A perception method and apparatus

Abstract

A sensing method and apparatus. A second device receives first information, the first information comprising position information of all or part of an antenna array in a first device, or comprising equivalent position information of the antenna array in the first device. The first information is used for sensing. In embodiments of the application, the second device can determine the respective positions of the antenna array in the first device according to the first information, so that the second device can use the first information when performing sensing, which helps to improve the sensing accuracy.

Description

Technical Field

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

[0002] Sensing refers to the detection of parameters of targets in the physical environment, such as their position and velocity. It can also be called detection. During sensing, the position or shape of targets in the environment can be perceived by utilizing the reflection, scattering, or diffraction of signals transmitted by user equipment (UE) or base stations as they propagate through space. For example, in a sensing scenario where the UE transmits a signal and the base station receives it, the UE sends a sensing signal, which reaches the base station after reflection, scattering, or diffraction by the target. The base station can then measure the sensing signal to obtain a measurement result, and perform sensing operations based on this result.

[0003] Improving perception accuracy is a problem that urgently needs to be solved. Summary of the Invention

[0004] This application provides a sensing method and apparatus to improve sensing accuracy. The sensing method and apparatus can also be considered a communication method and apparatus, or an integrated sensing and communication method and apparatus.

[0005] Firstly, a first sensing method is provided, which can be applied to a second device. The second device is, for example, a second equipment, a functional module included in a second equipment, or a larger device including a second equipment. The second device is, for example, a terminal-side device or a network-side device. The terminal-side device is also referred to as a terminal device. The terminal device is, for example, a terminal device, or other device including terminal device functions, or a circuit, or a system-on-a-chip (or chip, such as a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip containing a modem core or a system-in-package (SIP) chip) or other functional module, which can implement the functions of the terminal device, and is, for example, disposed in the terminal device. The network-side device is also referred to as a network device. The network device is, for example, an access network device, or other device including access network device functions, or a circuit, or a system-on-a-chip (or chip) or other functional module, which can implement the functions of a network device, and is, for example, disposed in the network device. The access network device can be a non-ORAN architecture or an ORAN architecture; or, the access network device can be a CU, DU, or RU under an ORAN architecture. The access network device may be located on the ground, or it may be a satellite, or located on a satellite. The method includes: receiving first information, the first information including position information of all or part of the antenna elements in an antenna array within the first device, or including equivalent position information of the antenna array within the first device, wherein the first information is used for sensing.

[0006] In this embodiment of the application, for example, a first device and a second device participate in sensing. The second device can determine the corresponding position of the antenna array in the first device based on the first information. Thus, the second device can utilize the first information when performing sensing, which helps to improve the sensing accuracy.

[0007] In an optional implementation, the method further includes: sending second information to the first device, the second information including position information of all or part of the antenna elements in the antenna array within the second device, or including equivalent position information of the antenna array within the second device. Generally, sensing is performed by a device acting as a receiver of the sensing signal; therefore, the device requiring the relevant position information of the antenna elements is the receiver. If the roles of the devices can be switched—for example, for a period of time, the first device is the transmitter of the sensing signal and the second device is the receiver, and in the next period of time, the first device becomes the receiver and the second device becomes the transmitter—then the second device can send the second information to the first device, enabling both devices to obtain the position information of the antenna elements at the other end. Thus, either device at either end can utilize the relevant position information of the antenna elements at the other end if it needs to perform sensing.

[0008] In an optional implementation, the method further includes: sensing based on the first information and / or the second information, wherein the second information includes position information of all or part of the antenna elements in the antenna array within the second device, or includes equivalent position information of the antenna array within the second device. When performing sensing, the second device can utilize the relevant position information of the antenna elements, which helps improve sensing accuracy.

[0009] In one optional implementation, the first information further includes information indicating the coordinate system corresponding to the first information; and / or, the method further includes: sending second information to the first device, the second information including information indicating the coordinate system corresponding to the second information. There may be multiple coordinate systems; the first information can indicate the coordinate system corresponding to the first information, allowing the second device to determine the position of the antenna array based on the first information. Optionally, the second device can also choose this coordinate system, so that the two devices use the same coordinate system. The second information can indicate the coordinate system corresponding to the second information, allowing the first device to determine the position of the antenna array based on the second information. Optionally, the first device can also choose this coordinate system, so that the two devices use the same coordinate system.

[0010] In one optional implementation, the coordinate system corresponding to the first information and / or the second information is the WGS84 coordinate system or the Cartesian coordinate system. The coordinate systems corresponding to the first information and the second information can be the same or different.

[0011] In one optional implementation, the first information further includes information for instructing the second device to periodically update the location information related to the antenna array; or, the method further includes: sending second information to the first device, the second information including information for instructing the first device to periodically update the location information related to the antenna array. For example, the first device may instruct the second device to periodically update the location information related to the antenna array, or the second device may instruct the first device to periodically update the location information related to the antenna array.

[0012] In an optional implementation, the method further includes: receiving first request information, the first request information being used to request second information; and / or sending second request information to the first device, the second request information being used to request the first information. The first device sending the first information to the second device can be done proactively, without requiring a request, which reduces signaling overhead; or it can be done after receiving the second request information, making the transmission of the first information more efficient. The second device sending the second information to the first device can be done proactively, or it can be done after receiving the first request information.

[0013] In an optional implementation, the method further includes: sending updated second information to the first device when a first condition is met. The updated second information may include updated antenna element-related location information. For example, the second device may also update the antenna element-related location information when the condition is met, thereby enabling sensing based on more accurate location information and improving sensing accuracy.

[0014] In one optional implementation, the first condition includes one or more of the following: the location of the second device changes, or the change in the location of the second device is greater than or equal to a first threshold, or the weather changes. For example, if the location of the second device changes, it may cause a change in the location of the antenna array of the second device. Therefore, in this case, the second device can update the location information related to the antenna array. As another example, the location of the antenna array measured by the second device may differ under different weather conditions. When the weather conditions are poor, the measured location of the antenna array may not be accurate enough. Therefore, when the weather changes, for example, when the weather conditions change from poor to better, the second device can update (e.g., remeasure) the location of the antenna array of the second device to obtain more accurate location information and improve sensing accuracy.

[0015] In an optional implementation, the method further includes receiving updated first information. The updated first information may include updated antenna element-related location information. For example, the first device may also update the antenna element-related location information when certain conditions are met, or it may periodically update the antenna element-related location information, thereby enabling sensing based on more accurate location information and improving sensing accuracy.

[0016] Secondly, a second sensing method is provided, which can be applied to a first device. The first device is, for example, a first equipment, a functional module included in a first equipment, or a larger device including the first equipment. The first device is, for example, a terminal-side device or a network-side device; for a description of terminal-side devices and network-side devices, please refer to the first aspect. The method includes: sending first information to a second device, the first information including position information of all or part of the antenna elements in an antenna array within the first device, or including equivalent position information of the antenna array within the first device, wherein the first information is used for sensing.

[0017] In one optional implementation, the method further includes: receiving second information, the second information including position information of all or part of the antenna elements in the antenna array within the second device, or including equivalent position information of the antenna array within the second device.

[0018] In one optional implementation, the first information further includes information for indicating the coordinate system corresponding to the first information; and / or, the method further includes: receiving second information, the second information including information for indicating the coordinate system corresponding to the second information.

[0019] In one optional implementation, the coordinate system corresponding to the first information and / or the second information is the WGS84 coordinate system or the Cartesian coordinate system.

[0020] In one alternative implementation, the first information further includes information for instructing periodic updates of location information related to the antenna array within the second device; or, the method further includes receiving second information, the second information including information for instructing periodic updates of location information related to the antenna array within the first device.

[0021] In one optional implementation, the method further includes: sending a first request message to the second device, the first request message being used to request second information; or receiving a second request message, the second request message being used to request the first information.

[0022] In an optional implementation, the method further includes: sending updated first information to the second device when a second condition is met.

[0023] In one alternative implementation, the second condition includes one or more of the following: the location of the first device changes; or, the change in the location of the first device is greater than or equal to a second threshold; or, the weather changes.

[0024] In one alternative implementation, the method further includes receiving updated second information.

[0025] For the technical effects of the second aspect or various alternative implementation methods, please refer to the introduction of the technical effects of the first aspect or corresponding implementation methods.

[0026] Thirdly, an apparatus is provided. The apparatus can be the second apparatus described in the first aspect above. The apparatus possesses the functions of the second apparatus described above. For example, the apparatus is capable of implementing the functions described in the first aspect above. For instance, the apparatus includes modules, units, or means corresponding to performing the operations involved in the first aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The second apparatus is, for example, a terminal device, or other device including terminal device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a terminal device, and is, for example, disposed in a terminal device. Alternatively, the second apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device, and is, for example, disposed in a network device. The network device includes, for example, core network equipment and / or access network equipment. In an optional implementation, the apparatus includes a baseband device and a radio frequency device. In another optional implementation, the device includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). The transceiver unit is capable of both sending and receiving functions. When the transceiver unit performs the sending function, it can be called a sending unit (sometimes also called a sending module); when the transceiver unit performs the receiving function, it can be called a receiving unit (sometimes also called a receiving module). The sending unit and the receiving unit can be the same functional module, which is called the transceiver unit and can perform both sending and receiving functions; alternatively, the sending unit and the receiving unit can be different functional modules, and the transceiver unit is a collective term for these functional modules.

