus, through this method, the communication and perception process between the terminal, the base station, and the airspace target is realized, allowing the airspace target to fully specify tasks according to user needs.

[0008] Secondly, this application also provides a communication sensing fusion system configured in a base station, the system comprising: The first sensing module is used to respond to receiving an airspace target search request sent by the terminal, send an airspace target search signal to L airspace targets, and receive echo signals sent by the L airspace targets based on the airspace target search signal; wherein, L is a positive integer; The second sensing module is used to determine the positions of the L airspace targets based on the echo signals, and send a first response signal containing the positions to the terminal, so that the terminal can determine the specified airspace targets based on the first response signal; The first communication module is used to transmit a connection confirmation signal between the terminal and the designated airspace target to establish a communication connection between the terminal, the base station, and the designated airspace target. The second communication module is used to forward the control signals sent by the terminal to the designated airspace target based on the communication connection, so that the designated airspace target can complete the designated task according to the control signals.

[0009] Thirdly, this application provides an electronic device, comprising: Memory, used to store program instructions; A processor is configured to invoke program instructions stored in the memory and execute the steps of the method described in any one of the first aspects according to the obtained program instructions.

[0010] Fourthly, this application provides a computer-readable storage medium storing a computer program, the computer program including program instructions that, when executed by a computer, cause the computer to perform the method described in any one of the first aspects.

[0011] Fifthly, this application provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method described in any one of the first aspects.

[0012] For the various aspects of the second to fifth aspects mentioned above, and the technical effects that each aspect may achieve, please refer to the above description of the technical effects that can be achieved for the first aspect or the various possible solutions in the first aspect, which will not be repeated here. Attached Figure Description

[0013] Figure 1 A flowchart illustrating a communication-aware fusion method provided in an embodiment of this application; Figure 2 This is a schematic diagram showing the positions of the data portion and the pilot portion provided in the embodiments of this application; Figure 3 A schematic diagram illustrating the processing steps of the communication-aware fusion method provided in this application embodiment; Figure 4a A schematic diagram of the perception stage provided in an embodiment of this application; Figure 4b This is a schematic diagram of the communication stages provided in an embodiment of this application; Figure 5 This is a schematic diagram of a communication-sensing fusion system provided in an embodiment of this application; Figure 6 This is a schematic diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0014] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0015] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "multiple" in this application can mean at least two, for example, two, three, or more, and the embodiments of this application do not impose limitations.

[0016] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These embodiments should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description. It should be noted that in the embodiments of this application, certain existing industry solutions such as software, components, and models may be mentioned. These should be considered exemplary, intended only to illustrate the feasibility of implementing the technical solutions of this application, and do not imply that the applicant has already used or necessarily used such solutions.

[0017] The acquisition, transmission, storage, and use of data in this application all comply with the requirements of relevant national laws and regulations.

[0018] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0019] ISAC is one of the key technologies for next-generation communication networks (such as 6G) and has received widespread attention in applications such as drone logistics and low-altitude security. ISAC solutions typically incorporate millimeter-wave signals to improve sensing accuracy. However, millimeter-wave signals suffer from high path loss and poor penetration, leading to high infrastructure deployment costs and complex operation and maintenance, making it difficult to achieve wide-area coverage.

[0020] Furthermore, because the RIS (Reflection Signal Processor) is a two-dimensional planar structure composed of programmable units, its phase shift control via software allows for the adjustment of signal reflection direction and characteristics, effectively addressing the blocking effect and expanding coverage. Therefore, RIS is typically used in ISAC (In-Size-of-Chip) technology solutions to address the problems of high path loss and poor penetration of millimeter-wave signals.

[0021] Existing RIS-assisted millimeter-wave ISAC technology solutions can be divided into three categories based on their assisted functional components: assisted communication, assisted sensing, and simultaneous assisted communication and sensing. For the type involving simultaneous assisted communication and sensing, existing RIS-assisted ISAC technology solutions typically utilize RIS to assist in the positioning of airspace targets (such as low-altitude aircraft: UAVs) and simultaneously assist in communication with ground terminals. However, they do not consider the communication between the terminal and the airspace target, and do not establish an air-to-ground communication link. Therefore, they neglect the communication process between the terminal / base station and the airspace target, resulting in low communication performance between the user and the airspace target.

[0022] Therefore, this application proposes a communication-sensing fusion method applied to a base station. After receiving an airspace target search request from a terminal, the base station sends an airspace target search signal to L (where L is a positive integer) airspace targets and receives echo signals from the L airspace targets based on the airspace target search signal, thus achieving airspace target sensing. Then, based on the echo signals, the location of the L airspace targets is determined, and a first response signal containing this location is sent to the terminal. This allows the terminal to determine a specific airspace target and the airspace target used to complete a specific task based on the first response signal. A connection confirmation signal is then transmitted between the terminal and the specific airspace target, establishing an air-to-ground communication link—that is, establishing a communication link between the terminal, the base station, and the specific airspace target, thus realizing communication between the terminal, the base station, and the specific airspace target. Subsequently, the control signal sent by the terminal is forwarded to the specific airspace target, enabling the specific airspace target to complete the specified task according to the control signal sent by the terminal, thereby enabling the airspace target to complete the specified task according to the terminal's requirements. Furthermore, through this method, users can actively initiate airspace target search requests and determine specific tasks (such as specifying a flight mission).

[0023] In this embodiment, the base station can be a dual-band base station, which simultaneously supports the FR1 band and the second frequency range (FR2) band. This base station can serve N receiving antennas. r A ground-based mobile communication user (i.e., a terminal) can sense L targets in the low-altitude airspace (i.e., the number of targets in the airspace can be L).

[0024] The 3rd Generation Partnership Project (3GPP) standard specifies the FR1 band as 410MHz-7.125GHz and the FR2 band as 24.25GHz-52.6GHz. 3GPP is a global mobile communication technology standards organization responsible for developing and maintaining end-to-end technical specifications from 3G (third generation), 4G (fourth generation), to 5G (fifth generation) and future 6G.

[0025] The aforementioned FR1 band (such as the commonly used C-band within FR1) is used for terrestrial cellular communication to achieve ground-to-ground communication, thus enabling a smooth transition to existing cellular communication networks. The FR2 band is used for airspace target sensing and communication. This FR2 band can be a millimeter-wave band, thereby improving the accuracy of airspace target sensing by using millimeter-wave frequencies. Furthermore, by using dual-band base stations that simultaneously support both FR1 and FR2 bands, the problem of high path loss and susceptibility to blockages faced by millimeter-wave single-band base stations in terrestrial communication scenarios (such as urban or rural areas where obstructions are common) is solved.

[0026] For example, the base station communicates with the terminal through an antenna array supporting the FR1 band (i.e., the first antenna array); and senses and communicates with airspace targets through an antenna array supporting the FR2 band (i.e., the second antenna array), thereby achieving terminal communication (such as ground user communication) and airspace target sensing respectively. Furthermore, by employing antenna arrays supporting different frequency bands to communicate with the terminal and airspace targets respectively, interference between different frequency bands during communication is avoided, further improving the communication performance between the base station, the terminal, and the airspace targets.

[0027] Furthermore, dual-band transmission based on the FR1 and FR2 bands can share baseband equipment, thereby reducing the complexity and cost of the communication-sensing fusion system. This communication-sensing fusion system can be a millimeter-wave system, employing a time-division duplex (TDD) architecture. TDD is a communication duplex mode that achieves time-division multiplexing of channel resources by dividing the same frequency into different time slots for uplink and downlink data transmission.

[0028] In this embodiment, dual-band transmission of the FR1 and FR2 frequency bands can be achieved using different radio frequency units. Each of these different radio frequency units is equipped with N array elements. t A uniform linear array, i.e., N t This indicates the number of array elements equipped in the radio frequency unit.

[0029] The following is combined Figure 1 The flowchart illustrating a communication-sensory fusion method is described in detail below. (Refer to...) Figure 1 As shown in the embodiments of this application, a communication-aware fusion method includes: S101, in response to receiving the airspace target search request sent by the terminal, sends the airspace target search signal to L airspace targets and receives the echo signals sent by L airspace targets based on the airspace target search signal.

[0030] When the base station receives the first uplink signal sent by the terminal, it analyzes and processes the first uplink signal to determine the service corresponding to the first uplink signal. The analysis and processing method of the first uplink signal can be the signal analysis and processing method in the prior art, and will not be described in detail here.

[0031] If, through analysis and processing of the first uplink signal, the base station determines the non-search airspace target corresponding to the first uplink signal, it will process it according to the 3GPP standard.

[0032] If, through analysis and processing of the first uplink signal, the base station determines that the service corresponding to the first uplink signal is a search for an airspace target, that is, if the first uplink signal is determined to be an airspace target search request, then an airspace target search signal is issued to search for the airspace target.

[0033] For example, when a user needs to transport goods or conduct inspections in low-altitude airspace, the terminal can send an airspace target search request to the base station to search for airspace targets. Upon receiving the airspace target search request, the base station can then issue an airspace target search signal to search for the targets. The transmission frequency of this airspace target search request can be determined by the specifications of both the base station and the terminal.

