Method and apparatus for determining parameter bias

Abstract

A method and apparatus for determining parameter deviations can help improve sensing accuracy. In this method, a base station can measure the angle of arrival (Angle of Arrival) corresponding to a reference signal transmitted by the terminal via the LOS path between the base station and the terminal (referred to as the measured Angle of Arrival corresponding to the LOS path). Subsequently, the base station or sensing network element can determine the parameter deviation (e.g., position deviation) of the base station and / or the terminal based on this measured Angle of Arrival. Therefore, based on the parameter deviation of the base station and / or the terminal, and the measured quantity of the LOS path corresponding to the reference signal (e.g., the measured quantity of the reference signal after reflection / scattering / diffraction by the sensing target), the sensing result can be determined. Since the base station or sensing network element estimates the parameter deviation of the base station and / or the terminal, parameter calibration can be performed based on this deviation. Because the parameters of the base station and / or the terminal can be calibrated, sensing accuracy can be improved compared to uncalibrated parameters when sensing based on calibrated parameters.

Description

Technical Field

[0001] This application relates to the field of communications, and more particularly to a method and apparatus for determining parameter deviations. Background Technology

[0002] With the rapid development of wireless communication technology, base stations, as core components of networks, are constantly expanding their functions and application scenarios. In recent years, the technology of using base stations for environmental sensing has gradually attracted attention. This technology is based on the interaction between the base station and its surrounding environment, and achieves the perception and monitoring of the surrounding environment by collecting and analyzing the signals received by the base station.

[0003] When using base stations for sensing, coverage is limited. Therefore, terminals can be introduced to assist base stations in sensing. In the case of joint sensing by terminals and base stations, the reference signal sent by the terminal reaches the base station after passing through the sensing target. The base station measures the reference signal and determines the location of the sensing target based on the measured value of the reference signal, the location of the base station, and the location of the terminal.

[0004] However, under normal circumstances, there may be discrepancies between the base station parameters (such as location, orientation, etc.) obtained by the sensing device and the actual parameters of the base station, and / or there may be discrepancies between the terminal parameters (such as location, etc.) obtained by the sensing device and the actual parameters of the terminal, and these discrepancies will affect the accuracy of sensing. Summary of the Invention

[0005] This application provides a method and apparatus for determining parameter deviation, which can help improve sensing performance.

[0006] Firstly, a communication method is provided. This method can be executed by a second sensing device, or by a component of the second sensing device, such as a processor, chip, or chip system of the second sensing device, or by a logic module or software capable of implementing all or part of the functions of the second sensing device. The method includes: acquiring the measured angle of arrival corresponding to the line-of-sight (LOS) path between a first sensing device and a second sensing device, wherein the first sensing device is a sensing transmitter and the second sensing device is a sensing receiver; determining the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path; wherein the parameter deviation of the first sensing device is used to calibrate the parameters of the first sensing device, the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device, and the calibrated parameters of the first and second sensing devices are used for sensing. Exemplarily, the first sensing device is a terminal, and the second sensing device is a RAN node.

[0007] Based on this scheme, the second sensing device (such as a RAN node) can estimate the parameter deviation of the first and / or second sensing devices based on the measured angle of arrival corresponding to the LOS path. This enables the calibration of the parameters of the first and / or second sensing devices based on the parameter deviation. Consequently, when sensing based on calibrated parameters, compared to sensing using uncalibrated parameters, it can improve sensing accuracy and thus enhance sensing performance.

[0008] In one possible design, the method further includes: determining the sensing result based on the parameter deviation of the first sensing device, the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the non-line-of-sight (NLOS) diameter measurement corresponding to the reference signal. For example, the NLOS diameter measurement corresponding to the reference signal can be the measurement of the reference signal after reflection / scattering / diffraction by the sensed target.

[0009] Based on this possible design, the parameters of the sensing device can be calibrated based on the parameter deviation of the sensing device, thereby determining the sensing result based on the calibrated parameters and NLOS diameter measurements. Compared with sensing using uncalibrated parameters, this can promote improved sensing accuracy.

[0010] In one possible design, the angle of arrival for the measurement corresponding to the LOS path is: the angle of arrival of the reference signal transmitted by the first sensing device via the LOS path.

[0011] In one possible design, obtaining the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device includes: measuring the reference signal transmitted by the first sensing device through the LOS path to obtain the measured angle of arrival corresponding to the LOS path.