[0027] In one optional implementation, the transceiver unit (or the receiving unit) is configured to receive first information, the first information including the position information of all or part of the antenna elements in the antenna array within the first device, or including the equivalent position information of the antenna array within the first device, wherein the first information is used for sensing.

[0028] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the second device described in the first aspect above.

[0029] Fourthly, an apparatus is provided. The apparatus can be the first apparatus described in the second aspect above. The apparatus possesses the functions of the first apparatus described above. For example, the apparatus has the functions described in the second aspect above; for example, the apparatus includes modules, units, or means corresponding to performing the operations involved in the second aspect above. These modules, units, or means can be implemented through software, hardware, or a combination of software and hardware. The first apparatus is, for example, a terminal device, or other device including terminal device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a terminal device, and is, for example, disposed in a terminal device. Alternatively, the first apparatus is, for example, a network device, or other device including network device functions, or a chip system (or chip or circuit) or other functional module capable of implementing the functions of a network device, and is, for example, disposed in a network device. The network device includes, for example, core network equipment and / or access network equipment. In an optional implementation, the apparatus includes a baseband device and a radio frequency device. In another alternative implementation, the apparatus includes a processing unit (sometimes also called a processing module) and a transceiver unit (sometimes also called a transceiver module). For details on the implementation of the transceiver unit, please refer to the relevant description in the third aspect.

[0030] In one optional implementation, the transceiver unit (or the transmitting unit) is configured to transmit first information to the second device. The first information includes the position information of all or part of the antenna elements in the antenna array within the first device, or includes the equivalent position information of the antenna array within the first device, wherein the first information is used for sensing.

[0031] In an alternative embodiment, the device further includes a storage unit (sometimes also called a storage module), the processing unit being coupled to the storage unit and executing programs or instructions in the storage unit to enable the device to perform the functions of the first device described in the second aspect above.

[0032] Fifthly, an apparatus is provided, the apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions involved in the first or second aspect described above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the first or second aspect described above.

[0033] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0034] In one possible design, the device may also include the memory.

[0035] The aforementioned device may be a terminal device, a communication module in a terminal device, or a chip in a terminal device that is responsible for communication functions, such as a modem chip (also known as a baseband chip) or a SoC or SIP chip that contains a modem module.

[0036] A sixth aspect provides an apparatus comprising a memory and one or more processors. The memory is used to store part or all of a computer program or instructions necessary for implementing the functions described in the first or second aspect above. The one or more processors are executable to carry out the computer program or instructions, such that, when executed, the apparatus implements the methods in any possible design or implementation of the first or second aspect above.

[0037] In one possible design, the device may further include interface circuitry, wherein the processor is configured to communicate with other devices or components via the interface circuitry.

[0038] In one possible design, the device may also include the memory.

[0039] The aforementioned device may be a network device, a communication module in a network device, or a chip in a network device that is responsible for communication functions, such as a modem chip (also known as a baseband chip) or a SoC or SIP chip that contains a modem module.

[0040] A seventh aspect provides a sensing system including a network device. The network device is used to perform the method described in the first aspect by the second device, or to perform the method described in the second aspect by the first device. For example, the network device can be implemented using the devices described in the third, fourth, or sixth aspects.

[0041] Optionally, the sensing system may further include a terminal device. The terminal device is used to execute the method described in the first aspect by the second device, or to execute the method described in the second aspect by the first device. For example, the terminal device can be implemented using the devices described in the third, fourth, or fifth aspects.

[0042] Eighthly, a sensing system is provided, including a first device and a second device. The second device is used to perform the method described in the first aspect, which is executed by the second device, and the first device is used to perform the method described in the second aspect, which is executed by the first device. For example, the second device can be implemented using the apparatus described in the third, fifth, or sixth aspects, and the first device can be implemented using the apparatus described in the fourth, fifth, or sixth aspects.

[0043] A ninth aspect provides a computer-readable storage medium for storing a computer program or instructions that, when executed, cause the method performed by the first or second means in the preceding aspects to be implemented.

[0044] In a tenth aspect, a computer program product containing instructions is provided, which, when the computer program or instructions are run on a computer, causes the methods described in the above aspects to be implemented.

[0045] Eleventhly, a chip system is provided, including a processor and an interface, wherein the processor is configured to call and execute instructions from the interface to enable the chip system to implement the methods described above. Attached Figure Description

[0046] Figure 1A This is a schematic diagram of the access network equipment structure under the ORAN architecture.

[0047] Figure 1B This is a schematic diagram of a RAN chip structure.

[0048] Figure 2A and Figure 2B These are schematic diagrams of single-station sensing mode and dual-station sensing mode, respectively.

[0049] Figure 3 and Figure 4 This is a schematic diagram of two network architectures used in the embodiments of this application;

[0050] Figure 5 A flowchart of a sensing method provided in an embodiment of this application;

[0051] Figure 6 This is an example of signal transmission in the embodiments of this application;

[0052] Figure 7A schematic diagram of an apparatus provided in an embodiment of this application;

[0053] Figure 8 This is a schematic diagram of another device provided in an embodiment of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the embodiments of this application will be further described in detail below with reference to the accompanying drawings.

[0055] In this application embodiment, the number of nouns, unless otherwise specified, refers to "singular nouns or plural nouns," that is, "one or more." "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. For example, A / B means: A or B. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c means: a, b, c, a and b, a and c, b and c, or a and b and c, where a, b, and c can be single or multiple.

[0056] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects, and are not used to limit the size, content, order, timing, priority, or importance of the multiple objects. Furthermore, the numbering of steps in the various embodiments described in this application is only to distinguish different steps and is not used to limit the order in which the steps are performed.

[0057] The following explanations of some terms or concepts used in the embodiments of this application are provided to facilitate understanding by those skilled in the art.

[0058] In this embodiment of the application, the terminal device is a device with wireless transceiver function, which may be a fixed device, a mobile device, a handheld device (e.g., a mobile phone), a wearable device, an in-vehicle device, or a wireless device (e.g., a communication module, a modem, or a chip system, etc.) built into the above devices. The terminal devices are used to connect people, objects, and machines, and can be widely used in various scenarios, including but not limited to the following: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine / machine-type (M2M / MTC) communication, Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, and terminal devices in indoor commercial scenarios (such as mobile phone screen mirroring, file sharing, and mobile phone to VR glasses). When the terminal equipment is applied to V2X, it can also be called a V2X device, such as a smart car, digital car, unmanned car, driverless car, pilotless car, or automobile, self-driving car, or autonomous car, pure electric vehicle (EV), hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, or roadside unit (RSU). The terminal equipment can also be a device used in D2D communication, such as an electricity meter or water meter.

[0059] Furthermore, in this embodiment of the application, the terminal device can also be a terminal device in an Internet of Things (IoT) system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0060] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can all be considered in-vehicle terminal devices, also known as on-board units (OBUs). The terminal device of this application can also be an in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit.

[0061] The terminal equipment may sometimes be referred to as user equipment (UE), terminal, access station, UE station, remote station, wireless communication equipment, or user device, etc.

[0062] In this application embodiment, the device for implementing the terminal device function can be a terminal device, which can be a terminal device or a device capable of supporting the terminal device in implementing the function, such as a chip system. This device can be installed in the terminal device. In the technical solutions provided in this application embodiment, the example of a terminal device being used to implement the terminal device function is used to describe the technical solutions provided in this application embodiment.

[0063] The network devices in this application embodiment include, for example, access network devices (or access network elements) and / or core network devices (or core network elements). The access network devices are devices with wireless transceiver capabilities, used to communicate with the terminal devices. The access network devices include, but are not limited to, base stations (base transceiver stations (BTS), Node B, evolved Node B (eNodeB) / eNB, or the next generation Node B (gNodeB) / gNB), transmission reception points (TRPs), base stations evolved from the 3rd generation partnership project (3GPP), access nodes in wireless fidelity (Wi-Fi) systems, wireless relay nodes, wireless backhaul nodes, etc. The base stations can be: macro base stations, micro base stations, pico base stations, small cells, relay stations, etc. Multiple base stations can support networks using the same access technology or networks using different access technologies. A base station can contain one or more co-located or non-co-located transmission and reception points. The access network equipment can also be a radio controller, centralized unit (CU), and / or distributed unit (DU) in a cloud radioaccess network (CRAN) scenario. The access network equipment can also be a server, etc. For example, the network equipment in V2X technology can be a roadside unit (RSU). The following description uses a base station as an example to illustrate the access network equipment. A base station can communicate with a terminal device, or it can communicate with a terminal device through a relay station. A terminal device can communicate with multiple base stations in different access technologies. The core network equipment is used to implement functions such as mobility management, data processing, session management, policy and billing. The names of the equipment implementing core network functions may differ in systems using different access technologies; this application does not limit this.Taking the 5th generation (5G) mobile communication technology system as an example, the core network equipment includes, for example, access and mobility management function (AMF), session management function (SMF), policy control function (PCF), or user plane function (UPF), etc.