[0034] In this embodiment, the airspace target search request can be transmitted using Orthogonal Frequency Division Multiplexing (OFDM) waveform to ensure system usability. OFDM is a multi-carrier modulation technique that decomposes a high-speed data stream into multiple mutually orthogonal low-speed subcarriers for transmission. Furthermore, the OFDM waveform is consistent with the 5G NR physical layer communication standard.

[0035] The aforementioned airspace target search request may include a data portion and a pilot portion.

[0036] The data portion may include: an initial request identifier, a terminal identifier, a terminal location, the origin and destination of the airspace target, and a target selection strategy. The initial request identifier can be "Initial Request"; the terminal location, the origin and destination of the airspace target can all be represented by latitude and longitude; the target selection strategy can be selected by the terminal or by the base station. For example, when the target selection strategy is terminal-selected, the designated airspace target for service is determined by the terminal; when the target selection strategy is base station-selected, the designated airspace target is determined by the base station. The specific content of the target selection strategy can be determined based on information input by maintenance personnel or according to a protocol; there is no specific limitation.

[0037] The aforementioned pilot section can be used to estimate the uplink channel from the terminal to the base station and to calculate the downlink channel using the channel exclusivity of the TDD system. Therefore, the base station can calculate the uplink channel from the terminal to the base station using the pilot section in the spatial target search request, and can calculate the downlink channel using the channel exclusivity of the TDD system. This allows for precoding based on the channel information, improving the communication performance of uplink and downlink transmissions between the terminal and the base station. The specific calculation methods for the uplink and downlink channels can adopt existing methods and will not be elaborated here.

[0038] Furthermore, the data portion and pilot portion of the aforementioned airspace target search request can each be located in a specific location.

[0039] In one possible implementation, the position of the pilot section is determined by the time-domain pilot spacing (i.e., g). T ) and frequency domain pilot spacing (i.e., g) F The frequency domain position of the pilot section is determined, for example, starting from the first frequency domain position, every g... F The pilot section is positioned in the time domain starting from the first time domain position, at intervals of g. T Placement; the data portion is located in the time-frequency domain frame corresponding to the spatial target search request, excluding the pilot portion. The time-frequency domain frame can have dimensions M×N, where M is the number of subcarriers and N is the number of symbols. For example, the data and pilot portions in the spatial target search request are arranged according to... Figure 2 Place it in the position shown. Figure 2 The gray squares represent the pilot signals, and the blank squares represent the data.

[0040] In addition, in the embodiments of this application, the airspace target search signal transmitted by the base station can also be transmitted using OFDM waveform, and the dimension of the time-frequency domain frame corresponding to the airspace target search signal is M×N, and the airspace target search signal can be composed of pilot symbols.

[0041] Furthermore, after sending the airspace target search signal to L airspace targets, the base station receives the echo signals sent by L airspace targets.

[0042] Optionally, if the base station does not receive an echo signal after sending an airspace target search signal and waits for a set period of time, it can be determined that there are no available airspace targets within its current coverage area. This avoids indefinite waiting for echo signals from airspace targets, thus preventing delays to terminal tasks. In this case, the base station can send a second response signal to the terminal. This second response signal may include a request response identifier, a terminal identifier, and a service unavailable identifier. The service unavailable identifier indicates that there are no available airspace targets within the base station's coverage area, allowing the terminal to know that there are no available airspace targets within the base station's coverage area. This enables the terminal to complete the specified task using other methods, reducing user anxiety and improving the user experience. Furthermore, this method allows for efficient use of base station and terminal resources and avoids resource waste.

[0043] When the terminal receives the second response signal from the base station, it can determine that there are no available airspace targets within the base station's coverage area, and therefore no control target is detected. At this point, the terminal can wait for a certain period before sending another airspace target search request to the base station, allowing the base station to re-detect airspace targets based on this request.

[0044] In another possible implementation, after the terminal receives the second response signal sent by the base station, it determines, based on the second response signal, that there are no available airspace targets within the coverage area of ​​the base station, and then sends an airspace target search request to other base stations to search for airspace targets through other base stations.

[0045] S102, based on the echo signal, determine the positions of L airspace targets, and send a first response signal containing the positions to the terminal, so that the terminal can determine the specified airspace target based on the first response signal.

[0046] After receiving echo signals from L airspace targets, the base station can determine the locations of the L airspace targets based on the echo signals. Once the base station has determined the locations of the L airspace targets, it can send a first response signal containing those locations to the terminal.

[0047] The first response signal may include: a request response identifier, a terminal identifier, and the location of the airspace target. The request response identifier can be a Request Response.

[0048] In this embodiment of the application, the position of the airspace target in the first response signal can be the position of a specified airspace target or the positions of L individual airspace targets. Whether it is the position of a specified airspace target or the positions of L individual airspace targets can be determined according to the target selection strategy.

[0049] For example, when the target selection strategy is terminal-selected, the position in the first response signal represents the positions of the L airspace targets that sent the echo signals. By sending a first response signal containing the positions of the L airspace targets, the terminal can determine a more suitable designated airspace target based on these positions to meet user needs. For instance, the terminal can select the airspace target with the lowest scheduling difficulty from among the various airspace targets based on the positions of each airspace target carried in the first response signal, as well as its own position (i.e., the terminal position) and the starting point of the airspace target. This ensures that the designated airspace target meets the terminal's needs while minimizing scheduling difficulty. Alternatively, the positions of each airspace target can be displayed to the user, allowing the designated airspace target to be determined based on user input, making the selection of the designated airspace target more aligned with user requirements.

[0050] When the target selection strategy indicates that the base station will select the target, the location in the first response signal will be the location of the designated airspace target. This directly provides the terminal with the designated airspace target, allowing the terminal to immediately determine which airspace target it is upon receiving the first response signal, thus improving the efficiency of the designated airspace target determination. The method for determining the designated airspace target is as follows: based on the locations of L airspace targets, the terminal location carried in the airspace target search request, and the starting point of the airspace target, the base station selects the airspace target with the lowest scheduling difficulty from the L airspace targets as the designated airspace target. This ensures that the selected designated airspace target meets the terminal's requirements while minimizing scheduling difficulty.

[0051] In this embodiment, the location information included in the first response signal may include, in addition to location information, the identifier of the corresponding airspace target (such as the airspace target's serial number). For example, when the target selection strategy indicates selection by the base station, the location of the designated airspace target included in the first response signal is: longitude a1 and latitude b1 for airspace target 1. When the target selection strategy indicates selection by the terminal, the location of the airspace target included in the first response signal is: longitude a1 and latitude b1 for airspace target 1; longitude a2 and latitude b2 for airspace target 2; and longitude a3 and latitude b3 for airspace target 3. This allows the terminal to determine a suitable designated airspace target based on the first response signal after receiving it.

[0052] S103, a connection confirmation signal is transmitted between the terminal and the designated airspace target to establish a communication connection between the terminal, the base station, and the designated airspace target.

[0053] After sending a first response signal to the terminal, the base station receives a second uplink signal from the terminal. This second uplink signal is sent by the terminal based on the first response signal it received. Subsequently, the base station analyzes and processes the second uplink signal. The analysis and processing method for the second uplink signal can be the same as that for the first uplink signal, and will not be described again here.

[0054] In one possible implementation, after the base station sends a first response signal to the terminal, if the terminal determines that it no longer needs the airspace target, it sends a request cancellation signal to the base station to cancel the request for the airspace target. This request cancellation signal includes a request cancellation identifier and a terminal identifier.

[0055] In other words, after the base station sends the first response signal to the terminal, it analyzes and processes the second uplink signal sent by the terminal. If a request for cancellation is identified in the second uplink signal, it determines that the terminal needs to cancel the connection. That is, the base station determines that the terminal needs to cancel the connection upon receiving the request for cancellation signal from the terminal.

[0056] In this embodiment of the application, the request cancellation signal can be sent at any stage. For example, it can be received after the base station receives the airspace target search request sent by the terminal and before sending the first response signal to the terminal.

[0057] Subsequently, the base station sends a first cancellation confirmation signal to the terminal. This first cancellation confirmation signal includes a first cancellation confirmation identifier and a terminal identifier. Next, the base station sends a connection cancellation signal to the terminal. This connection cancellation signal includes a connection cancellation identifier and a terminal identifier.

[0058] After receiving the first cancellation confirmation signal and the connection cancellation signal sent by the base station, the terminal can send a second cancellation confirmation signal to the base station and close the connection with the base station after waiting for a first maximum waiting time.

[0059] Then, after receiving the second cancellation confirmation signal sent by the terminal, the base station closes the connection. The second cancellation confirmation signal includes a second cancellation confirmation identifier and a terminal identifier.

[0060] In this embodiment of the application, the connection that the base station closes may include the connection between the base station and the terminal, and may also include the connection between the base station and a designated airspace target.

[0061] By employing the above method, based on the request cancellation signal, connection cancellation signal, and two cancellation confirmation signals, the airspace target service connection between the terminal and the base station is accurately disconnected. This ensures communication between the terminal and the airspace target while also considering timely connection interruption when user needs change, thus avoiding resource waste. Furthermore, by using the terminal identifier carried in the request cancellation signal, connection cancellation signal, and the two cancellation confirmation signals, the specific terminal being disconnected is identified, resulting in a more precise disconnection of the airspace target service connection between the terminal and the base station.