[0012] Based on the two possible designs described above, the second sensing device can obtain the measured angle of arrival corresponding to the LOS path based on the reference signal sent by the first sensing device. When the reference signal is used for sensing simultaneously, the second sensing device can simultaneously obtain the measured angle of arrival corresponding to the LOS path and the measured quantity corresponding to the sensing target based on the reference signal sent by the first sensing device. That is, the first sensing device does not need to send additional information for parameter deviation estimation, and therefore there is no need to design an additional reference signal for parameter deviation estimation, reducing implementation complexity and saving resource consumption.

[0013] In one possible design, the method further includes: sending parameter deviations of the first sensing device and / or parameter deviations of the second sensing device.

[0014] Secondly, a communication method is provided. This method can be executed by a second sensing device, or by a component of the second sensing device, such as its processor, chip, or chip system, or by a logic module or software capable of implementing all or part of the functions of the second sensing device. The method includes: acquiring the measured angle of arrival corresponding to the line-of-sight (LOS) path between a first sensing device and a second sensing device, wherein the first sensing device is a sensing transmitter and the second sensing device is a sensing receiver; and transmitting the measured angle of arrival corresponding to the LOS path. The measured angle of arrival corresponding to the LOS path is used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device. The parameter deviation of the first sensing device is used to calibrate the parameters of the first sensing device, and the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device. The calibrated parameters of the first and second sensing devices are used for sensing. For example, the first sensing device is a terminal, and the second sensing device is a RAN node.

[0015] Based on this scheme, the second sensing device sends the measured angle of arrival (LOS) corresponding to the path of arrival (LOS) to the sensing network element. This allows the sensing network element to estimate the parameter deviation of the first and / or second sensing devices based on the measured angle of arrival, thus enabling the calibration of the parameters of the first and / or second sensing devices based on the parameter deviation. Consequently, when sensing based on calibrated parameters, the sensing accuracy can be improved compared to sensing using uncalibrated parameters.

[0016] In one possible design, sending the measured angle of arrival corresponding to the LOS path includes: sending first information, the first information including the identifier of the LOS path and the measured angle of arrival corresponding to the LOS path.

[0017] In one possible design, the angle of arrival for the measurement corresponding to the LOS path is: the angle of arrival of the reference signal transmitted by the first sensing device via the LOS path.

[0018] In one possible design, obtaining the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device includes: measuring the reference signal transmitted by the first sensing device through the LOS path to obtain the measured angle of arrival corresponding to the LOS path.

[0019] Thirdly, a communication method is provided. This method can be executed by a sensing network element, or by a component of the sensing network element, such as a processor, chip, or chip system of the sensing network element, or by a logic module or software capable of implementing all or part of the functions of the sensing network element. The method includes: receiving a measured angle of arrival corresponding to the line-of-sight (LOS) path between a first sensing device and a second sensing device, wherein the first sensing device is a sensing transmitter and the second sensing device is a sensing receiver; determining the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path; wherein the parameter deviation of the first sensing device is used to calibrate the parameters of the first sensing device, the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device, and the calibrated parameters of the first and second sensing devices are used for sensing. Exemplarily, the first sensing device is a terminal, and the second sensing device is a RAN node.

[0020] Based on this scheme, the sensing network element can estimate the parameter deviation of the first sensing device and / or the second sensing device based on the measured angle of arrival corresponding to the LOS path. Therefore, it enables the calibration of the parameters of the first sensing device and / or the second sensing device based on the parameter deviation. Consequently, when sensing based on calibrated parameters, the sensing accuracy can be improved compared to sensing using uncalibrated parameters.

[0021] In one possible design, the method further includes: determining the sensing result based on the parameter deviation of the first sensing device, the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the non-line-of-sight (NLOS) diameter measurement corresponding to the reference signal.

[0022] In conjunction with the first or third aspect, in one possible design, determining the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path includes: determining the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the parameter deviation range. Wherein, the parameter deviation range includes a first parameter deviation range and / or a second parameter deviation range, where the first parameter deviation range is the range of parameter deviations of the first sensing device, and the second parameter deviation range is the range of parameter deviations of the second sensing device.

[0023] In conjunction with the first or third aspect, in one possible design, the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device are determined based on the measured angle of arrival corresponding to the LOS path and the parameter deviation range. This includes: determining the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path. Here, the predicted angle of arrival corresponding to the LOS path is a variable, and it is determined based on the parameter deviation range.