[0064] In a CU-DU architecture, or in an open RAN (ORAN) system, access network equipment may include one or more logical network elements such as a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). CUs and DUs can be separate entities or included in the same network element, such as a baseband unit (BBU). RUs may be included in radio equipment or radio units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). One possible structure for access network equipment can be found in [reference needed]. Figure 1A Among them, core network equipment and access network equipment can communicate through backhaul links; within access network equipment, CU and DU can communicate through midhaul links, and DU and RU can communicate through fronthaul links.

[0065] Alternatively, another architecture for the access network equipment can be referenced. Figure 1B , Figure 1BTaking access network equipment implemented through chips as an example, such as a RAN chip, the RAN chip may include a CU, DU, and RU. The CU can perform L2 and L3 functions, etc.; the DU can perform L1 functions and some L2 functions, etc.; and the RU can perform L1 computing and radio frequency (RF) digital functions, etc. The CU communicates with the core network equipment through a backhaul interface, which carries the traffic between the CU and the core network equipment. The CU may include a central processing unit (CPU) based on x86 or ARM architecture, as well as field programmable gate arrays (FPGAs), graphics processing units (GPUs), or other accelerators, etc. The CPU can communicate with the FPGA, GPU, or other accelerators through a peripheral component interconnect express (PCIe) interface.

[0066] The CU and DU communicate via a midhaul interface, which carries the traffic between the CU and DU. The DU may include an x86 or ARM architecture CPU, as well as FPGAs, GPUs, or other accelerators, which can communicate with the FPGA, GPU, or other accelerators via a PCIe interface.

[0067] The DU and RU communicate via a fronthaul interface, which carries the traffic between the DU and RU. If the access network equipment uses an integrated DU, the integrated DU can include the functions of both the DU and RU, and the RAN may no longer need to include a separate RU. The RU may include a RAN fronthaul processing unit, a digital processing unit, and an RF processing unit. The RAN fronthaul processing unit is implemented, for example, using an FPGA or an application-specific integrated circuit (ASIC). The digital processing unit is implemented, for example, using an FPGA or an ASIC.

[0068] The RU can be connected to an antenna to communicate with the UE via the antenna.

[0069] In different systems, CU (or CU-CP and CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open CU (O-CU), DU can also be called an open DU (O-DU), CU-CP can also be called an open CU-CP (O-CU-CP), CU-UP can also be called an open CU-UP (O-CU-CP), and RU can also be called an open RU (O-RU). For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples in its embodiments. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in the embodiments of this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules.

[0070] The CU and DU can be configured according to the protocol layer functions of the wireless network they implement. For example, the CU can be configured to implement the functions of the Packet Data Convergence Protocol (PDCP) layer and above (such as the Radio Resource Control (RRC) layer and / or the Service Data Adaptation Protocol (SDAP) layer); the DU can be configured to implement the functions of protocol layers below the PDCP layer (such as one or more of the Radio Link Control (RLC) layer, Media Access Control (MAC) layer, or Physical (PHY) layer). Alternatively, the CU can be configured to implement the functions of protocol layers above the PDCP layer (such as the RRC and / or SDAP layers), and the DU can be configured to implement the functions of protocol layers below the PDCP layer (such as one or more of the RLC, MAC, or PHY layers).

[0071] The above CU and DU configurations are merely examples; the functions of the CU and DU can be configured as needed. For instance, the CU or DU can be configured to have more protocol layer functions, or only some protocol layer processing functions. For example, some RLC layer functions and protocol layer functions above the RLC layer can be placed in the CU, while the remaining RLC layer functions and protocol layer functions below the RLC layer can be placed in the DU. Furthermore, the functions of the CU or DU can be divided according to service type or other system requirements, such as by latency. Functions that require low latency can be placed in the DU, while functions that do not require low latency can be placed in the CU.

[0072] DU and RU can cooperate to implement the functions of the PHY layer. A DU can be connected to one or more RUs. The functions of DU and RU can be configured in various ways depending on the design. For example, a DU can be configured to implement baseband functions, and an RU can be configured to implement mid-RF functions. Another example is that a DU can be configured to implement higher-level functions in the PHY layer, and an RU can be configured to implement lower-level functions in the PHY layer, or to implement both lower-level and RF functions. Higher-level functions in the physical layer can include a portion of the physical layer's functions that are closer to the MAC layer, while lower-level functions in the physical layer can include another portion of the physical layer's functions that are closer to the mid-RF side.

[0073] In this application embodiment, the apparatus for implementing the functions of a network device can be referred to as a network apparatus. This network apparatus can be a network element, a network device, or an apparatus capable of supporting the network device or network element in implementing the function, such as a chip system. This apparatus can be installed within the network device. In the technical solutions provided in this application embodiment, the apparatus for implementing the functions of a network device is described as a network apparatus (for example, an apparatus for implementing the functions of an access network apparatus is an access network apparatus, and an apparatus for implementing the functions of a core network apparatus is a core network apparatus).

[0074] A sensing signal is a signal used to sense (or detect) a target (or object). Sensing signals can also be called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, or environmental sensing signals, etc. Sensing signals can be pulse signals or signals from wireless communication systems. For example, a sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, or predefined sequence. Pseudo-random sequences include any of the following sequences: longest linear feedback shift register sequence (m-sequence) or Gold sequence. Predefined sequences can be, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK) or quadrature amplitude modulation (QAM).

[0075] An echo signal is a signal generated by the reflection, scattering, or diffraction of a sensing signal by a target. Both the echo signal and the sensing signal can reflect target parameters. For example, the time delay of the echo signal relative to the sensing signal can reflect the distance of the target relative to the transmitter, and the Doppler shift of the echo signal relative to the sensing signal can reflect the target's velocity.

[0076] Communication-sensing fusion signals, also known as synthetic-sensing fusion signals, synthetic signals, or integrated synthetic-sensing signals, are signals used for both communication and sensing. When used for communication, the fusion signal carries the communication data or reference signal sequence that needs to be transmitted between communication devices. When used for sensing, the fusion signal can be understood as being used to sense (or detect) targets.

[0077] For example, the signals used for sensing described herein may include sensing signals and / or synesthetic fusion signals, etc.

[0078] The target can be any tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices. The target can also be referred to as a sensing target, detection target, perceived target, detected target, perceived object, detected object, or sensed device, etc., and the embodiments of this application do not limit it.

[0079] For a long time, wireless sensing has been an independently developed technology. Sensing services are provided by various specialized sensing devices, such as conventional radar, lidar, computed tomography (CT), and magnetic resonance imaging (MRI). In 5G and earlier communication systems, positioning was the sensing service that mobile communication systems could provide. In future mobile communication systems, general sensing services other than positioning will be integrated into the communication system, becoming a completely new function, thereby opening up entirely new services, such as high-precision positioning, tracking, environmental reconstruction, gesture and motion recognition, etc.

[0080] Among them, sensing network elements can reconstruct the environment of a target area through means such as lasers, radars, or base stations. For example, sensing network elements can reconstruct the real physical environment based on the measurement results reported by devices such as lasers, radars, or base stations. For example, based on the measurement results, sensing network elements can reconstruct environmental information using methods such as scattering polygons to characterize various scattering objects in the environment, such as walls and furniture (also known as sensing targets, targets, or target objects).

[0081] In sensing, based on the different sender and receiver of the sensing signal, sensing modes can be divided into two types: single-station sensing and dual-station sensing. Single-station sensing mode is also called self-transmitting and self-receiving mode, single-end sensing mode, or monocentric sensing mode, etc. This means that the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are the same device, such as... Figure 2A As shown, both the device transmitting the sensing signal and the device receiving the echo signal are device 1; the dual-station sensing mode, also known as A-transmit B-receive mode or self-transmit and other-receive mode, refers to a mode where the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are different devices, such as... Figure 2B As shown, the device that sends the sensing signal is device 2, and the device that receives the echo signal is device 3. Figure 2A and Figure 2B The example used is a vehicle. Figure 2A In this context, device 1 is a base station or UE. In single-site sensing mode, device 1 transmits a sensing signal, and device 1 receives the sensing signal through sensing targets in the environment (e.g., Figure 2A The echo signals generated by reflection, scattering, or diffraction of vehicles (in the environment) are used for environmental perception. For example, Figure 2B In this dual-site sensing mode, device 2 is a base station and device 3 is a UE, or device 2 is a base station and device 3 is a UE, or device 2 and device 3 are two different UEs, or device 2 and device 3 are two different base stations, etc. In this dual-site sensing mode, device 1 sends a sensing signal, and device 2 receives the sensing signal through scattering objects in the environment (e.g., [missing information]). Figure 2B The echo signals generated by the reflection, scattering, or diffraction of vehicles in the environment are used for environmental perception.

[0082] In short, in the embodiments of this application, for example, a first device and a second device participate in sensing. The second device can determine the corresponding position of the antenna array in the first device based on the first information, so that the second device can use the position when performing sensing, which helps to improve the sensing accuracy.

[0083] For reference Figure 3 This is a schematic diagram of a potential perceptual network architecture. Figure 3 It is based on the 5G core network (5G core, 5GC). Figure 3 The network architecture shown can also be an application scenario of the embodiments of this application.