[0062] In another possible implementation, after the base station sends a first response signal to the terminal, the terminal determines that it needs an airspace target and then sends a first connection confirmation signal to the base station to establish a communication connection between the terminal, the base station, and the specified airspace target.

[0063] Therefore, when the base station identifies the first connection acknowledgment identifier from the second uplink signal, it can determine that the terminal needs to establish a communication connection with the designated airspace target. In other words, when the base station receives the first connection acknowledgment signal sent by the terminal based on the first response signal, it can determine that the terminal needs to establish a communication connection with the designated airspace target. This first connection acknowledgment signal includes: a first connection acknowledgment identifier, a terminal identifier, and the origin and destination of the airspace target. The first connection acknowledgment identifier can be a Connection ACK.

[0064] In this embodiment of the application, when the target selection strategy is selected by the user, the first connection confirmation signal may also include the selected airspace target (i.e., the designated airspace target), such as the drone 3. That is, the designated airspace target is the drone 3, so that the base station can accurately determine the designated airspace target through the information carried in the first connection confirmation signal.

[0065] Subsequently, based on the first connection confirmation signal, the base station generates a connection request signal and then sends it to the designated airspace target. This connection request signal includes a connection request identifier, a terminal identifier, the airspace target's origin point, and its destination. Upon receiving the connection request signal, the designated airspace target knows that the terminal corresponding to the terminal identifier needs to establish a communication connection with it, and that the terminal's requirement is for it to travel from the origin point to the destination. Therefore, the designated airspace target can determine whether to establish a communication connection with the terminal based on the information carried in the connection request signal. This connection request can be a Connection Request.

[0066] Subsequently, after sending a connection request signal to the designated airspace target, the base station receives a second connection confirmation signal sent by the designated airspace target based on the connection request signal. This second connection confirmation signal may include: a second connection confirmation identifier, a terminal identifier, the time required for the designated airspace target to travel from its current position to the starting point, its current speed, and its maximum supported speed. Thus, through the information carried by this second connection confirmation signal, the base station can know that the designated airspace target has agreed to establish a communication connection with the terminal corresponding to the terminal identifier, and can obtain information about the designated airspace target (such as its current speed, maximum supported speed, and time required to travel from its current position to the starting point).

[0067] The second connection confirmation identifier can be Connection ACK; the units for the current speed of the airspace target and the maximum speed that the airspace target can support can be meters per second; the time required to travel from the current position to the starting point of the airspace target is the time required for the specified airspace target to travel from its current position to the starting point of the airspace target, which can be determined based on the current speed and / or the maximum speed that the specified airspace target can support.

[0068] Furthermore, after receiving the second connection confirmation signal, the base station sends it to the terminal, enabling the terminal to confirm that the designated airspace target has agreed to establish a communication connection and that the connection has been successfully established. This establishes an air-to-ground communication connection between the terminal, the base station, and the airspace target. Moreover, the information carried in the second confirmation signal allows the terminal to determine the current speed, maximum supported speed, and time required to travel from the current location to the starting point of the designated airspace target. Based on this information, the terminal can determine whether the designated airspace target is needed to complete the designated task and, based on this information, set more suitable control signals for the designated airspace target, thereby controlling the target to complete the designated task more accurately. Additionally, through the terminal identifier carried in the first connection confirmation signal, the connection request signal, and the second connection confirmation signal, both the base station and the designated airspace target can determine which terminal they need to establish a communication connection with, thus better realizing the communication process between the terminal, the base station, and the airspace target.

[0069] S104, based on the communication connection, forwards the control signals sent by the terminal to the designated airspace target, so that the designated airspace target can complete the designated task according to the control signals.

[0070] After the base station sends the second connection confirmation signal to the terminal, it successfully establishes a communication connection between the base station, the terminal, and the designated airspace target. Based on this communication connection, the control signal sent by the terminal is sent to the designated airspace target, so that the designated airspace target can complete the designated task according to the control signal.

[0071] In one possible implementation, after the base station sends the second connection confirmation signal to the terminal, the terminal can further determine whether the designated airspace target can complete the designated task based on the time required for the designated airspace target to travel from its current position to the starting point, its current speed, and its maximum supported speed, all carried in the second connection confirmation signal. If it is determined that the designated airspace target cannot complete the designated task, the terminal can also send a request cancellation signal to the base station to close the communication connection with the designated airspace target. This closure of the communication connection is consistent with the aforementioned method of transmitting a request cancellation signal, a first cancellation confirmation signal, a connection cancellation signal, and a second cancellation confirmation signal between the terminal and the base station to close the connection between the terminal and the base station, and will not be elaborated further here.

[0072] The terminal can then re-initiate an airspace target search request to the base station to re-determine the designated airspace target, or re-determine a new designated airspace target based on the positions of multiple airspace targets, thereby re-establishing a communication connection with the base station and the new designated airspace target.

[0073] In another possible implementation, after the base station sends the second connection confirmation signal to the terminal, the terminal can also determine whether the designated airspace target can complete the designated task based on the time required for the designated airspace target to travel from its current position to the starting point, its current speed, and its maximum supported speed carried in the second connection confirmation signal. If it is determined that the designated airspace target can complete the designated task, it can send a control signal to the base station to control the designated airspace target to complete the designated task.

[0074] Therefore, after the base station sends the second connection confirmation signal to the terminal, it can receive the control signal sent by the terminal based on the second connection confirmation signal, and then send the control signal to the designated airspace target so that the designated airspace target can perform the designated task according to the control signal.

[0075] The control signal may include: control information identifier, terminal identifier, the origin point, destination, takeoff time, flight speed, and waiting time at the origin point of the airspace target. This allows the designated airspace target to determine its origin and destination, as well as its takeoff time, flight speed, and waiting time at the origin point, based on the control signal. This enables the designated airspace target to more accurately complete the designated task (such as a flight mission) according to the terminal's requirements.

[0076] The control information identifier can be a Control Message; the takeoff time of the airspace target can be set according to user needs, such as the takeoff time of the airspace target being a year b month c day t hour r minute e second; the flight speed of the airspace target can be set according to user needs, but the flight speed of the airspace target is less than the maximum speed that the airspace target can support; the waiting time at the airspace target's starting point is the waiting time after the airspace target arrives at the airspace target's starting point, and this waiting time can be set according to user needs.

[0077] Subsequently, after the base station sends a control signal to the designated airspace target, the designated airspace target, upon receiving the control signal, can complete the designated task according to the control signal, such as taking off. Furthermore, upon receiving the control signal, the target can also send a takeoff confirmation signal to the terminal via the base station. This takeoff confirmation signal includes: a takeoff confirmation identifier, the current position of the designated airspace target, its flight speed, and the expected time to reach the destination. The takeoff confirmation identifier can be Flight ACK; the expected time to reach the destination is the expected time from the starting point to the destination; the flight speed of the designated airspace target can be the airspace target's flight speed as indicated in the control signal received by the designated airspace target.

[0078] Therefore, after the base station sends the control signal to the designated airspace target, it can receive the takeoff confirmation signal sent by the designated airspace target. Then, it sends the takeoff confirmation signal to the terminal, so that the terminal can know from the takeoff confirmation signal that the designated airspace target has begun to complete the designated task (such as having started takeoff). Thus, the terminal can notify the corresponding user to go to the airspace target destination and wait for the designated airspace target to arrive. The terminal can also determine whether the designated airspace target has successfully completed the designated task by using the expected arrival time of the designated airspace target carried in the takeoff confirmation signal.

[0079] In one possible implementation, if the terminal has not received the designated airspace target after waiting for the expected time at the destination of the airspace target, for example, after waiting for the second maximum waiting time after the expected time of the designated airspace target arriving at the destination carried in the takeoff confirmation signal, it can re-initiate the airspace target search request to re-perceive the airspace target and re-establish the communication connection between the terminal, the base station, and the airspace target, so that the terminal can complete the designated task in a timely manner by re-sending the airspace target search request.

[0080] For example, after a designated airspace target arrives at its destination according to control signals, it sends an arrival confirmation signal, which is then received by a base station near the destination. This arrival confirmation signal can be a broadcast signal and may include: the designated airspace target identifier (such as the unique identifier of the designated airspace target), the terminal identifier, the origin point of the designated airspace target, and the destination.

[0081] Since changes in the geographical location of a designated airspace target may lead to changes in the base stations accessed by that target, the designated airspace target identifier and the terminal identifier can use globally unique identifiers. For example, the terminal identifier can be determined using the International Mobile Subscriber Identity (IMSI), and the designated airspace target identifier can be a product identifier. In the embodiments of this application, other airspace target identifiers can also use corresponding product identifiers.

[0082] The aforementioned IMSI is a unique identifier assigned to a mobile user (i.e., a mobile terminal) by the mobile communication system. It is stored in the Subscriber Identity Module (SIM) card, the Home Location Register (HLR), and the Visitor Location Register (VLR), and is transmitted on the Radio Interface and Mobile Application Part (MAP) interface for location updates and identity verification.

[0083] Then, after receiving the arrival confirmation signal, the base station near the destination can forward it to the user (i.e., the terminal) corresponding to the IMSI code through the core network and central network.

[0084] If the terminal does not receive an arrival confirmation signal after waiting for the second maximum waiting time (as indicated in the takeoff confirmation signal) for the expected arrival time of the designated airspace target, it determines that the designated airspace target has not arrived as expected. The terminal then re-initiates an airspace target search request to re-detect the airspace target and re-establish the communication connection between the terminal, the base station, and the airspace target. In this way, the terminal can promptly complete the designated task by retransmitting the airspace target search request.