[0024] In conjunction with the first or third aspect, in one possible design, the parameter deviations of the first sensing device and / or the second sensing device are determined based on the measured angle of arrival (OA) and the predicted angle of arrival (ROC) corresponding to the LOS path. This includes: constructing a cost function based on the measured OA and the predicted OA of the LOS path; using an optimization algorithm to search within the range of the first and / or second parameter deviations to obtain the first and / or second parameter deviations; the first and / or second parameter deviations correspond to the first predicted OA of the LOS path, where the first predicted OA is the optimal solution of the cost function; determining the first parameter deviation as the parameter deviation of the first sensing device, and / or determining the second parameter deviation as the parameter deviation of the second sensing device.

[0025] Based on this possible design, the problem of determining the parameter deviation of the sensing device can be transformed into solving an optimization problem, thereby efficiently and quickly determining the parameter deviation of the sensing device and improving the efficiency of parameter deviation determination.

[0026] Fourthly, a communication method is provided. This method can be executed by a second sensing device or sensing network element, or by a component of the second sensing device or sensing network element, such as a processor, chip, or chip system of the second sensing device or sensing network element. It can also be implemented by a logic module or software capable of realizing all or part of the functions of the second sensing device or sensing network element. The method includes: acquiring the measured angle of arrival corresponding to the line-of-sight (LOS) path between the first sensing device and the second sensing device; and determining a sensing result based on the measured angle of arrival corresponding to the LOS path, the parameters of the first sensing device, the parameters of the second sensing device, and the NLOS path measurement corresponding to a reference signal.

[0027] In combination with any of the first to fourth aspects, in one possible design, the angle of arrival includes the horizontal angle of arrival (AOA) and / or the vertical angle of arrival (ZOA).

[0028] In conjunction with any one of the first to fourth aspects, in one possible design, the second sensing device is a RAN node and the first sensing device is a terminal; the parameter deviations of the first sensing device include the positional deviation and / or orientation deviation of the RAN node, and the parameter deviations of the second sensing device include the positional deviation of the terminal.

[0029] Fifthly, a communication device is provided for implementing various methods. The communication device includes modules, units, or means corresponding to the implementation of the methods, wherein the modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules or units corresponding to the functions.

[0030] In some possible designs, the communication device may include a processing module and a transceiver module. The processing module can be used to implement the processing functions in any of the above aspects and any possible implementations thereof. The transceiver module may include a receiving module and a transmitting module, respectively used to implement the receiving function and the transmitting function in any of the above aspects and any possible implementations thereof.

[0031] In some possible designs, the transceiver module can consist of transceiver circuits, transceivers, transceivers, or communication interfaces.

[0032] A sixth aspect provides a communication device, comprising: a processor and a memory; the memory being used to store computer instructions that, when executed by the processor, cause the communication device to perform the method described in any of the above aspects and any possible design thereof.

[0033] A seventh aspect provides a communication device, comprising: a processor and a communication interface; the communication interface being used to communicate with a module outside the communication device; the processor being used to execute computer programs or instructions to cause the communication device to perform the methods described in any of the above aspects and any possible designs thereof.

[0034] Eighthly, a communication device is provided, comprising: at least one processor; said processor being configured to execute a computer program or instructions stored in a memory to cause the communication device to perform the methods described in any of the preceding aspects and any possible designs thereof. The memory may be coupled to the processor, or may be independent of the processor.

[0035] In a ninth aspect, a communication device (e.g., a chip or chip system) is provided, the communication device including a processor for implementing the functions involved in any of the above aspects and any possible designs thereof.

[0036] In some possible designs, the communication device includes a memory for storing necessary program instructions and data.

[0037] In some possible designs, when the device is a chip system, it can be composed of chips or contain chips and other discrete components.

[0038] The communication device described in the fifth to ninth aspects may be the second sensing device in the first, second or fourth aspects, or a device included in the second sensing device, such as a chip or chip system; or the communication device may be a sensing network element in the third or fourth aspects, or a device included in the sensing network element, such as a chip or chip system.