[0084] exist Figure 3 The architecture shown includes a new sensing function (SF) network element, also known simply as a sensing network element. This SF can be a device or component that provides sensing functionality to the network; it can also be called a sensing management function (SMF), or have other names. This SF can be deployed on the core network side or the RAN side. Figure 3 Taking deployment in the core network as an example. Figure 3 In the network architecture shown, the SF can reuse the interfaces between the location management function (LMF) and other 5GC network elements such as AMF, network exposure function (NEF), unified data management (UDM), network data analytics function (NWDAF), and PCF for sensing interaction. Sensing signaling between the SF and the radio access network (RAN) or UE can be transmitted through the AMF; sensing measurement data acquired by the RAN or UE can be transmitted to the SF via the control plane, for example, by reusing the Long Term Evolution (LTE) positioning protocol (LPP) or the New Radio (NR) Positioning Protocol Annex (NRPPa) protocol, or it can be transmitted via the user plane, forwarded to the SF through the UPF, or directly transmitted to the SF.

[0085] The newly added SF in this network architecture can realize basic sensing functions, such as sensing authorization, sensing control, sensing measurement data processing, or result output. Specifically, interfaces are set up and interaction is established between the SF and 5GC network elements such as AMF, NEF, UDM, NWDAF, PCF, LMF, and UPF, as defined below.

[0086] NS1: A new interface between SF and AMF, which can transmit sensing and control signaling. Additionally, this interface can also transmit sensing measurement data in scenarios where sensing measurement data is uploaded to the control plane.

[0087] NS2: A new interface between SF and NEF. This interface can transmit signaling messages between sensing network elements relayed through NEF and application functions (AF) on the service side, and at the same time open the sensing results to the AF.

[0088] NS3: A new interface between SF and UDM. This interface can be used for authentication or authorization, and to obtain UE-aware subscription information, service AMF information, or other information.

[0089] NS4: A new interface between SF and NWDAF. Through this interface, SF and NWDAF can jointly complete artificial intelligence (AI) processing related to perception services.

[0090] NS5: A new interface between SF and PCF. Through this interface, SF can transmit information such as sensing requirements, quality of service (QoS) requirements, or sensing results of sensing services to PCF. PCF can then make decisions to generate policy control and charging (PCC) policies related to sensing services.

[0091] NS6: A new interface between SF and LMF. Through this interface, SF can obtain location-related information, such as the sensing area, the RAN information of the sensing target, and the location information of the sensed UE.

[0092] NS7: A new interface between SF and UPF. Sensing measurement data can be directly transmitted from (R)AN to SF via UPF, or indirectly forwarded to SF via UPF. In scenarios where (R)AN performs sensing, forwarding via UPF can improve the functionality of UPF to support data transmission at the (R)AN granularity.

[0093] In addition to the newly added interfaces mentioned above, existing interfaces (such as N1, N2, N5, N8, N33, etc.) can also support the transmission of information related to sensing services, such as authentication information, sensing service type, sensing service quality requirements, sensing measurement data, or sensing results, etc.

[0094] Figure 3 Taking the SF (Side Array) as an independent device as an example; alternatively, the SF and LMF (Location Management Array) can be co-located, meaning the network element used for handling sensing services and the network element used for handling positioning services can be the same network element; or the SF can be co-located with other core network elements, such as the AMF (Location Management Array). The LMF is the core network element in 5GC that provides control plane positioning, capable of calculating and feeding back location information in the 5G network, providing functions such as positioning process management, UE capability acquisition, auxiliary data provision, and UE location estimation. Optionally, if the SF and LMF are co-located, the LMF and the gateway mobile location center (GMLC) can be functionally enhanced to support basic sensing functions. The GMLC can be the first network element within the operator's network to process sensing requests, performing privacy checks or authorization functions, routing sensing requests to the AMF, or performing LMF selection, etc.

[0095] For example, if the SF and LMF are co-located, an additional interface can be added between the LMF and GMLC to transmit information related to awareness services, such as adding an NL9 interface. Additionally, interfaces related to the LMF and GMLC (such as one or more of the following: NL1 interface between AMF and LMF, NL2 interface between AMF and GMLC, NL5 interface between NEF and GMLC, or NL6 interface between UDM and GMLC) can also support the transmission of information related to awareness services, as detailed below.

[0096] N33: The interface between AF and NEF, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0097] NL5: The interface between NEF and GMLC, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0098] NL6: The interface between GMLC and UDM, through which privacy inspection data can be transferred.

[0099] NL2: The interface between NEF and AMF, through which information such as the perceived business type, business requirements, and perceived results can be transmitted.

[0100] NL1: The interface between AMF and LMF, through which information such as perceived business type, business requirements, and perceived results can be transmitted.

[0101] NL9: A new interface between GMLC and LMF, through which information such as the type of sensing business, business requirements, and sensing results can be transmitted.

[0102] Can be referenced again Figure 4 This is a schematic diagram of another potential perceptual network architecture. Figure 4 It is based on 5GC. Figure 4 The network architecture shown can also be another application scenario of the embodiments of this application.

[0103] exist Figure 4 In the network architecture shown, the SF (Sensitive Detection) is relatively independent of the existing core network elements. The SF requires little or no interaction with the core network elements. For scenarios where sensing needs exist only in a specific area, or where sensing is the only requirement, this network architecture can provide sensing services without 5GC control or with only a few network elements involved in control. Furthermore, localized deployment of the SF ensures that sensing measurement data or results do not leave the campus, thus meeting enterprises' security and privacy requirements for sensing measurement data or results, and reducing sensing latency. This network architecture is relatively simple, flexible, efficient, has few transmission nodes, and is easy to deploy. Optionally, this network architecture can support UE-related sensing needs, and implementation schemes for functions such as authorization, mobility management, and billing can be considered as needed.

[0104] In this network architecture, the SF can directly establish a connection with the RAN node. Control plane sensing signaling and user plane sensing measurement data can be transmitted via the newly defined interface NS1. When the UE participates in sensing, control plane signaling can be forwarded to the SF via the AMF, and sensing measurement data can be transmitted via NS1. Furthermore, there can also be an interface between the SF and 5GC network elements (such as AMF, NEF, or NWDAF) to control the AF to provide sensing service requirements to the SF through core network functions. The interface between the SF and 5GC network elements is described below.

[0105] NS1: A new interface between the SF and (R)AN, which can transmit sensing control signaling or sensing measurement data. In one implementation, the SF can also be deployed on the RAN side; for example, the SF can be co-located with access network equipment (e.g., a base station), or the SF can be a standalone device within the access network.

[0106] NS2: A new interface that may be added between SF and AMF. This interface can receive awareness service requirements from UE, or transmit signaling between SF and other network elements in the core network, such as transmitting interaction messages between SF and UDM.

[0107] NS3: A potential new interface between SF and NEF. This interface can transmit signaling between SF and the service-side AF via NEF, and can also expose the sensing results to the AF. The interaction between SF and AF may not go through NEF. In actual deployment, NS2 and NS3 may be chosen as one of the two options. That is, the AF can send sensing service requests indirectly to SF or directly to SF (without NEF) via NS2 (NEF); or, the AF can send sensing service requests to SF via N33 (NEF) and NS2 (AMF).

[0108] NS4: A potential new interface between SF and NWDAF, through which SF and NWDAF can jointly perform intelligent analysis and prediction to generate perception results.

[0109] Figure 3 or Figure 4 These examples all assume the network includes SF (Sensing Filter). Alternatively, the network may not include SF; instead, sensing-related functions are implemented by other network elements, such as AMF (Awareness Filter) and / or LMF (Learning Filter).

[0110] The technical solutions provided in this application can be applied to fourth-generation (4G) mobile communication systems, such as LTE systems, or to 5G systems, such as NR systems, or to next-generation mobile communication systems or other similar communication systems, such as future communication systems, or to existing satellite mobile communication technology systems; no specific limitations are imposed. For example... Figure 3 and Figure 4 All are based on 5GC. In addition, SF can also be deployed in other networks, such as 6G networks or other future communication networks.

[0111] The embodiments of this application can be applied to Figure 2A , Figure 2B , Figure 3 or Figure 4 The scenario shown can also be used in other scenarios, such as any scenario involving sensing services.

[0112] The method provided in the embodiments of this application is described below with reference to the accompanying drawings. In various embodiments of this application, the signal used to implement the sensing function or sensing service is referred to as a sensing signal. The sensing signal is transmitted through reflection, scattering, or diffraction, and the sensing device (e.g., a network device) can determine relevant characteristics of the sensing target based on the received sensing signal. For example, it can estimate time delay, Doppler, or angular spectrum information based on the received sensing signal to determine information such as the distance, angle, or velocity of the sensing target. Additionally, the network device can also send measurement results, such as point cloud data, distance, angle, or velocity information of the sensing target, to the sensing network element. In the accompanying drawings corresponding to the various embodiments of this application, steps indicated by dashed lines are optional steps.