[0085] Furthermore, in one possible implementation, the base station can also receive an arrival confirmation signal sent by an airspace target, thereby determining, based on the arrival confirmation signal, that an airspace target within the current coverage area has completed the designated task of the corresponding terminal, and then forwarding the arrival confirmation signal to the terminal corresponding to the IMSI code in the arrival confirmation signal through the core network and central network, so that the terminal can determine that the airspace target has completed its required designated task.

[0086] Furthermore, in this embodiment of the application, in order to enable airspace targets obscured by buildings or the natural environment to be searched, the airspace target search signal emitted by the base station can be transmitted to L airspace targets via a RIS (Radio Reflector). That is, the base station first sends the airspace target search signal to the RIS, so that the RIS reflects the airspace target search signal to the L airspace targets.

[0087] The airspace target search signal, after being relayed by the RIS, can form a sensing scanning beam. The dimensions of this sensing scanning beam can be determined based on the number of phased array units, subcarriers, and symbols equipped on the RIS.

[0088] For example, a RIS is equipped with R phase control units, and these R phase control units are arranged in a uniform planar array, with R elements in the vertical direction. v The number of elements in the horizontal direction matrix is ​​R. h And R=R v ×R h The dimension of the airspace target search signal is N. t Therefore, the dimension of the sensing scanning beam formed after the airspace target search signal is reflected by RIS can be R×MN.

[0089] In this embodiment of the application, the RIS phase shift in the sensing stage can be set as a first phase shift (i.e., θ). s This allows for the search of airspace targets within a certain angular range, which depends on the spacing of the RIS array elements. This sensing phase can be a phase for searching airspace targets, and may include, for example, the transmission phases of airspace target search requests, airspace target search signals, echo signals, and first response signals.

[0090] The spacing between the RIS array elements (i.e., the antenna spacing) and the maximum scan angle of the RIS can satisfy a first preset condition. This first preset condition can be expressed by the following formula:

[0091] Where d represents the spacing between array elements in the RIS (i.e., the antenna spacing). max λ represents the maximum scan angle in RIS; λ represents the signal wavelength.

[0092] Furthermore, by using the aforementioned first setting condition, the spacing between array elements in the RIS (i.e., the antenna spacing) is made less than or equal to the ratio determined based on the absolute value of the maximum scanning angle, thereby avoiding the grating lobe effect. For example, if the communication sensing fusion system sets the vertical and horizontal array element spacing of the RIS to be λ / 2, based on the aforementioned first setting condition, the searchable angle range in the vertical and horizontal directions can be determined to be [-90°, 90°], thereby avoiding the grating lobe effect.

[0093] The first phase shift mentioned above (i.e., θ)s This can be set in the following ways: For example, the codebook for beam scanning in RIS is set as a Fourier matrix. The codebook for the horizontal direction of the RIS can be as follows:

[0094] Among them, C h Represents the codebook in the horizontal direction of RIS; N h N represents the number of resolvable angles in the horizontal direction. h It can be determined based on the maximum scan angle and the horizontal angular resolution (i.e., σ). h To determine; all scanning angles within the horizontal scanning angle range of the RIS are equally divided into N... h One, then This indicates the first scan angle in the horizontal direction of the RIS; This indicates the second scan angle in the horizontal direction of the RIS. This indicates the third scan angle in the horizontal direction of the RIS. Represents the Nth horizontal direction of RIS h One scan angle; j represents the imaginary unit.

[0095] The aforementioned horizontal angular resolution (i.e., σ) h ) and the number of elements in the horizontal direction matrix (i.e., R) h ) and horizontal element spacing (i.e., d) h The relationship is inversely proportional to the sum of its parts, and can be expressed by the following formula:

[0096] Where α represents the beamwidth factor. For example, the 3dB beamwidth of a uniform array has α=0.886.

[0097] Similarly, the codebook for the RIS vertical direction can be shown below:

[0098] Among them, C v Represents the codebook in the vertical direction of RIS; N v N represents the number of angles that can be resolved in the vertical direction. v It can be determined based on the maximum scan angle and the vertical angular resolution (i.e., σ). v The scanning angles within the vertical scanning angle range of the RIS are determined by N; all scanning angles are equally divided into N. v indivual, This indicates the first scan angle in the vertical direction of the RIS; This indicates the second scan angle in the vertical direction of the RIS; This indicates the third scan angle in the vertical direction of the RIS; Represents the Nth vertical direction of RIS v Each scanning angle.

[0099] The aforementioned vertical angular resolution (i.e., σ) v ) and the number of elements in the vertical direction matrix (i.e., R) v ) and vertical element spacing (i.e., d) v It is inversely proportional to .

[0100] Therefore, based on the aforementioned horizontal and vertical codebooks, the two-dimensional scanning beam in the RIS is sequentially formed by... Scan to Vertically, sequentially from Scan to .

[0101] Under the above premise, assuming a fixed scanning angle within an OFDM symbol, and switching scanning beams between different OFDM symbols, then when the scanning angle is... and At that time, the RIS phase shift (i.e., θ) during the perception phase s The following second condition must be met:

[0102] Where k is from 0 to N h Any integer in the range -1, such as k = 0, k = 2, k = N. h -1; i is from 0 to N v Any integer in the range -1, such as i = 0, i = 2, i = N. v -1; C h (:,k) represents C h The matrix in column k+1 of C; v (:,i) represents C v The matrix in the (i+1)th column.

[0103] Therefore, the phase shift (i.e., θ) in the sensing phase can be determined using the second precondition described above. s ) is the result of multiplying the (k+1)th column matrix in the horizontal codebook of RIS by the (i+1)th column matrix in the vertical codebook of RIS.

[0104] Furthermore, the first phase shift (i.e., θ) set by RIS is then implemented. s This allows the airspace target search signal emitted by the base station to form a sensing scanning beam after being reflected by the RIS, thereby sensing L airspace targets.

[0105] After the base station sends the airspace target search signal to L airspace targets via the RIS (Radio Retrieval System), the base station can also receive the echo signals sent by the L airspace targets via the RIS. The phase shift of this RIS is also the first phase shift (i.e., θ). s).

[0106] For example, L airspace targets first send echo signals to the RIS, and then the RIS sends the echo signals to the base station. In other words, the base station receives the echo signals sent by the RIS, which are sent to the RIS by the L airspace targets. Therefore, this echo signal is also a reflected echo, and it can be represented as:

[0107] Where X(m,n), Y(m,n), H RT (m, n), H BR (m, n) represent the spatial target search signal on the m-th subcarrier and the n-th symbol, the echo signal received by the base station, the channel matrix from RIS to the spatial target, and the channel matrix from the base station to RIS, respectively. For H BR The conjugate transpose of (m, n); For H RT The conjugate transpose of (m, n); The phase shift coefficient of the m-th subcarrier and n-th symbol in the echo signal is represented by ; u is additive white Gaussian noise; L represents the total number of detected spatial targets; l represents the l-th spatial target; D l and v l Let cl be the distance and velocity of the l-th spatial target relative to RIS, respectively; c0 represent the speed of light, Δf represents the subcarrier spacing, and fl represent the velocity of light. c The center carrier frequency is represented by T; the OFDM symbol time is represented by T, and the following conditions are met: TCP stands for the time-domain length of the Cyclic Prefix (CP). In OFDM technology, a tail signal of a specific length is copied and placed at the beginning of each symbol, thereby eliminating inter-symbol interference and inter-carrier interference, and combating multipath effects.

[0108] In this embodiment of the application, the echo signal can be forwarded to the base station via RIS. When the base station determines the location of L airspace targets based on the echo signal, it can do so based on the echo signal and the deployment location of the RIS.

[0109] Angle of Arrival (AOA) positioning is a method for locating targets based on the angle of the received signal. In a 2D plane, the target's position reflects the echo back to two signal transmitters. The angle of incidence of the received echo is obtained at each transmitter, and these two lines are extended in a planar geometric straight line. The intersection of these two lines is the target's location. Therefore, base stations can determine the location of targets in the airspace using AOD positioning.

[0110] Taking the l-th airspace target out of L airspace targets as an example, when the base station determines the position of the l-th airspace target based on the echo signal sent by the l-th airspace target, it can first determine the relative distance and angle from the RIS to the l-th airspace target based on the echo signal, using the AOA positioning method and the time-frequency domain relationship between the received echo (i.e., the echo signal sent by the l-th airspace target) and the transmitted signal (i.e., the airspace target search signal). Then, based on the Doppler frequency shift of the echo signal, it can determine the motion speed and direction of the l-th airspace target, so as to predict the motion trajectory of the l-th airspace target based on its motion speed and direction. Finally, the deployment location of the RIS is obtained. Subsequently, the base station can determine the position of the l-th airspace target when the echo signal is returned, based on the relative distance and angle between the RIS and the l-th airspace target, as well as the deployment location of the RIS. Furthermore, it can further utilize the movement speed and direction of the l-th airspace target to determine the position of the l-th airspace target when the echo signal is received, thereby making the determined position of the l-th airspace target more accurate, so that the base station or terminal can select a more suitable service provider (i.e., a designated airspace target).