[0039] In a tenth aspect, a communication device is provided. This communication device may be a second sensing device, or a module or unit (e.g., a chip, chip system, or circuit) within the second sensing device that performs the methods / operations / steps / actions described in the first, second, or fourth aspects, or a module or unit that can be used in conjunction with the second sensing device; alternatively, the communication device may be a sensing network element, or a module or unit (e.g., a chip, chip system, or circuit) within the sensing network element that performs the methods / operations / steps / actions described in the third or fourth aspects, or a module or unit that can be used in conjunction with the sensing network element.

[0040] It is understandable that when the communication device provided in any of the fifth to tenth aspects is a chip, the sending action / function of the communication device can be understood as outputting information, and the receiving action / function of the communication device can be understood as inputting information.

[0041] Eleventhly, a computer-readable storage medium is provided that stores a computer program or instructions that, when executed on a communication device, enable the communication device to perform the methods described in any of the preceding aspects and any possible designs thereof.

[0042] In a twelfth aspect, a computer program product containing instructions is provided that, when run on a communication device, enables the communication device to perform the methods described in any of the foregoing aspects and any possible design thereof.

[0043] In a thirteenth aspect, a communication system is provided, comprising a first sensing device, a second sensing device, and a sensing network element. The second sensing device is used to implement the method described in the first or second aspect and any possible design thereof, and the sensing network element is used to implement the method described in the third aspect and any possible design thereof.

[0044] The technical effects of any of the design methods in aspects five through thirteen can be found in the technical effects of different design methods in aspects one through four, and will not be repeated here. Attached Figure Description

[0045] Figure 1 A schematic diagram illustrating a scenario for sensing using a base station, as provided in this application;

[0046] Figure 2 A schematic diagram of a LOS region and an NLOS region provided in this application;

[0047] Figure 3 A schematic diagram illustrating a scenario utilizing base station sensing and facilitating terminal-assisted sensing, provided for this application;

[0048] Figure 4 A schematic diagram of a scenario for sensing using a terminal-assisted base station, provided in this application;

[0049] Figure 5 A schematic diagram of the structure of a communication system provided in this application;

[0050] Figure 6 A schematic diagram of a network architecture for independently deploying sensing network elements is provided in this application;

[0051] Figure 7 A schematic diagram of another network architecture for independently deploying sensing network elements provided in this application;

[0052] Figure 8 This application provides a schematic diagram of the structure of an O-RAN system;

[0053] Figure 9 A schematic diagram of a hardware architecture for a CU, DU, and RU provided for this application;

[0054] Figure 10 A flowchart illustrating a method for determining parameter deviation provided in this application;

[0055] Figure 11 A flowchart illustrating a communication method provided in this application;

[0056] Figure 12 A flowchart illustrating another method for determining parameter deviation provided in this application;

[0057] Figure 13 A flowchart illustrating another communication method provided in this application;

[0058] Figure 14 A flowchart illustrating a communication method under an O-RAN architecture provided in this application;

[0059] Figure 15 A schematic diagram of the structure of a communication device provided in this application;

[0060] Figure 16 A schematic diagram of another communication device provided in this application;

[0061] Figure 17 A schematic diagram of another communication device provided in this application. Detailed Implementation

[0062] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can mean A or B. "And / or" in this application is merely a description of the relationship between the related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. A and B can be singular or plural.

[0063] In the description of this application, unless otherwise stated, "multiple" means two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or multiple items. For example, at least one of a, b, or c can mean: a, b, c, a and b, a and c, b and c, a and b and c, where a, b, and c can be single or multiple.

[0064] Furthermore, to facilitate a clear description of the technical solutions in the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with substantially the same function and effect. Those skilled in the art will understand that the terms "first" and "second" do not limit the quantity or execution order, and the terms "first" and "second" are not necessarily different.

[0065] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a specific manner to facilitate understanding.

[0066] It is understood that the term "embodiment" used throughout the specification means that a specific feature, structure, or characteristic related to an embodiment is included in at least one embodiment of this application. Therefore, various embodiments throughout the specification do not necessarily refer to the same embodiment. Furthermore, these specific features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. It is understood that in the various embodiments of this application, the sequence number of each process does not imply the order of execution; the execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0067] It is understood that in this application, "...when" and "if" both refer to the corresponding processing that will be carried out under certain objective circumstances, and are not limited to a specific time, nor do they require a judgment action to be performed during implementation, nor do they imply any other limitations.