[0113] The various embodiments described herein can be applied to Figure 2A , Figure 2B , Figure 3 or Figure 4 The network architecture shown. For example, the first device described in the various embodiments of this document may be... Figure 2A The device 1 mentioned above, and the second device described in the various embodiments of this document, can also be device 1. Alternatively, the first device described in the various embodiments of this document can be... Figure 2B The device 2 shown, and the second device described in the various embodiments of this document, can be... Figure 2B Device 3 is shown. For example, the first device described in the various embodiments herein could be... Figure 3 or Figure 4 The (R)AN shown; the second device described in the various embodiments herein may be Figure 3 or Figure 4 The UE shown. For example, the first device described in the various embodiments herein can be... Figure 3 or Figure 4 The UE shown; the second device described in the various embodiments of this document may be Figure 3 or Figure 4 The (R)AN shown. For example, the first device described in the various embodiments herein can be... Figure 3 or Figure 4 The UE shown; the second device described in the various embodiments of this document may be Figure 3 or Figure 4 Another UE not shown. For example, the first device described in the various embodiments herein could be... Figure 3 or Figure 4 The (R)AN shown; the second device described in the various embodiments herein may be Figure 3 or Figure 4 Another (R)AN is not shown.

[0114] This application provides a sensing method, please refer to the embodiments therein. Figure 5 Here is a flowchart of the method.

[0115] S501, the first device sends first information. Correspondingly, the second device receives the first information. The first information may include or indicate the position information of all or part of the antenna elements in the antenna array within the first device, or include or indicate the equivalent position information of the antenna array within the first device, or include or indicate the equivalent position information of part of the antenna elements in the antenna array within the first device.

[0116] The first device may include an antenna array, which may include at least one antenna element. For example, if the at least one antenna element has independent degrees of freedom and can be controlled individually, the first information may include or indicate the position information of all or some of the antenna elements in the at least one antenna element. This position information can be understood as the position information of each antenna element in the partial or complete antenna array. For example, if the first information includes the position information of a portion of the antenna elements in the antenna array, this portion of the antenna elements may include, for example, the antenna element located at the center of the antenna array. Optionally, the position information of an antenna element may be, for example, the coordinates of the antenna element.

[0117] For example, if all the antenna elements in the antenna array are uniformly controlled and have no independent degrees of freedom, the first information can include the equivalent position information of the antenna array. The equivalent position information of the antenna array can be understood as treating all the antenna elements in the array as a single antenna element, which can be understood as the antenna element synthesized from all the antenna elements. The equivalent position information can refer to the position information of this equivalent single antenna element. Since this equivalent single antenna element can be considered as the synthesis of all the antenna elements in the antenna array, the equivalent position information can also be considered as the position information of any single antenna element within the entire antenna array. Optionally, the equivalent position information of the antenna array can be, for example, coordinates.

[0118] For example, if some antenna elements in the antenna array are uniformly controlled and have no independent degrees of freedom, the first information can include the equivalent position information of those antenna elements. The equivalent position information of those antenna elements can be understood as treating those antenna elements as equivalent to a single antenna element, which can be understood as an antenna element synthesized from those antenna elements. The equivalent position information can refer to the position information of this equivalent single antenna element. Since this equivalent single antenna element can be considered as a synthesis of those antenna elements, the equivalent position information can also be considered as the position information of any single antenna element within that portion of the antenna array. Optionally, the equivalent position information can be, for example, coordinates.

[0119] Taking the first information as including the coordinates of each antenna element in all or part of the antenna array as an example, one possible implementation of the first information can be found in Table 1.

[0120] Table 1

[0121] Antenna array coordinate 0 (Longitude, Latitude, Altitude) 1 (Longitude, Latitude, Altitude) 2 (Longitude, Latitude, Altitude) 3 (Longitude, Latitude, Altitude) ...... ......

[0122] As shown in Table 1, each antenna element 0 of the first device corresponds to a coordinate system, which may include the longitude, latitude, and altitude of antenna element 0; each antenna element 1 of the first device corresponds to a coordinate system, which may include the longitude, latitude, and altitude of antenna element 1, and so on. The coordinates in Table 1 are based on a geographic coordinate system, which will be discussed later.

[0123] Optionally, the method may further include S502, whereby the second device sends a second request message to the first device, and the first device receives the second request message. The second request message may request the first information, or request the first device to send relevant location information of the antenna array of the first device. The first device may execute S501, i.e., send the first information to the second device, after receiving the second request message. Alternatively, the method may not include S502; for example, the first device may actively send the first information to the second device.

[0124] Optionally, the first information may also indicate the coordinate system corresponding to the first information, or the coordinate system corresponding to the relevant position information of the antenna array of the first device. For example, the first information may also include information for indicating the coordinate system corresponding to the first information, or information for indicating the coordinate system corresponding to the relevant position information of the antenna array of the first device. For example, if the second device determines the coordinate system based on the first information, it can determine the second information (e.g., determine the relevant position information of the antenna array of the second device) based on the coordinate system, such that the first information and the second information correspond to the same coordinate system. Alternatively, the second device may not use the coordinate system indicated by the first information, but instead determine its own coordinate system. In this case, the coordinate system corresponding to the first information and the coordinate system corresponding to the second information may be the same or different.

[0125] The coordinate system corresponding to the first piece of information can be, for example, Cartesian, polar, cylindrical, spherical, or geographic coordinate systems. Examples of geographic coordinate systems include the World Geodetic System-1984 (WGS84), the North American Datum 1983 (NAD83), the International Terrestrial Reference Frame (ITRF), the China Geodetic Coordinate System 2000 (CGCS2000), or PZ-90 (Parametry Zemli 1990). The coordinate system corresponding to the second piece of information can be, for example, Cartesian, polar, cylindrical, spherical, or geographic coordinate systems. For information on geographic coordinate systems, please refer to the previous paragraph.

[0126] As an optional implementation, the first device can pre-assign numbers to at least one coordinate system and pre-send the correspondence between the coordinate systems and their numbers to the second device; alternatively, the correspondence between the coordinate systems and their numbers can be predefined by a protocol. For example, each coordinate system as described above corresponds to a number, and different coordinate systems have different numbers. The first information indicates the coordinate system corresponding to the first information; one indication method is that the first information includes the number of the coordinate system corresponding to the first information. Thus, the second device can determine the coordinate system corresponding to the first information based on this number. For example, the correspondence between coordinate systems and their numbers can be found in Table 2.

[0127] Table 2

[0128] serial number coordinate system 0 Cartesian coordinate system 1 polar coordinate system 2 cylindrical coordinate system 3 spherical coordinate system 4 Geographic coordinate system (WGS84) 5 Geographic coordinate system (NAD83) 6 Geographic coordinate system (CGCS2000) 7 Geographic coordinate system (PZ-90) ...... ......

[0129] For example, if the first information includes number 4 in Table 2, then the second device can determine that the coordinate system corresponding to the first information is WGS84.

[0130] Alternatively, the coordinate system corresponding to the first information may not be indicated by the first information itself, but by other information. For example, the first device may send first indication information, and the second device may receive the first indication information accordingly. The first indication information may indicate the coordinate system corresponding to the first information. The step of the first device sending the first indication information may be performed before S501, after S501, or simultaneously with S501.

[0131] Optionally, the first information may also instruct the second device to periodically update the relevant position information of the antenna array, or instruct the second device to periodically update the second information. For example, the first information may also include information for instructing the second device to periodically update the relevant position information of the antenna array, or information for instructing the second device to periodically update the second information. For example, if the second device is in motion, the relevant position information of the antenna array may change over time, so the second device can periodically update the relevant position information of the antenna array. As another example, the relevant position information of the antenna array measured by the second device may not be accurate enough in certain scenarios (e.g., the relevant position information measured in poor weather conditions may be inaccurate), so the second device can periodically perform measurements to obtain more accurate position information. For example, after each update, the second device can send the updated position information to the first device, enabling the first device to obtain the latest position information of the antenna array of the second device, thereby improving the sensing accuracy. Alternatively, the first information may not indicate periodic updates. For example, the second device may actively and periodically update the relevant position information of its antenna array without the first device's instruction. Or, the second device may not periodically update the relevant position information of its antenna array. For example, if the position of the second device is fixed, then the second device may not perform periodic updates.

[0132] Optionally, the first device may also periodically update the relevant position information of its antenna array, or periodically update the first information. Optionally, after each update, the first device may also send the updated position information (e.g., the updated first information) to the second device, enabling the second device to obtain the latest position information of the first device's antenna array, thereby improving sensing accuracy. For example, if the first device instructs the second device to perform periodic updates, the first device may also perform periodic updates; if the first device does not instruct the second device to perform periodic updates, the first device does not need to perform periodic updates. As another example, regardless of whether the first device instructs the second device to perform periodic updates, the first device may or may not perform periodic updates.

[0133] Alternatively, the second device can periodically update the relevant position information of the antenna array without being instructed by the first information, but rather by other information. For example, the first device can send a third indication message, and the second device can receive the third indication message. The third indication message can instruct the second device to periodically update the relevant position information of the antenna array, or it can instruct the second device to periodically update the second information. The step of the first device sending the third indication message can be performed before S501, after S501, or simultaneously with S501.