[0111] Furthermore, the location contained in the first response signal sent by the base station to the terminal can be the location of the base station when receiving the echo signal returned by the airspace target, or the location of the airspace target when sending the echo signal. There is no specific limitation, and it can be flexibly adjusted according to the specific application scenario.

[0112] The deployment locations of the aforementioned RIS and the location of the l-th airspace target can both be represented using latitude and longitude.

[0113] In addition, since the AOA positioning method requires at least two emission sources, two RIS panels need to be deployed in this embodiment.

[0114] In the embodiments of this application, the position of each airspace target among the L airspace targets can be determined by the method for determining the position of the l-th airspace target described above, and will not be repeated here.

[0115] To ensure accurate connectivity to designated airspace targets obstructed by buildings or natural environments, the connection request signal sent by the base station to the designated airspace target can also be transmitted via a RIS (Radio Router Array). Specifically, the base station first sends the connection request signal to the RIS, which then forwards the signal to the designated airspace target.

[0116] During the communication phase, the RIS phase shift can switch to a second phase shift (i.e., θ). cThis allows the signal from the communication phase to be reflected by the RIS (Radio Reflector System) to form a target targeting beam, enabling precise transmission of the signal to the designated airspace target and, conversely, precise transmission of the signal from the designated airspace target to the base station. This communication phase can involve communication between the terminal, the base station, and the airspace target. For example, the communication phase may include the transmission of connection request signals, second connection confirmation signals, control signals, and takeoff confirmation signals.

[0117] The aforementioned target aiming beam is related to the system's Channel State Information (CSI). In this embodiment, a phase shift matrix that maximizes the received signal-to-noise ratio at a specified spatial target can be determined using convex optimization or ergodic methods, and this phase shift matrix is ​​defined as θ. c The signal-to-noise ratio (SNR) on the m-th subcarrier and the n-th symbol can be expressed as:

[0118] Where I is the identity matrix; σ represents the standard deviation of noise (such as additive white Gaussian noise); σ 2 The variance of noise (such as additive white Gaussian noise); Represents θ c The conjugate transpose of .

[0119] If multiple airspace targets exist during the search for a specified airspace target, the RIS phase shift optimization problem can be transformed into a beamforming optimization problem for a downlink multi-antenna multi-user communication system. Simultaneously considering interference between different airspace targets, the received signal-to-noise ratio at multiple targets is jointly optimized to ensure that the determined second phase shift (i.e., θ) is achieved. c More accurate.

[0120] Furthermore, after the base station sends a connection request signal to a designated airspace target, it can also receive the second connection confirmation signal sent by the designated airspace target through the RIS. Specifically, after receiving the connection request signal, the designated airspace target sends the second connection confirmation signal to the RIS, which then forwards the second connection confirmation signal to the base station. That is, the base station receives the second connection confirmation signal sent by the RIS, which was sent to the RIS by the designated airspace target after receiving the first connection confirmation request.

[0121] Furthermore, after the base station sends the second connection confirmation signal to the terminal, the control signal received by the terminal based on the second connection confirmation signal can also be sent to the designated airspace target via the RIS, enabling accurate communication even with the designated airspace target obstructed by buildings or the natural environment. Specifically, the base station sends the control signal to the RIS, so that the RIS will specify the airspace target with the reflected value of the control signal.

[0122] Furthermore, after the base station sends the control signal to the designated airspace target via the RIS, it can also receive the takeoff confirmation signal sent by the designated airspace target based on the control signal via the RIS; that is, it receives the takeoff confirmation signal sent by the RIS. This takeoff confirmation signal is sent to the RIS by the designated airspace target after receiving the control signal.

[0123] Through the above-described embodiments, when the base station transmits signals to airspace targets, it uses a Resonant Array (RIS) to transmit signals, thereby solving the problem of locating, tracking, and communicating with airspace targets obstructed by buildings or natural environments. Furthermore, when the base station transmits airspace target search signals and echo signals to L airspace targets, i.e., during the sensing phase, the phase shift of the RIS is the first phase shift (i.e., θ). s When the base station transmits connection request signals, second connection confirmation signals, control signals, and takeoff confirmation signals to L airspace targets, that is, during the communication phase, the phase shift of RIS switches to the second phase shift (i.e., θ). c This allows the RIS phase shift to switch according to different stages of sensing and communication. The RIS phase shift can be controlled by software, making switching easy. In the sensing stage, the first phase shift forms a scanning beam within a certain angle range, reducing the complexity of the base station transmitter. In the communication stage, the second phase shift allows the beam to be aligned with a designated airspace target, facilitating more precise signal transmission between the base station and the target.

[0124] Furthermore, in this embodiment, the signals transmitted between the base station and the terminal, and between the base station and the airspace target, can be transmitted via a first antenna array and a second antenna array. Since the first antenna array supports the FR1 band for ground communication, and the second antenna array supports the FR2 band for airspace target sensing and communication, the base station can receive and transmit signals to the terminal via the first antenna array when receiving signals from the terminal and when transmitting signals to the terminal; similarly, it can receive and transmit signals to the airspace target via the second antenna array, thereby avoiding interference between different frequency bands during communication and further improving the communication performance between the base station, the terminal, and the airspace target.

[0125] For example, the aforementioned base station can receive the first uplink signal, airspace target search request, second uplink signal, first connection confirmation signal, control signal, and request cancellation signal sent by the terminal through the first antenna array; the first response signal, second response signal, second connection confirmation signal, takeoff confirmation signal, first cancellation confirmation signal, and connection cancellation signal sent to the terminal can be transmitted through the first antenna array; the airspace target search signal, connection request signal, and control signal sent to the airspace target can be transmitted through the second antenna array; and the echo signal, second connection confirmation signal, and takeoff confirmation signal sent to the airspace target can be received through the second antenna array.

[0126] Optionally, when the base station receives signals transmitted by the airspace target and transmits signals to the airspace target via the second antenna array, it can also transmit signals to the RIS via the second antenna array, so that the RIS can transmit signals to the airspace target, and receive signals transmitted by the RIS via the second antenna array, which are transmitted from the airspace target to the RIS. This avoids interference between different frequency bands during communication, and enables airspace targets that are blocked by buildings or natural environment to be searched and targeted, further improving the communication performance between the base station, the terminal, and the airspace target.

[0127] Furthermore, in the embodiments of this application, the aforementioned airspace target can be a low-altitude aircraft, such as a drone, but is not limited to this.

[0128] In summary, the communication sensing fusion method proposed in this application enables both the terminal and the base station to sense airspace targets and establishes communication links between the air and ground. This achieves communication between the terminal, the base station, and the designated airspace target, allowing the designated airspace target to complete the specified tasks according to user needs. Furthermore, for the integrated sensing transmission scenario, the method considers the obstruction of low-altitude targets by buildings or natural environments. By deploying RIS to assist in the perception and communication of low-altitude targets, even those obstructed by buildings or natural environments can be accurately scanned, thereby further improving the communication performance between the terminal, the base station, and the designated airspace target.

[0129] In addition, the communication sensing fusion method proposed in this application can also be applied to low-altitude logistics, inspection and security and other application scenarios. It can sense the UAV according to the user's flight mission requirements and exchange flight control information by establishing communication connections between the terminal, base station and designated UAV.

[0130] For example, in low-altitude logistics scenarios: users (i.e., terminals) can place orders through services provided by base station operators, requesting the transportation of goods from a designated starting point to a destination (i.e., airspace target search request). The base station senses drones within its coverage area and expands the search range through RIS (Range Detection and Ranging) to ensure service availability. Furthermore, the "starting point waiting time" can be set in the control signals sent by the user, which can be used to place goods.

[0131] For example, in a patrol and security scenario: this scenario requires drones to fly over a designated area at a specified speed. After pre-designing the flight path, an order can be placed through a service provided by the base station operator, sending a request to instruct the drone to fly along the specified route (i.e., an airspace target search request). Furthermore, in this scenario, the communication-aware fusion method of this application embodiment can simultaneously issue multiple flight missions while maintaining communication connectivity, fulfilling the requirements of the patrol and security scenario.

[0132] The technical solution of this application will be further explained below with reference to a specific application process.

[0133] like Figure 3 The diagram illustrates the processing flow of the communication-aware fusion method. The airspace target is a drone. The current communication-aware fusion system needs to serve 2 terminals (K), meaning it needs to serve 2 users (K). Terminal 1 corresponds to user 1, and terminal 2 corresponds to user 2. Both user 1 and user 2 are ground users; user 1 is located at location X, and user 2 is located at location Z. User 1 needs a drone to travel from location A to location B, and user 2 needs a drone to travel from location C to location D. The number of terminal receiving antennas (N) is... r The base station is a dual-band base station, consisting of a first antenna array supporting the FR1 band (e.g., 3.5GHz) and a second antenna array supporting the FR2 band (e.g., 24GHz). That is, the first antenna array is an FR1 antenna array, and the second antenna array is an FR2 antenna array. Both the FR1 and FR2 radio frequency units of the base station are equipped with a number of array elements (i.e., N). t A uniform antenna array with a value of 4. The RIS is equipped with 32 phased array elements (i.e., R=32), arranged in a uniform planar array, with the vertical array element number (i.e., R) being 4. v The number of elements in the horizontal direction matrix is ​​4 (i.e., R). h The number of subcarriers (M) is 8. The signals transmitted by the communication sensing fusion system (such as signals transmitted between terminals, base stations, and UAVs) all adopt OFDM waveforms. The time-frequency domain frame dimension is M×N, the number of subcarriers (M) is 32, and the number of symbols (N) is 14.