[0068] It is understood that some optional features in the embodiments of this application can be implemented independently in certain scenarios without relying on other features, such as the current solution on which they are based, to solve the corresponding technical problems and achieve the corresponding effects. Alternatively, they can be combined with other features as needed in certain scenarios. Correspondingly, the apparatus given in the embodiments of this application can also implement these features or functions, which will not be elaborated here.

[0069] In this application, unless otherwise specified, the same or similar parts between the various embodiments can be referred to each other. In the various embodiments of this application, unless otherwise specified or there is a logical conflict, the terminology and / or descriptions between different embodiments are consistent and can be mutually referenced. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships. The following descriptions of the embodiments of this application do not constitute a limitation on the scope of protection of this application.

[0070] Based on the application scenarios and potential needs of integrated sensing and communication (ISAC) using the 5G-Advanced air interface, research has been initiated within the 3rd Generation Partnership Project (3GPP). Future applications of ISAC systems are likely to include ultra-high precision positioning, simultaneous imaging, map building, and human sensory enhancement. In simultaneous imaging, map building, and positioning applications, these three sensing capabilities can mutually enhance each other. For example, imaging can capture images of the surrounding environment, positioning can obtain the locations of surrounding objects, and these images and locations can then be used to build a map, which in turn improves location reasoning capabilities.

[0071] ISAC will leverage advanced algorithms, edge computing, and artificial intelligence (AI) technologies to generate super-resolution, high-recognition images and maps. Vehicles, base stations, and other elements within these maps form a vast network, effectively utilizing sensors to significantly expand the imaging range. Furthermore, the imaging results can be easily fused and shared across the entire network via cloud services, significantly improving imaging performance. The super-resolution and high-precision sensing capabilities of future mobile communication systems will support 3D indoor imaging and map building, enabling applications such as indoor scene reconstruction, spatial positioning, and indoor navigation, while providing the latest environmental information to the network and terminals. Object surfaces reflect signals like mirrors; precise map information can be used to determine multipath reflection points and reconstruct images of non-line-of-sight objects using mirroring techniques. Therefore, after environmental reconstruction, the geometric prior information of the scene can be used for the localization and imaging of non-line-of-sight targets, enabling more accurate target location detection.

[0072] In ISAC, base stations can be used for sensing. Based on the interaction between the base station and its surrounding environment, the surrounding environment can be sensed and monitored by collecting and analyzing the signals received by the base station. For example, Figure 1 As shown, base stations can be used to sense buildings and other structures in the surrounding environment.

[0073] In the field of environmental sensing, traditional methods typically rely on specialized sensors and equipment, such as cameras, radar, and infrared detectors. However, these methods have several drawbacks, including high cost, difficult deployment, and susceptibility to weather conditions. In contrast, utilizing base stations for environmental sensing offers numerous advantages.

[0074] First, base stations have extensive coverage. As the infrastructure of wireless communication networks, base stations typically cover an entire city or a specific area. This means that using base stations for environmental sensing can enable real-time monitoring of large areas, providing valuable data support for urban planning, traffic management, disaster early warning, and other fields.

[0075] Secondly, base stations are characterized by continuous online operation. They need to provide communication services to users 24 hours a day, so they are always operational. This enables real-time, continuous data collection and analysis using base stations for environmental sensing, allowing for the timely detection and handling of environmental problems.

[0076] Furthermore, utilizing base stations for environmental sensing can reduce costs. Since base stations are already widely deployed in cities, there's no need to install a large number of additional sensors and equipment. Simply upgrading and modifying existing base stations is sufficient to achieve environmental sensing and monitoring. This not only saves significant investment costs but also avoids redundant construction and resource waste.

[0077] However, using base stations for sensing presents a limited sensing range; base stations can only effectively sense and detect strongly reflective targets within the visible area (such as the line-of-sight (LOS) region). For example, ... Figure 2 As shown, the base station can effectively perceive targets within the LOS area, but due to the obstruction of obstacles, it cannot effectively perceive targets within the non-line-of-sight (NLOS) area.

[0078] For example, such as Figure 3 As shown, the reference signal transmitted by the base station is reflected once by a reflector in the LOS region before reaching the sensing target in the NLOS region. It then undergoes a second reflection from both the sensing target in the NLOS region and the reflector in the LOS region before reaching the base station. Because the signal undergoes two reflections before reaching the base station, the base station cannot effectively sense the sensing target in the NLOS region based on the received signal.