[0134] If the first device needs to send a third indication message, a first indication message, and a first message to the second device, optionally, these three messages can be included in the same message, in which case the steps of transmitting the third indication message, transmitting the first indication message, and S501 can be the same step. Alternatively, any two of the three messages can be included in the same message, while the remaining messages can be included in different messages. Or, all three messages can be included in different messages.

[0135] As an optional implementation, the second device can periodically update the relevant position information of its antenna array, and / or update it based on conditions. For example, if a first condition is met, the second device can update the relevant position information of its antenna array; or, if the first condition is met, the second device can send the updated position information of its antenna array to the first device. The first condition may include, for example, a change in the position of the second device, or a change in the position of the second device that is greater than or equal to a first threshold. The first threshold may be set by the second device, configured by the first device, or predefined or pre-configured in the second device by a protocol. Updating the relevant position information of the antenna array based on conditions can promptly determine the latest position information when the relevant position information of the antenna array changes, and can also reduce the number of updates and reduce device power consumption.

[0136] For example, if the first device is a network device and the second device is a UE, the message containing the first information could be a radio resource control (RRC) message, a media access control (MAC) control element (CE), or downlink control information (DCI), or it could be a message from another protocol layer. As another example, if the first device is a UE and the second device is a network device, the message containing the first information could be an RRC message, a MAC CE, or uplink control information (UCI), or it could be a message from another protocol layer. As yet another example, if the first device is a UE and the second device is another UE, the message containing the first information could be a sidelink (SL) message. And as yet another example, if the first device is a network device and the second device is another network device, the message containing the first information could be a message between network devices, such as an Xn interface message.

[0137] Optionally, the method may further include S503, whereby the second device senses based on the first information and / or the second information. The second information may include or indicate the position information of all or part of the antenna elements in the antenna array within the second device, or include or indicate the equivalent position information of the antenna array within the second device, or include or indicate the equivalent position information of part of the antenna elements in the antenna array within the second device. For details regarding the second information, please refer to the description of the first information.

[0138] In this embodiment, the second device is, for example, a receiver of a signal used for sensing, and therefore the second device can perform sensing. When performing sensing, the second device can utilize the relevant positional information of the antenna array (e.g., the positional information of each antenna array as described above, or the equivalent positional information of the antenna array, or the equivalent positional information of the antenna array, etc. Alternatively, the relevant positional information of the antenna array can be understood as the relevant positional information of the antenna array; the following description uses the relevant positional information of the antenna array as an example) to perform sensing, which helps improve sensing accuracy. During the sensing process, the first device can also send a signal for sensing, for example, called a first signal; the first signal may be reflected, scattered, or diffracted by the sensing target in the environment. The first signal after reflection, scattering, or diffraction by the sensing target in the environment is, for example, called a second signal. The second signal can be received by the second device, and the second device can perform sensing based on the second signal. During this sensing process, the second device can utilize first information and / or second information. The first signal and the second signal can be the same signal, only with different transmission paths.

[0139] For example, if the target being detected is dynamic, the position of the antenna array can directly affect the signal processing during target detection, especially in the case of multiple antenna arrays. The position of the antenna array can be crucial information determining spatial resolution and / or velocity resolution. For instance, an antenna array can selectively receive signals from different directions via beams, and can also filter out interference from signals not originating from the target. The position of the antenna array determines the received phase difference of signals from different directions on the antenna array; conversely, the position of the antenna array can determine the received phase difference of signals from different directions on the antenna array, and this phase difference can be used to estimate the direction of the target. This is particularly important for target separation in scenarios with multiple targets.

[0140] For example, please refer to Figure 6 This is an example of signal transmission. Figure 6 This includes transmitting antenna arrays and receiving antenna arrays. The receiving device (e.g., a second device) can determine the spacing between the antenna arrays based on the positions of the antenna arrays within the second device, for example... Figure 6In the context of wave path difference d, once d is determined, the path difference can be determined. This path difference satisfies the following relationship:

[0141] Δd=d×sinθ (Formula 1)

[0142] θ refers to the receiving angle, which represents the direction of the target being sensed. Based on this path difference, the receiving phase difference on different antenna arrays can be determined. This phase difference satisfies the following relationship:

[0143] ω=2π f×τ (Formula 2)

[0144] Where ω represents the phase difference, f represents the frequency, and τ can satisfy the following relationship:

[0145]

[0146] c can represent the speed of light. According to formulas 2 and 3, ω satisfies the following relationship:

[0147]

[0148] Where λ represents wavelength.

[0149] Based on the formula above, the second device can determine θ. For example, θ satisfies the following relationship:

[0150]

[0151] Determining θ is equivalent to determining the direction of the target being sensed.

[0152] For example, if the target is a dynamic target, coherent superposition of signals received from different antenna arrays can improve the signal-to-noise ratio (SNR) of the target, thereby enhancing its detection capability. Coherent superposition refers to adjusting the phase of signals received from multiple antenna arrays and then superimposing these phase-adjusted signals. During superposition, both the amplitude and phase of the signals are superimposed. Phase adjustment can be performed based on the position of the antenna arrays. For useful signals (such as signals reflected, scattered, or diffracted by the target), if the phase relationship between useful signals is correct, the useful signals will be enhanced during superposition—this is known as gain. For noise, since noise signals are usually random and their phases do not have a fixed relationship, no coherence is generated during superposition; instead, they may cancel each other out, thus suppressing noise. The more antenna arrays there are, the greater the gain of coherent superposition, and the stronger the improvement in the SNR of the target. Through coherent superposition, the second device can effectively separate the signal corresponding to the target in complex noisy environments, improving the detection capability for distant or smaller targets.

[0153] Optionally, the position of the antenna elements can also help distinguish between real target signals within the main beam and interference signals from other directions (such as multipath reflections, noise, and other interference signals). For example, by adjusting the position of the antenna elements, the amplitude and phase of each element can be controlled, thereby forming a beam in a specific direction (the main beam) and suppressing signals in other directions (sidelobes). This is particularly important in distinguishing between real target signals and interference signals.

[0154] For another example, if the target is static, using back projection (BP) imaging, the detection process involves using echo signals received by the antenna array at different locations. The time delays of these echo signals are converted into phase, and phase compensation is performed. The compensated signal is then "back-projected" onto the imaging plane or three-dimensional space. By superimposing the compensated signals from multiple angles, the final imaging result can be obtained. Specifically, the BP algorithm calculates the contribution of the echo signal to the imaging area point-by-point based on the geometric relationship between the echo signal at each receiving location (e.g., the location of the antenna array corresponding to each echo signal) and the location of the target. By accumulating the contribution values ​​point by point, a clear image is ultimately formed. Therefore, the position of the antenna array is also quite important in the process of sensing static targets.

[0155] Besides the examples above, the second device may utilize the first and / or second information in other ways during the sensing process, and there are no limitations on this. In summary, the embodiments of this application utilize the relevant position information of the antenna array to perform sensing, which can help improve sensing accuracy.

[0156] Optionally, the method may further include S504, in which the second device sends second information to the first device, and the first device receives the second information accordingly. The content of the second information can be referenced above; that is, the second device may also send relevant position information of the antenna array within the second device to the first device. The order in which S504 occurs is not limited. For example, S504 may occur before or after S503, or simultaneously with S503; for example, S504 may occur before or after S502, or simultaneously with S502; for example, S504 may occur before or after S501, or simultaneously with S501.

[0157] Since sensing is generally performed by a device acting as a receiver of the sensing signal, the device requiring the relevant positional information of the antenna array is the receiver. If the roles of the first and second devices do not change—for example, if the first device always acts as a transmitter of the sensing signal and the second device always acts as a receiver during the sensing process—then S504 need not be executed. Alternatively, if the roles of the devices can be changed—for example, if for a period of time the first device is a transmitter of the sensing signal and the second device is a receiver, and in the next period of time the first device switches to receiving the sensing signal and the second device switches to transmitting the sensing signal—then S504 can be executed. Through S501 and S504, both ends of the device can obtain the positional information of the other end's antenna array, so that either end can utilize the relevant positional information of the other end's antenna array if it needs to perform sensing.

[0158] Optionally, the second information may also indicate the coordinate system corresponding to the second information, or the coordinate system corresponding to the relevant position information of the antenna array of the second device. For example, the second information may also include information for indicating the coordinate system corresponding to the second information, or information for indicating the coordinate system corresponding to the relevant position information of the antenna array of the second device. For example, if the first device determines the coordinate system based on the second information, it can determine the first information (e.g., determine the relevant position information of the antenna array of the first device) based on the coordinate system, such that the first information and the second information correspond to the same coordinate system. Alternatively, the first device may not use the coordinate system indicated by the second information, but instead determine its own coordinate system. In this case, the coordinate system corresponding to the first information and the coordinate system corresponding to the second information may be the same or different.

[0159] Alternatively, the coordinate system corresponding to the second information may not be indicated by the second information itself, but by other information. For example, the second device may send second indication information, and correspondingly, the second device may receive the second indication information. The second indication information may indicate the coordinate system corresponding to the second information. The step of the second device sending the second indication information may be performed before S504, after S504, or simultaneously with S504.

[0160] For an explanation of the coordinate systems corresponding to the first and second pieces of information, and how the second piece of information indicates the coordinate system, please refer to the previous text.