[0134] Step 1: Terminal 1 sends Initial Request 1 to the base station, and Terminal 2 sends Initial Request 2 to the base station; The base station receives Initial Request 1 and Initial Request 2 respectively through the FR1 antenna array.

[0135] The data portion of Initial Request 1 includes: an initial request identifier, a terminal identifier, a terminal location, the drone's origin and destination, and a target selection strategy. The initial request identifier can be "Initial Request"; the terminal identifier indicates user 1, i.e., terminal 1; the terminal location is the latitude and longitude of location X; the drone's origin is the latitude and longitude of location A; the drone's destination is the latitude and longitude of location B; and the target selection strategy is selected by the base station.

[0136] The data portion of Initial Request 2 includes: an initial request identifier, a terminal identifier, a terminal location, the drone's origin and destination, and a target selection strategy. The initial request identifier can be "Initial Request"; the terminal identifier indicates user 2, i.e., terminal 2; the terminal location is the latitude and longitude of location Z; the drone's origin is the latitude and longitude of location C; the drone's destination is the latitude and longitude of location D; and the target selection strategy is selected by the terminal.

[0137] The aforementioned initial request 1 and initial request 2 are airspace target search requests.

[0138] Step 2: The base station sends the drone's search signal to the RIS via the FR2 antenna array.

[0139] After receiving Initial Request 1 and Initial Request 2 via the FR1 antenna array, the base station transmits a drone search signal to the RIS via the FR2 antenna array. The dimension of this drone search signal is N. t ×MN.

[0140] Step 3: Set the phase shift of RIS to θ s .

[0141] Step 4: The drone's search signal is reflected by the RIS and reaches the drone.

[0142] For example, after the drone search signal reaches the drone via the RIS reflection, the number of detected drones (i.e., L) is 5. The phase shift of the RIS is θ. s .

[0143] Step 5: The echo signal emitted by the drone reaches the base station via the RIS; the base station receives the echo signal through the FR2 antenna array.

[0144] After receiving the search signal from another drone, the drone sends an echo signal to the base station via a RIS (Range Resonance Array). The phase shift of this RIS is θ. s .

[0145] Step 6: The base station calculates the distance, angle, speed and direction of movement of the detectable target based on the echo signal.

[0146] Among them, the detectable target is the drone that emits echo signals; the distance of the detectable target is the relative distance from RIS to the detectable target; and the angle of the detectable target is the relative angle from RIS to the detectable target.

[0147] Step 7: The base station determines the location of the detectable target based on the distance, angle, speed and direction of movement of the detectable target, and selects the drone 2 for terminal 1.

[0148] Since the target selection strategy in the initial request 1 issued by terminal 1 is determined by the base station, assuming that the base station detects L drones and L is 5, the base station selects drone 2 as the service provider based on the location of the L drones (i.e., L detectable targets) and the drone starting point in the initial request 1 (i.e., latitude and longitude of location C).

[0149] Step 8: The base station sends response signal 1 to terminal 1 and response signal 2 to terminal 2 through the FR1 antenna array.

[0150] The response signal 1 includes: a request response identifier, a terminal identifier, and the location of the drone. The request response identifier can be a Request Response; the terminal identifier indicates user 1, i.e., terminal 1; the location of the drone is the location of drone 2, for example, the location of drone 2 is the latitude and longitude of location V.

[0151] Since the target selection strategy in the initial request 2 issued by terminal 2 is selected by the terminal, the base station sends the locations of all detectable targets to terminal 2 so that user 2 can choose which drone to use as the service provider.

[0152] Therefore, the response signal 2 includes: a request response identifier, a terminal identifier, and the location of the drone. The request response identifier can be "Request Response"; the terminal identifier indicates user 2, that is, indicates terminal 2; the location of the drone is the location of drones 1-5 (e.g., the location of drone 1 is S1 latitude and longitude, the location of drone 2 is S2 latitude and longitude, the location of drone 3 is S3 latitude and longitude, the location of drone 4 is S4 latitude and longitude, and the location of drone 5 is S5 latitude and longitude).

[0153] The response signal 1 and response signal 2 are the aforementioned first response signal.

[0154] Step 9: Terminal 1 sends connection confirmation signal 1 to the base station, and Terminal 2 sends connection confirmation signal 2 to the base station; the base station receives connection confirmation signal 1 and connection confirmation signal 2 respectively through the FR1 antenna array.

[0155] After receiving response signal 1, terminal 1 sends connection confirmation signal 1 to the base station; after receiving response signal 2, terminal 2 sends connection confirmation signal 2 to the base station.

[0156] The connection confirmation signal 1 includes: a connection confirmation identifier, a terminal identifier, and the drone's origin and destination. The connection confirmation identifier can be Connection ACK; the terminal identifier indicates user 1, i.e., terminal 1; the drone's origin is the latitude and longitude of location A; and the drone's destination is the latitude and longitude of location B.

[0157] The connection confirmation signal 2 includes: a connection confirmation identifier, a terminal identifier, the drone's origin and destination, and the selected drone. The connection confirmation identifier can be Connection ACK; the terminal identifier indicates user 2, i.e., terminal 2; the drone's origin is the latitude and longitude of location C; the drone's destination is the latitude and longitude of location D; and the selected drone is drone 3.

[0158] The connection confirmation signal 1 and connection confirmation signal 2 are the aforementioned first connection confirmation signals.

[0159] Step 10: The base station sends connection request signal 1 to UAV 2 and connection request signal 2 to UAV 3 through the FR2 antenna array and RIS.

[0160] After receiving connection confirmation signal 1, the base station sends connection request signal 1 to UAV 2 through the FR2 antenna array and RIS; after receiving connection confirmation signal 2, it sends connection request signal 2 to UAV 3 through the FR2 antenna array and RIS.

[0161] The connection request signal 1 corresponds to terminal 1 and includes: a connection request identifier, a terminal identifier, and the drone's starting point and destination. The connection request identifier can be a Connection Request; the terminal identifier indicates user 1, i.e., terminal 1; the drone's starting point is the latitude and longitude of location A; and the drone's destination is the latitude and longitude of location B.

[0162] The connection request signal 2 corresponds to terminal 2 and includes: a connection request identifier, a terminal identifier, and the drone's starting point and destination. The connection request identifier can be a Connection Request; the terminal identifier indicates user 2, i.e., terminal 2; the drone's starting point is the latitude and longitude of location C; and the drone's destination is the latitude and longitude of location D.

[0163] When the base station reflects connection request signal 1 to drone 2 and connection request signal 2 to drone 3 via the RIS, the RIS is set to a phase shift of θ. c This allows the RIS to forward connection request signals, enabling connection request signals 1 and 2 to form a target aiming beam for precise transmission to UAVs 2 and 3.

[0164] Step 11: The base station forwards the connection confirmation signal 3 sent by the drone 2 to the terminal 1, and forwards the connection confirmation signal 4 sent by the drone 3 to the terminal 2.

[0165] After receiving connection request signal 1, UAV 2 sends connection confirmation signal 3 to the base station via RIS; after receiving connection confirmation signal 3 via FR2 antenna array, the base station forwards connection confirmation signal 3 to terminal 1 via FR1 antenna array. After receiving connection request signal 2, UAV 3 sends connection confirmation signal 4 to the base station via RIS; after receiving connection confirmation signal 4 via FR2 antenna array, the base station forwards connection confirmation signal 4 to terminal 2 via FR1 antenna array.

[0166] The connection confirmation signal 3 includes: a connection confirmation identifier, a terminal identifier, the time required for the drone 2 to travel from its current location to the starting point, its current speed, and its maximum supported speed. The connection confirmation identifier can be Connection ACK; the terminal identifier indicates user 1, i.e., terminal 1; the time required for the drone 2 to travel from its current location to the starting point can be calculated based on the drone 2's current speed, from its current location (e.g., location V) to location A.

[0167] The connection confirmation signal 4 includes: a connection confirmation identifier, a terminal identifier, the time required for the drone 3 to travel from its current location to the starting point, its current speed, and its maximum supported speed. The connection confirmation identifier can be Connection ACK; the terminal identifier indicates user 2, i.e., terminal 2; the time required for the drone 3 to travel from its current location to the starting point can be calculated based on the drone 3's current speed, from its current location (e.g., location S3) to location C.

[0168] The connection confirmation signal 3 and connection confirmation signal 4 are the aforementioned second connection confirmation signals.

[0169] Furthermore, during the transmission of connection confirmation signal 3 and connection confirmation signal 4, the phase shift of RIS is θ. c .

[0170] Step 12: The base station forwards control signal 1 from terminal 1 to drone 2, and forwards control signal 2 from terminal 2 to drone 3.

[0171] After receiving the connection confirmation signal 3 from the base station, terminal 1 sends control signal 1 to drone 2 through the base station. This control signal 1 includes: a control information identifier, a terminal identifier, the drone's starting point, destination, takeoff time, flight speed, and starting point waiting time. The control information identifier can be ControlMessage; the terminal identifier indicates user 1, i.e., terminal 1; the drone's starting point is the latitude and longitude of location A; the drone's destination is the latitude and longitude of location B; and the starting point waiting time is the waiting time the drone spends after arriving at location A.