[0079] To address the aforementioned issue of limited sensing range, a terminal-assisted base station sensing method can be introduced. For example, a reference signal sent by the terminal passes through the sensing target and is received by the base station. The base station then performs sensing based on the received signal; this sensing mode can be called bi-static sensing.

[0080] For example, such as Figure 3 As shown, after the terminal is introduced, the reference signal sent by the terminal is reflected once by the sensing target in the NLOS area and then reaches the base station, enabling the base station to effectively sense the sensing target based on the signal after one reflection.

[0081] In scenarios where base stations and terminals work together for sensing, such as Figure 4 As shown, the reference signal sent by the terminal reaches the base station after passing through the sensing target. The base station measures the arrival delay and angle of the reference signal, and determines the position of the sensing target (or the scattering point in the sensing target) by combining the positions of the base station and the terminal.

[0082] However, there may be discrepancies between the parameters (such as location, orientation, etc.) of the base station acquired by the sensing device (such as the device used to calculate the sensing results) and the actual parameters of the base station, and / or there may be discrepancies between the parameters (such as location) of the terminal acquired by the sensing device and the actual parameters of the terminal. These discrepancies will affect the sensing accuracy and lead to a decrease in sensing accuracy.

[0083] Based on this, this application provides a method for determining parameter deviation. In this method, the base station can measure the angle of arrival (Angle of Arrival) corresponding to the reference signal transmitted by the terminal via the LOS path between the base station and the terminal (referred to as the measured Angle of Arrival corresponding to the LOS path). Subsequently, the base station or sensing network element can determine the parameter deviation (e.g., position deviation) of the base station and / or terminal based on the measured Angle of Arrival. Therefore, based on the parameter deviation of the base station and / or terminal and the measurement of the LOS path corresponding to the reference signal, the sensing result can be determined. For example, after parameter calibration based on the parameter deviation, the sensing result can be determined based on the calibrated parameters and the measurement of the LOS path corresponding to the reference signal. Since the base station or sensing network element estimates the parameter deviation of the base station and / or terminal, parameter calibration can be performed based on this deviation. Because the parameters of the base station and / or terminal can be calibrated, the sensing accuracy can be improved compared to uncalibrated parameters when sensing based on the calibrated parameters, thereby improving sensing performance.

[0084] The technical solutions of this application embodiment can be used in various communication systems, including 3GPP communication systems such as 4th generation (4G) systems (e.g., Long Term Evolution (LTE) systems), 5G systems (e.g., New Radio (NR) systems), LTE and 5G hybrid networking systems, sensing systems, integrated communication and sensing systems, non-terrestrial networks (NTN), device-to-device (D2D) communication systems, vehicle-to-everything (V2X) communication systems, machine-type communication (MTC) systems, Internet of Things (IoT) systems, or other future communication systems. The communication system can also be a non-3GPP communication system; there is no limitation on this.

[0085] The communication systems described above are merely illustrative examples, and are not limited to those described herein. The communication systems provided in this application do not impose any limitations on the solutions described herein. This will be explained uniformly here and will not be repeated below.

[0086] Figure 5 A possible, non-limiting system schematic diagram is shown. For example... Figure 5As shown, the communication system 50 includes a radio access network (RAN) 500 and a core network (CN) 600. Optionally, it may also include the Internet. Figure 5 (Not shown in the diagram). RAN 500 includes at least one RAN node 510 and at least one terminal 520. Core network 600 includes at least one core network element.

[0087] Optionally, terminal 520 communicates with RAN node 510 wirelessly. RAN node 510 communicates with core network 600 wirelessly or via wired connection. The core network elements in core network 600 and RAN node 510 in RAN 500 can be different physical devices, or they can be the same physical device integrating core network logical functions and radio access network logical functions.

[0088] The terminal 520 and / or RAN node 510 can be used as sensing devices, for example, to send and / or receive sensing signals. For example, the terminal 520 and / or RAN node 510 can perform sensing in a self-transmitting and self-receiving manner, or the terminal 520 and RAN node 510 can perform sensing in a self-transmitting and other-receiving manner. For example, the terminal 520 sends a sensing signal and the RAN node receives the sensing signal reflected by the sensing target, or the RAN node 510 sends a sensing signal and the terminal 520 receives the sensing signal reflected by the sensing target.