[0161] Alternatively, neither the first device nor the second device needs to indicate the coordinate system to the other end. For example, the specific coordinate system used can be predefined by the protocol or pre-configured in the first and second devices. In this case, both the first and second devices can determine the specific coordinate system to use based on the given information.

[0162] Optionally, the second information may also instruct the first device to periodically update the relevant position information of the antenna array, or instruct the first device to periodically update the first information. For example, the second information may also include information for instructing the first device to periodically update the relevant position information of the antenna array, or information for instructing the first device to periodically update the first information. For example, if the first device is in motion, the relevant position information of the antenna array may change over time, so the first device can periodically update the relevant position information of the antenna array. As another example, the relevant position information of the antenna array measured by the first device may not be accurate enough in certain scenarios (e.g., the relevant position information measured in poor weather conditions may not be accurate enough), so the first device can periodically perform measurements to obtain more accurate position information. For example, after each update, the first device can send the updated position information to the second device, enabling the second device to obtain the latest position information of the antenna array from the first device, thereby improving sensing accuracy. Alternatively, the second information may not indicate periodic updates. For example, the first device may actively and periodically update the relevant position information of its antenna array without the need for the second device to indicate it. Or, the first device may not periodically update the relevant position information of its antenna array. For example, if the position of the first device is fixed, then the first device may not perform periodic updates.

[0163] Optionally, the second device may also periodically update the relevant position information of its antenna array, or periodically update the second information. Optionally, after each update, the second device may also send the updated position information (e.g., the updated second information) to the first device, enabling the first device to obtain the latest position information of the second device's antenna array, thereby improving sensing accuracy. For example, if the second device instructs the first device to perform a periodic update, the second device may also perform a periodic update; if the second device does not instruct the first device to perform a periodic update, the second device does not need to perform a periodic update. As another example, regardless of whether the second device instructs the first device to perform a periodic update, the second device may or may not perform a periodic update.

[0164] Alternatively, the first device can periodically update the relevant position information of the antenna array without being instructed by the second information, but rather by other information. For example, the second device can send a fourth indication message, and the first device receives the fourth indication message accordingly. The fourth indication message can instruct the first device to periodically update the relevant position information of the antenna array, or it can instruct the first device to periodically update the first information. The step of the second device sending the fourth indication message can be performed before S504, after S504, or simultaneously with S504.

[0165] If the second device needs to send a fourth indication message, a second indication message, and a second message to the first device, optionally, these three messages can be included in the same message, in which case the steps of transmitting the third indication message, transmitting the first indication message, and S504 can be the same step. Alternatively, any two of the three messages can be included in the same message, while the remaining messages can be included in different messages. Or, all three messages can be included in different messages.

[0166] As an optional implementation, the first device can periodically update the relevant position information of its antenna array, and / or update the relevant position information of its antenna array based on conditions. For example, if a second condition is met, the first device can update the relevant position information of its antenna array; or, if the second condition is met, the first device can send the updated position information of its antenna array to the second device. The second condition may include, for example, a change in the position of the first device, or a change in the position of the first device that is greater than or equal to a second threshold. The second threshold may be set by the first device, configured by the second device, or predefined or pre-configured in the first device by a protocol. Updating the relevant position information of the antenna array based on conditions can not only determine the latest position information in a timely manner when the relevant position information of the antenna array changes, but also reduce the number of updates and reduce device power consumption.

[0167] For example, if the first device is a UE and the second device is a network device, the message containing the second information could be an RRC message, MAC CE, or DCI, or it could be a message from another protocol layer. As another example, if the first device is a network device and the second device is a UE, the message containing the second information could be an RRC message, MAC CE, or UCI, or it could be a message from another protocol layer. As yet another example, if the first device is a UE and the second device is another UE, the message containing the second information could be an SL message. As yet another example, if the first device is a network device and the second device is another network device, the message containing the second information could be a message between network devices, such as an Xn interface message.

[0168] Optionally, the method may further include S505, whereby the first device sends a first request message to the second device, and the second device receives the first request message. The first request message may request second information, or request the second device to send relevant location information of the antenna array of the second device. The second device may execute S504, that is, send the second information to the first device, after receiving the first request message. Alternatively, the method may not include S505, for example, the second device may actively send the second information to the first device.

[0169] In the method provided in this application embodiment, step S503 can occur during the sensing process. Other steps besides S503 can occur before the sensing process. For example, the first device and the second device can exchange their antenna array-related location information before sensing is performed, allowing the location information to be directly applied during sensing, thus improving sensing efficiency. Alternatively, the method provided in this application embodiment can also occur during the sensing process. For example, the first device and the second device can exchange their antenna array-related location information during the sensing process, allowing the location information to be acquired only when necessary, reducing redundant signaling overhead. Alternatively, the method provided in this application embodiment can start before the sensing process begins and can be continuously executed during the sensing process. For example, before the sensing process begins, the first device and the second device can exchange first information and / or second information; during the sensing process, the first device can update the first information and inform the second device, and / or the second device can update the second information and inform the first device.

[0170] In the above description, the examples all use different sensing devices as the case, i.e., a dual-site sensing mode. However, the first and second devices can also be the same device; that is, the embodiments of this application can also be applied to a single-site sensing mode. If the first and second devices are the same device, there may be no signaling interaction between them. For example, the first device can determine the location information related to the antenna array within itself, and can utilize this location information during sensing. Optionally, the first device can also periodically update the location information related to the antenna array, and / or update it according to conditions to improve sensing accuracy. During the sensing process, the first device can send a signal for sensing, for example, called a first signal. The first signal may be reflected, scattered, or diffracted by the sensing target in the environment. The first signal after reflection, scattering, or diffraction by the sensing target in the environment is called a second signal, for example. The second signal can be received by the first device, and the first device can perform sensing based on the second signal. During this sensing process, the first device can utilize first information and / or second information. The first signal and the second signal can be the same signal, only with different transmission paths.

[0171] In summary, in the embodiments of this application, the sensing device can utilize the location information related to the antenna array when performing sensing, which helps to improve the sensing accuracy.

[0172] Figure 7 A schematic diagram of a device provided in an embodiment of this application is given. The device 700 may be... Figure 5 The first device or its circuitry described in the illustrated embodiment is used to implement the method corresponding to the first device in the above method embodiments. Alternatively, the device 700 may be... Figure 5 The second device or its circuit system, as shown in the embodiments, is used to implement the method corresponding to the second device in the above method embodiments. For example, one type of circuit system is a chip system.

[0173] Since the device 700 in the embodiments of this application can implement the sensing method, the device 700 can also be called a sensing device. In implementation, the device 700 may have sensing function but no communication function, or it may have both sensing and communication functions. If the device 700 has communication function, it may also be called a communication device, etc., without limitation.

[0174] The device 700 includes at least one processor 701. The processor 701 can be used for internal processing within the device to implement certain control processing functions. Optionally, the processor 701 includes instructions. Optionally, the processor 701 can store data. Optionally, different processors can be independent devices, located in different physical locations, or located on different integrated circuits. Optionally, different processors can be integrated into one or more processors, for example, integrated on one or more integrated circuits.

[0175] Optionally, the device 700 includes one or more memories 703 for storing instructions. Optionally, the memories 703 may also store data. The processor and the memories may be separate or integrated together.

[0176] Optionally, the device 700 includes a communication line 702 and at least one communication interface 704. Since the memory 703, communication line 702, and communication interface 704 are all optional, therefore... Figure 7 All are represented by dashed lines.

[0177] Optionally, device 700 may further include a transceiver and / or an antenna. The transceiver can be used to send information to or receive information from other devices. The transceiver may be referred to as a transceiver unit, transceiver circuit, input / output interface, etc., and is used to realize the transmission and reception functions of device 700 via the antenna. Optionally, the transceiver includes a transmitter and a receiver. For example, the transmitter can be used to generate a radio frequency (RF) signal from a baseband signal, and the receiver can be used to convert the RF signal back into a baseband signal.

[0178] The processor 701 may include a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of programs according to the present application.

[0179] Communication line 702 may include a path for transmitting information between the aforementioned components.

[0180] The communication interface 704 uses any transceiver-like device for communicating with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area network (WLAN), wired access network, etc.

[0181] The memory 703 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or it may be an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), magnetic disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto. The memory 703 may exist independently and be connected to the processor 701 via communication line 702. Alternatively, the memory 703 may be integrated with the processor 701.

[0182] The memory 703 stores computer execution instructions for implementing the scheme of this application, and its execution is controlled by the processor 701. The processor 701 executes the computer execution instructions stored in the memory 703, thereby realizing... Figure 5 The steps performed by the first or second device as described in the illustrated embodiments.

[0183] Optionally, the computer execution instructions in the embodiments of this application may also be referred to as application code, and the embodiments of this application do not specifically limit this.

[0184] In a specific implementation, as one example, the processor 701 may include one or more CPUs, for example... Figure 7 CPU0 and CPU1 in the CPU.