[0172] Similarly, after receiving the connection confirmation signal 4 sent by the base station, terminal 2 sends control signal 2 to drone 3 through the base station, that is, it sends control signal 2 to the base station. This control signal 2 includes: a control information identifier, a terminal identifier, the drone's starting point, destination, takeoff time, flight speed, and starting point waiting time. The control information identifier can be a Control Message; the terminal identifier indicates user 2, that is, it indicates terminal 2; the drone's starting point is the latitude and longitude of location C; the drone's destination is the latitude and longitude of location D; and the starting point waiting time is the waiting time the drone spends after arriving at location C.

[0173] After receiving control signal 1 from terminal 1 via the FR1 antenna array, the base station transmits control signal 1 to the RIS, causing the RIS to reflect control signal 1 to drone 2; and after receiving control signal 2 from terminal 2, the base station transmits control signal 2 to the RIS, causing the RIS to reflect control signal 2 to drone 3. During the transmission of control signal 1 and control signal 2, the phase shift of the RIS is θ. c .

[0174] Step 13: Drone 2 takes off, Drone 3 takes off; the base station forwards the takeoff confirmation signal 1 sent by Drone 2 to Terminal 1, and forwards the takeoff confirmation signal 2 sent by Drone 3 to Terminal 2.

[0175] After receiving control signal 1, UAV 2 takes off according to the control signal 1 and sends takeoff confirmation signal 1 to RIS, so that RIS reflects takeoff confirmation signal 1 to the base station, and then forwards it to terminal 1 through the base station. Takeoff confirmation signal 1 includes: takeoff confirmation identifier, UAV's current position, expected time to reach destination, and UAV's flight speed. The current position of UAV 2 is its current location, such as the latitude and longitude of location V; the expected time to reach destination is the expected time for UAV 2 to travel from its current position to location A, and then from location A to location B.

[0176] After receiving the takeoff confirmation signal 1 sent by RIS through the FR2 antenna array, the base station forwards the takeoff confirmation signal 1 to terminal 1 through the FR1 antenna array.

[0177] Similarly, after receiving control signal 2, drone 3 takes off according to the control signal 2 and sends takeoff confirmation signal 2 to RIS, so that RIS reflects takeoff confirmation signal 2 to the base station, which then forwards it to terminal 2. This takeoff confirmation signal 2 includes: takeoff confirmation identifier, drone's current position, expected time to reach destination, and drone's flight speed. The drone's current position is the current location of drone 3, such as the latitude and longitude of location S3; the expected time to reach destination is the expected time for drone 3 to travel from its current position to location C, and then from location C to location D.

[0178] After receiving the takeoff confirmation signal 2 sent by RIS through the FR2 antenna array, the base station forwards the takeoff confirmation signal 2 to terminal 2 through the FR1 antenna array.

[0179] During the transmission of takeoff confirmation signal 1 and takeoff confirmation signal 2, the phase shift of RIS is θ. c .

[0180] Step 14: The user waits for the drone to arrive.

[0181] Subsequently, after receiving the takeoff confirmation signal 1, terminal 1 waits for drone 2 to arrive at the destination after the expected time.

[0182] After receiving the takeoff confirmation signal 2, terminal 2 waits for drone 3 to arrive at the destination after the expected time.

[0183] In this embodiment of the application, steps 1-8 described above can be the sensing stage. For example... Figure 4a As shown, in the perception phase, User 1, User L sends ground uplink signals (such as Initial Request 1 and Initial Request 2) to the dual-frequency base station via the ground-to-ground antenna array (i.e., the FR1 antenna array); the dual-frequency base station sends base station sensing signals (such as UAV search signals) to the RIS via the air-to-ground antenna array (i.e., the FR2 antenna array); the RIS then sends the reflected sensing signals (such as UAV search signals) to target 1. Target L; Target 1 The target L sends a sensing echo signal (such as an echo signal emitted by a drone) to the RIS; the dual-frequency base station receives the reflected echo signal from the RIS (such as an echo signal emitted by the RIS) through its air-to-ground antenna array; the dual-frequency base station transmits ground downlink signals (such as response signal 1 and response signal 2) to user 1 through its ground-to-ground antenna array. User L.

[0184] Steps 9-14 mentioned above can be considered the communication phase. For example... Figure 4b As shown, during the communication phase, the dual-band base station receives signals from user 1 via a ground-to-ground antenna array (i.e., the FR1 antenna array). Ground uplink signals sent by user L (such as connection confirmation signal 1 and connection confirmation signal 2), and signals sent to user 1, User L sends downlink ground signals (such as connection confirmation signal 3 and connection confirmation signal 4); the dual-frequency base station, based on an air-to-ground antenna array (i.e., FR2 antenna array), transmits signals to target 1 via RIS. Target L sends downlink signals to the air (such as connection request signal 1 and connection request signal 2), and receives signals from Target 1 via RIS. The air uplink signals sent by target L (such as connection confirmation signal 3 and connection confirmation signal 4).

[0185] Using the methods described above, users within the base station's coverage area can effectively search for available drones and complete designated flight tasks, such as cargo delivery and industrial inspection. Furthermore, the use of RIS (Range Recognition System) expands the base station's search range, effectively preventing situations in urban areas where no drones are available due to obstruction by buildings or natural weather conditions.

[0186] Based on the same inventive concept, this application also provides a communication sensing fusion system configured in a base station, such as... Figure 5 The diagram shown is a structural schematic of a communication-sensing fusion system provided in this application. The system includes: The first sensing module 501 is used to respond to receiving an airspace target search request sent by the terminal, send an airspace target search signal to L airspace targets, and receive echo signals sent by L airspace targets based on the airspace target search signal; where L is a positive integer; The second sensing module 502 is used to determine the positions of L airspace targets based on the echo signals, and send a first response signal containing the positions to the terminal so that the terminal can determine the specified airspace targets based on the first response signal. The first communication module 503 is used to transmit a connection confirmation signal between the terminal and the designated airspace target in order to establish a communication connection between the terminal, the base station, and the designated airspace target. The second communication module 504 is used to forward control signals sent by the terminal to a designated airspace target based on the communication connection, so that the designated airspace target can complete the designated task according to the control signals.

[0187] In one possible implementation, the first communication module 503, when transmitting a connection confirmation signal between the terminal and a designated airspace target to establish a communication connection between the terminal, the base station, and the designated airspace target, is specifically configured to receive a first connection confirmation signal sent by the terminal based on a first response signal; wherein the first connection confirmation signal includes: a first connection confirmation identifier, a terminal identifier, a terminal location, and the starting point and destination of the airspace target; establish a connection request signal based on the first connection confirmation signal; wherein the connection request signal includes: a connection request identifier, a terminal identifier, a starting point, and a destination; send the connection request signal to the designated airspace target; receive a second connection confirmation signal sent by the designated airspace target based on the connection request signal; wherein the second connection confirmation signal includes: a second connection confirmation identifier, a terminal identifier, the current speed of the designated airspace target, the maximum supported speed, and the time required to travel from the current location to the starting point; send the second connection confirmation signal to the terminal, confirming the establishment of a communication connection between the terminal, the base station, and the designated airspace target.

[0188] In one possible implementation, the second communication module 504, when forwarding control signals sent by the terminal to a designated airspace target so that the designated airspace target completes the designated task according to the control signals, is specifically used to receive control signals sent by the terminal based on a second connection confirmation signal replied by the base station; wherein, the control signal includes: a control information identifier, a terminal identifier, the starting point, destination, takeoff time, flight speed, and waiting time at the starting point of the airspace target; sending the control signal to the designated airspace target so that the designated airspace target completes the designated task according to the control signals, and replying to the terminal with a takeoff confirmation signal through the base station; wherein, the takeoff confirmation signal includes: a takeoff confirmation identifier, the current position, flight speed, and expected time to reach the destination of the designated airspace target.

[0189] In one possible implementation, the first sensing module 501 is further configured to send an airspace target search signal after receiving an airspace target search request sent by the terminal; if no echo signal is received after waiting for a set time, a second response signal is sent to the terminal; wherein the second response signal includes a request response identifier, a terminal identifier, and a service unavailable identifier; the service unavailable identifier indicates that there are no available airspace targets within the base station coverage area.

[0190] In one possible implementation, the system further includes a cancellation module, which, after sending a first response signal containing the location to the terminal, if it receives a request cancellation signal from the terminal, sends a first cancellation confirmation signal and a connection cancellation signal to the terminal; wherein the request cancellation signal includes a request cancellation identifier and a terminal identifier; the first cancellation confirmation signal includes a first cancellation confirmation identifier and a terminal identifier; the connection cancellation signal includes a connection cancellation identifier and a terminal identifier; and upon receiving a second cancellation confirmation signal sent by the terminal based on the first cancellation confirmation signal and the connection cancellation signal, closes the connection; wherein the second cancellation confirmation signal includes a second cancellation confirmation identifier and a terminal identifier; the connection includes a connection to an airspace target and a connection to the terminal.