[0089] A sensing signal can be understood as a signal used to sense (or detect) a target. The target can also be understood as the sensing target or target object, such as a scatterer or reflector. The sensing signal can be a detection signal, a linear frequency modulated signal, a radar signal, a radar sensing signal, a radar detection signal, an environmental sensing signal, a pulse signal, or a signal in a wireless communication system. The sensing signal can also be a reference signal; for example, its initial amplitude and phase information can be pre-configured to the receiver through a configuration sequence. The sensing signal can also be a data signal; the receiver can calculate the initial amplitude and phase of each data signal using known modulation methods such as data verification. The sensing signal can also have other names, which are not specifically limited in this application.

[0090] In one possible implementation, terminal 520 is a user-side device with communication and sensing capabilities. Exemplarily, the terminal can be a fixed device, a handheld device (e.g., a mobile phone), a wearable device, an in-vehicle device, a computing device, other processing devices connected to a wireless modem, or a wireless device (e.g., a communication module, modem, or chip system, etc.) built into the aforementioned devices. The terminal is used to connect people, objects, machines, etc., and can be widely used in various scenarios, such as: cellular communication, D2D communication, V2X communication, MTC communication, 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, etc.

[0091] In one possible implementation, terminal 520 can be a handheld terminal in cellular communication, a communication device in D2D, an IoT device in MTC, a camera in intelligent transportation and smart cities, or a communication device on a drone; alternatively, the terminal can be a mobile phone, tablet computer, computer with wireless transceiver capabilities, wearable device, vehicle, drone, helicopter, airplane, ship, robot, robotic arm, smart home device, tag, etc. The embodiments of this application do not limit the device form of the terminal. A terminal may sometimes be referred to as user equipment (UE), user terminal, user device, user unit, user station, terminal, access terminal, access station, UE station, remote station, or wireless communication device, etc.

[0092] In one possible implementation, the core network elements in the core network 600 include sensing network elements. For example, sensing network elements can also be called sensing function (SF) network elements or sensing management function (SMF) network elements. Of course, sensing network elements can have other names, and this application does not specifically limit them.

[0093] As one possible implementation, a sensing network element can be understood as a network element deployed in the core network to implement (or provide) sensing functions. For example, the sensing functions implemented by a sensing network element may include, but are not limited to: sensing authorization, sensing control, sensing measurement data processing, and sensing result output. Furthermore, the sensing network element can also support sensing billing functions when terminals and / or RAN nodes perform sensing operations.

[0094] As a first possible implementation, the sensing network element can be deployed independently. For example, such as... Figure 6 The diagram shown illustrates a network architecture for independently deployed sensing network elements according to an embodiment of this application. Interfaces are established between the sensing network elements and other core network elements, such as access and mobility management function (AMF) network elements, network exposure function (NEF) network elements, unified data management (UDM) network elements, network data analytics function (NWDAF) network elements, policy control function (PCF) network elements, user plane function (UPF) network elements, application function (AF) network elements, and location management function (LMF) network elements, for interaction.

[0095] For example, the AMF (Agency Flow Function) element is primarily responsible for mobility management in the mobile network, such as user location updates, user registration with the network, and user handover. The UPF (User Plane Function) element is a user plane functional element, primarily responsible for connecting to external networks and processing user packets, such as forwarding and charging. The PCF (PC Function) element is primarily responsible for providing policies to the AMF, such as Quality of Service (QoS) policies and slice selection policies. The UDM (User DM) element is used to store user data, such as subscription information and authentication / authorization information. The AF (Agency Flow Function) element is responsible for providing services to the 3GPP network. The NEF (Network Flow Function) element is mainly used to open up the capabilities of various network functions and is responsible for converting internal and external information. The LMF (Location Flow Function) element is primarily responsible for location management.

[0096] It is understandable that in future mobile communication systems, AMF network elements, NEF network elements, UDM network elements, NWDAF network elements, PCF network elements, UPF network elements, AF network elements, and LMF network elements may have other names, and this application does not make specific restrictions on them.

[0097] For example, the interfaces between the sensing network element and AMF, NEF, UDM, NWDAF, PCF, UPF, AF, and LMF network elements are described below:

[0098] NS1 Interface: The interface between the sensing network element and the AMF network element. This interface is used to transmit sensing control signaling. For scenarios where terminals or RAN nodes report sensing measurement data via the control plane, this interface can also be used to transmit sensing measurement data.

[0099] NS2 Interface: The interface between the sensing network element and the NEF network element. This interface can be used to transmit signaling between the sensing network element and the service-side AF network element via the NEF network element, and at the same time, expose the sensing results to the AF network element.