[0185] In a specific implementation, as one embodiment, device 700 may include multiple processors, for example... Figure 7 Processors 701 and 705 are described in the text. Each of these processors can be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. Here, "processor" can refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0186] when Figure 7 When the device shown is a chip, such as the chip of the first device or the chip of the second device, the chip includes a processor 701 (and may also include a processor 705), a communication line 702, and a communication interface 704. Optionally, it may include a memory 703. Specifically, the communication interface 704 may be an input interface, pins, or circuits, etc. The memory 703 may be a register, cache, etc. The processor 701 and processor 705 may be a general-purpose CPU, microprocessor, ASIC, or one or more integrated circuits for controlling the execution of a program for controlling the sensing method of any of the above embodiments.

[0187] This application embodiment can divide the device into functional modules according to the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated modules can be implemented in hardware or as software functional modules. The module division in this application embodiment is illustrative and only represents one logical functional division; in actual implementation, other division methods may be used. For example, in the case of dividing the device into functional modules corresponding to each function... Figure 8 This is a schematic diagram of an apparatus. The apparatus 800 can be the first or second device involved in the above-described method embodiments, or a chip in the first or second device. The apparatus 800 includes a processing unit 802 and a transceiver unit 801. Since the apparatus 800 in the embodiments of this application can implement a sensing method, the apparatus 800 can also be called a sensing device. In implementation, the apparatus 800 may have sensing functionality but no communication functionality, or it may have both sensing and communication functionality. If the apparatus 800 has communication functionality, it can also be called a communication device, etc., without limitation.

[0188] It should be understood that the device 800 can be used to implement the steps performed by the first device or the second device in the sensing method of the embodiments of this application, and the relevant features can be referred to above. Figure 5 The embodiments shown are not described in detail here.

[0189] Optional, Figure 8 The functions / implementation process of the transceiver unit 801 and the processing unit 802 can be obtained through Figure 7 The processor 701 in the memory calls computer execution instructions stored in memory 703 to implement the function. Alternatively, Figure 8 The function / implementation process of the processing unit 802 in the middle can be achieved through Figure 7 The processor 701 in the memory calls computer execution instructions stored in the memory 703 to implement this. Figure 8 The function / implementation process of the transceiver unit 801 in the middle can be obtained through Figure 7 It is implemented using the 704 communication interface.

[0190] Optionally, when the device 800 is a chip or circuit, the function / implementation process of the transceiver unit 801 can also be implemented through pins or circuits. Optionally, the transceiver unit 801 may include a transmitting unit and / or a receiving unit, whereby the transmitting unit implements the transmitting function and the receiving unit implements the receiving function; or, the transceiver unit 801 may be an integral module capable of implementing both transmitting and / or receiving functions. Optionally, the transceiver unit 801 can be implemented using a transceiver.

[0191] This application also provides a computer-readable storage medium storing a computer program or instructions that, when executed, implement the methods performed by the first or second device in the aforementioned method embodiments. Thus, the functions described in the above embodiments can be implemented as software functional units and sold or used as independent products. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to it, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0192] This application also provides a computer program product comprising: computer program code, which, when run on a computer, causes the computer to perform the method executed by the first device or the second device in any of the foregoing method embodiments.

[0193] This application also provides a processing apparatus, including a processor and an interface; the processor is used to execute the method executed by the first device or the second device involved in any of the above method embodiments.

[0194] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of this application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via wired (e.g., coaxial cable, fiber optic, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium (e.g., floppy disk, hard disk, magnetic tape), an optical medium (e.g., DVD), or a semiconductor medium (e.g., solid-state disk (SSD)).

[0195] The various illustrative logic units and circuits described in the embodiments of this application can be implemented or operate the described functions using a general-purpose processor, digital signal processor (DSP), ASIC, field-programmable gate array (FPGA), or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof. The general-purpose processor can be a microprocessor; alternatively, it can be any conventional processor, controller, microcontroller, or state machine. The processor can also be implemented using a combination of computing devices, such as a digital signal processor and a microprocessor, multiple microprocessors, one or more microprocessors combined with a digital signal processor core, or any other similar configuration.

[0196] The steps of the methods or algorithms described in the embodiments of this application can be directly embedded in hardware, software units executed by a processor, or a combination of both. The software units can be stored in RAM, flash memory, ROM, erasable programmable read-only memory (EPROM), EEPROM, registers, hard disks, removable disks, CD-ROMs, or any other form of storage medium in the art. Exemplarily, the storage medium can be connected to the processor so that the processor can read information from the storage medium and write information to the storage medium. Optionally, the storage medium can also be integrated into the processor. The processor and storage medium can be disposed in an ASIC, which can be disposed in the terminal device. Optionally, the processor and storage medium can also be disposed in different components of the terminal device.

[0197] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0198] The contents of the various embodiments of this application can be referenced to each other. Unless otherwise specified or there is a logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0199] It is understood that in the embodiments of this application, the first device and / or the second device may perform some or all of the steps in the embodiments of this application. These steps or operations are merely examples. In the embodiments of this application, other operations or variations of various operations may also be performed. Furthermore, the steps may be performed in different orders as presented in the embodiments of this application, and it is not necessary to perform all the operations in the embodiments of this application.

Claims

1. A sensing method, characterized in that, The method includes: Receive first information, the first information including the position information of all or part of the antenna elements in the antenna array in the first device, or including the equivalent position information of the antenna array in the first device, wherein the first information is used for sensing.

2. The method according to claim 1, characterized in that, The method further includes: Send second information to the first device, the second information including the position information of all or part of the antenna elements in the antenna array in the second device, or including the equivalent position information of the antenna array in the second device.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Sensing is performed based on the first information and / or the second information, wherein the second information includes the position information of all or part of the antenna elements in the antenna array within the second device, or includes the equivalent position information of the antenna array within the second device.

4. The method according to any one of claims 1 to 3, characterized in that, The first information also includes information indicating the coordinate system corresponding to the first information; and / or, The method further includes sending second information to the first device, the second information including information for indicating the coordinate system corresponding to the second information.

5. The method according to claim 4, characterized in that, The coordinate system corresponding to the first information and / or the second information is the World System of Measurement 1984 (WGS84) coordinate system or the Cartesian coordinate system.

6. The method according to any one of claims 1 to 5, characterized in that, The first information also includes information for instructing the second device to periodically update the location information related to the antenna element; or, The method further includes sending second information to the first device, the second information including information for instructing the first device to periodically update the location information related to the antenna array.

7. The method according to any one of claims 1 to 6, characterized in that, The method further includes: Receive a first request message, which is used to request second information; and / or, Send a second request message to the first device, the second request message being used to request the first message.

8. The method according to any one of claims 1 to 7, characterized in that, The method further includes: When the first condition is met, the updated second information is sent to the first device.

9. The method according to claim 8, characterized in that, The first condition includes a change in the position of the second device; or, The first condition includes a change in the position of the second device that is greater than or equal to a first threshold.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Receive the updated first information.

11. A sensing method, characterized in that, The method includes: Send first information to the second device. The first information includes the position information of all or part of the antenna elements in the antenna array in the first device, or includes the equivalent position information of the antenna array in the first device, wherein the first information is used for sensing.

12. The method according to claim 11, characterized in that, The method further includes: Receive second information, the second information including the position information of all or part of the antenna elements in the antenna array within the second device, or including the equivalent position information of the antenna array within the second device.

13. The method according to claim 11 or 12, characterized in that, The first information also includes information indicating the coordinate system corresponding to the first information; and / or, The method further includes: receiving second information, the second information including information for indicating the coordinate system corresponding to the second information.

14. The method according to claim 13, characterized in that, The coordinate system corresponding to the first information and / or the second information is the WGS84 coordinate system or the Cartesian coordinate system.

15. The method according to any one of claims 11 to 14, characterized in that, The first information also includes information for instructing periodic updates of the location information related to the antenna elements within the second device; or, The method further includes receiving second information, the second information including information for instructing periodic updates of location information related to antenna elements within the first device.

16. The method according to any one of claims 11 to 15, characterized in that, The method further includes: Send a first request message to the second device, the first request message being used to request second information; or... Receive a second request message, which is used to request the first message.

17. The method according to any one of claims 11 to 16, characterized in that, The method further includes: When the second condition is met, the updated first information is sent to the second device.

18. The method according to claim 17, characterized in that, The second condition includes a change in the position of the first device; or, The second condition includes a change in the position of the first device that is greater than or equal to a second threshold.

19. The method according to any one of claims 11 to 18, characterized in that, The method further includes: Receive the updated second message.

20. An apparatus, characterized in that, The apparatus includes a module for performing the method as described in any one of claims 1 to 10, or a module for performing the method as described in any one of claims 11 to 19.

21. An apparatus, characterized in that, The apparatus includes a processor for performing the method as claimed in any one of claims 1 to 10, or performing the method as claimed in any one of claims 11 to 19.

22. A computer-readable storage medium, characterized in that, The computer-readable storage medium is used to store a computer program that, when run on a computer, causes the method as described in any one of claims 1 to 10 to be performed, or causes the method as described in any one of claims 11 to 19 to be performed.

23. A computer program product, characterized in that, The computer program product includes a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 10, or causes the computer to perform the method as described in any one of claims 11 to 19.

24. A sensing system, characterized in that, The sensing system includes a first device and a second device, wherein... The second device is used to perform the method as described in any one of claims 1 to 10; The first device is used to perform the method as described in any one of claims 11 to 19.

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