[0191] In one possible implementation, the system further includes a processing module for transmitting airspace target search signals and echo signals to L airspace targets via a reconfigurable intelligent reflector (RIS); wherein the phase shift of the RIS is a first phase shift; and transmitting a connection request signal, a second connection confirmation signal, a control signal, and a takeoff confirmation signal to a designated airspace target via the RIS; wherein the phase shift of the RIS is switched to a second phase shift.

[0192] In one possible implementation, the processing module is further configured to receive signals transmitted by the terminal and transmit signals to the terminal via a first antenna array; wherein the first antenna array supports a first frequency range FR1 band; and to receive signals transmitted by an airspace target and transmit signals to the airspace target via a second antenna array; wherein the second antenna array supports a second frequency range FR2 band.

[0193] Based on the same inventive concept, this application also provides an electronic device that can realize the functions of the aforementioned communication-sensing fusion system. (Refer to...) Figure 6 The aforementioned electronic devices include: At least one processor 601 and a memory 602 connected to at least one processor 601. In this embodiment, the specific connection medium between the processor 601 and the memory 602 is not limited. Figure 6 The example shown is the connection between processor 601 and memory 602 via bus 600. Bus 600 is... Figure 6 The connections between other components are indicated by thick lines and are for illustrative purposes only, not as limiting information. The 600 bus can be divided into address bus, data bus, control bus, etc., for ease of representation. Figure 6 The term "processor" is represented by a single thick line, but this does not imply that there is only one bus or one type of bus. Alternatively, the processor 601 can also be called a controller; there is no restriction on the name.

[0194] In this embodiment, memory 602 stores instructions executable by at least one processor 601. By executing the instructions stored in memory 602, at least one processor 601 can execute the communication-aware fusion method discussed above. Processor 601 can implement... Figure 5 The system shown illustrates the functions of each module.

[0195] The processor 601 is the control center of the system. It can connect to various parts of the control device through various interfaces and lines. By running or executing instructions stored in memory 602 and calling data stored in memory 602, the system can perform various functions and process data, thereby monitoring the system as a whole.

[0196] In one possible design, processor 601 may include one or more processing units. Processor 601 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the modem processor may also not be integrated into processor 601. In some embodiments, processor 601 and memory 602 may be implemented on the same chip; in some embodiments, they may also be implemented on separate chips.

[0197] The processor 601 can be a general-purpose processor, such as a central processing unit (CPU), digital signal processor, application-specific integrated circuit, field-programmable gate array or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the communication-sensing fusion method disclosed in the embodiments of this application can be directly manifested as being executed by a hardware processor, or executed by a combination of hardware and software modules within the processor.

[0198] Memory 602, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. Memory 602 may include at least one type of storage medium, such as flash memory, hard disk, multimedia card, card-type memory, random access memory (RAM), static random access memory (SRAM), programmable read-only memory (PROM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), magnetic memory, magnetic disk, optical disk, etc. Memory 602 can be any other medium capable of carrying or storing desired program code in the form of instructions or data structures that can be accessed by a computer, but is not limited thereto. In the embodiments of this application, memory 602 can also be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0199] By designing and programming the processor 601, the code corresponding to the communication-aware fusion method described in the foregoing embodiments can be embedded into the chip, enabling the chip to execute the code during runtime. Figure 1 The steps of the communication-aware fusion method in the illustrated embodiment are described below. How to design and program the processor 601 is a technique well-known to those skilled in the art and will not be elaborated upon here.

[0200] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium. The computer program product includes computer program code, which, when executed on a computer, causes the computer to perform any of the communication-sensing fusion methods discussed above. Since the principle by which the above-described computer-readable storage medium solves the problem is similar to that of the communication-sensing fusion method, the implementation of the above-described computer-readable storage medium can be found in the implementation of the method; repeated details will not be elaborated further.

[0201] Based on the same inventive concept, this application also provides a computer program product, which includes computer program code. When the computer program code is run on a computer, it causes the computer to execute any of the communication-sensing fusion methods discussed above. Since the principle by which the above-described computer program product solves the problem is similar to that of the communication-sensing fusion method, the implementation of the above-described computer program product can be referred to the implementation of the method, and repeated details will not be described again.

[0202] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0203] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0204] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0205] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of user-operated steps to be executed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0206] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A communication sensing fusion method, applied to a base station, characterized in that, include: In response to receiving an airspace target search request from a terminal, an airspace target search signal is sent to L airspace targets, and echo signals sent by the L airspace targets based on the airspace target search signal are received; wherein, L is a positive integer; Based on the echo signal, the positions of the L airspace targets are determined, and a first response signal containing the positions is sent to the terminal, so that the terminal can determine the specified airspace target based on the first response signal; A connection confirmation signal is transmitted between the terminal and the designated airspace target to establish a communication connection between the terminal, the base station, and the designated airspace target; Based on the communication connection, the control signal sent by the terminal is forwarded to the designated airspace target, so that the designated airspace target can complete the designated task according to the control signal.

2. The method as described in claim 1, characterized in that, The step of transmitting a connection confirmation signal between the terminal and the designated airspace target to establish a communication connection between the terminal, the base station, and the designated airspace target includes: Receive a first connection confirmation signal sent by the terminal based on the first response signal; wherein, the first connection confirmation signal includes: a first connection confirmation identifier, a terminal identifier, a terminal location, and the start and destination points of the airspace target; Based on the first connection confirmation signal, a connection request signal is established; wherein, the connection request signal includes: a connection request identifier, the terminal identifier, the starting point, and the destination; Send the connection request signal to the designated airspace target; Receive a second connection confirmation signal sent by the designated airspace target based on the connection request signal; wherein the second connection confirmation signal includes: a second connection confirmation identifier, the terminal identifier, the current speed of the designated airspace target, the maximum supported speed, and the time required to travel from the current position to the starting point; The second connection confirmation signal is sent to the terminal to confirm the establishment of the communication connection between the terminal, the base station, and the designated airspace target.

3. The method as described in claim 1, characterized in that, The step of forwarding the control signal sent by the terminal to the designated airspace target, so that the designated airspace target completes the designated task according to the control signal, includes: The terminal receives the control signal sent by the terminal based on the second connection confirmation signal replied by the base station; wherein the control signal includes: control information identifier, terminal identifier, starting point, destination, takeoff time, flight speed, and waiting time at the starting point of the airspace target; The control signal is sent to the designated airspace target so that the designated airspace target completes the designated task according to the control signal and replies with a takeoff confirmation signal to the terminal through the base station; wherein, the takeoff confirmation signal includes: takeoff confirmation identifier, the current position of the designated airspace target, flight speed, and expected time to reach the destination.

4. The method as described in claim 1, characterized in that, After receiving the airspace target search request sent by the terminal, the method further includes: The airspace target search signal was issued; If the echo signal is not received after waiting for a set period of time, a second response signal is sent to the terminal; wherein the second response signal includes a request response identifier, a terminal identifier, and a service failure identifier; the service failure identifier indicates that there are no available airspace targets within the coverage area of ​​the base station.

5. The method as described in claim 1, characterized in that, After sending the first response signal containing the location to the terminal, the method further includes: If a request to cancel signal is received from the terminal, a first cancellation confirmation signal and a connection cancellation signal are sent to the terminal; wherein, the request to cancel signal includes a request to cancel identifier and a terminal identifier; the first cancellation confirmation signal includes a first cancellation confirmation identifier and the terminal identifier; and the connection cancellation signal includes a connection cancellation identifier and the terminal identifier. Upon receiving a second cancellation confirmation signal sent by the terminal based on the first cancellation confirmation signal and the connection cancellation signal, the connection is closed; wherein, the second cancellation confirmation signal includes a second cancellation confirmation identifier and the terminal identifier; the connection includes a connection to an airspace target and a connection to the terminal.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: The reconfigurable intelligent reflector RIS transmits the airspace target search signal and the echo signal to the L airspace targets; wherein the phase shift of the RIS is a first phase shift; and The RIS transmits a connection request signal, a second connection confirmation signal, the control signal, and a takeoff confirmation signal to the designated airspace target; wherein the phase shift of the RIS is switched to the second phase shift.

7. The method according to any one of claims 1-6, characterized in that, The method further includes: The first antenna array receives signals transmitted by the terminal and transmits signals to the terminal; wherein the first antenna array supports the first frequency range FR1 band. The second antenna array receives signals transmitted by targets in the airspace and transmits signals to targets in the airspace; wherein, the second antenna array supports the second frequency range FR2 band.

8. A communication sensing fusion system, configured in a base station, characterized in that, include: The first sensing module is used to respond to receiving an airspace target search request sent by the terminal, send an airspace target search signal to L airspace targets, and receive echo signals sent by the L airspace targets based on the airspace target search signal; wherein, L is a positive integer; The second sensing module is used to determine the positions of the L airspace targets based on the echo signals, and send a first response signal containing the positions to the terminal, so that the terminal can determine the specified airspace targets based on the first response signal; The first communication module is used to transmit a connection confirmation signal between the terminal and the designated airspace target to establish a communication connection between the terminal, the base station, and the designated airspace target. The second communication module is used to forward the control signals sent by the terminal to the designated airspace target based on the communication connection, so that the designated airspace target can complete the designated task according to the control signals.

9. An electronic device, characterized in that, include: Memory, used to store computer programs; A processor, when executing a computer program stored in the memory, implements the method of any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the method of any one of claims 1-7.

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