[0100] NS3 Interface: The interface between the sensing network element and the UDM network element. This interface allows for authentication or authorization, and the acquisition of terminal subscription information, service AMF network element information, or other information.

[0101] NS4 Interface: The interface between the sensing network element and the NWDAF. Through this interface, the sensing network element and the NWDAF can jointly complete AI processing related to sensing services.

[0102] NS5 Interface: The interface between the sensing network element and the PCF network element. Through this interface, the sensing network element can transmit information such as sensing service requirements, QoS requirements, or sensing results to the PCF network element. The PCF network element then makes decisions to generate policy and charging control (PCC) related to the sensing service.

[0103] NS6 Interface: The interface between the sensing network element and the LMF network element. Through this interface, the sensing network element can obtain location-related information, such as the sensing area, the RAN information of the sensing target, and the location information of the sensed terminal.

[0104] NS7 Interface: The interface between the sensing network element and the UPF network element. Sensing measurement data can be directly transmitted from the RAN to the sensing network element via the user plane, or it can be indirectly forwarded to the sensing network element via the UPF network element. If the sensing data is forwarded via the UPF network element in a RAN-performed sensing scenario, the UPF network element can be modified to support RAN-level data transmission.

[0105] In addition to the newly added interfaces mentioned above, existing interfaces (such as N1, N2, N5, N8, N33, etc.) need to support the transmission of sensing service-related information, such as authentication information, sensing service type, sensing service quality requirements, sensing measurement data, sensing results, etc.

[0106] remove Figure 6 In addition to the network architecture shown, this application also provides another network architecture, such as... Figure 7As shown, in this network architecture, the sensing network elements are relatively independent of the existing core network. The sensing network elements do not need to interact with the existing core network, or only need to perform minimal interactions. For scenarios where sensing needs exist only in a specific area, or where only sensing needs exist, this architecture can provide sensing services without core network control or with only some network elements participating in control. Furthermore, by deploying sensing network elements locally, sensing measurement data or results can remain within the campus, thus meeting enterprises' needs for the security and privacy of sensing measurement data or results, and reducing sensing latency. This architecture is simple, flexible, efficient, has few transmission nodes, is easy to deploy, and can optionally support UE-related sensing requirements, considering implementation schemes for functions such as authorization, mobility management, and billing as needed.

[0107] like Figure 7 As shown, in this architecture, the sensing network element directly connects to the RAN node, and both sensing control plane signaling messages and sensing measurement data are transmitted through the newly defined interface NS1. When a terminal participates in sensing, control plane signaling messages are forwarded to the sensing network element through the AMF network element, and sensing measurement data is transmitted through the NS1 interface. Furthermore, there may also be interfaces between the sensing network element and network elements such as AMF, NEF, or NWDAF to ensure that the AF network element provides sensing service requirements to the sensing network element through core network functions. For example, the descriptions of each interface in this architecture are as follows:

[0108] NS1 Interface: The interface between the sensing network element and the RAN. This interface is used to transmit sensing control signaling or sensing measurement data.

[0109] NS2 Interface: The interface between the sensing network element and the AMF network element. This interface is used to receive sensing service requests from the terminal, or to transmit signaling messages between the sensing network element and other core network elements, such as messages between the sensing network element and the UDM network element.

[0110] NS3 Interface: The interface between the sensing network element and the NEF network element. This interface is used to transmit messages between the sensing network element and the service-side AF network element, which are relayed through the NEF network element, and also to expose the sensing results to the AF network element. In addition, the interaction between the sensing network element and the AF network element may not go through the NEF network element.

[0111] Optionally, in actual deployment, either the NS2 interface or the NS3 interface can be selected. For example, the NS2 interface can be deployed without the NS3 interface. In this case, the AF network element can indirectly send sensing service requests to the sensing network element through the NS2 interface (AMF network element), or directly send sensing service requests to the sensing network element (without the NEF network element); or, the AF network element can send sensing service requests to the SF network element through the N33 (NEF network element) and the NS2 interface (AMF) network element.

[0112] NS4 Interface: The interface between the sensing network element and the NWDAF network element. Through this interface, the sensing network element can work with the NWDAF network element to perform intelligent analysis and prediction, and generate sensing results.

[0113] As a second possible implementation, the sensing network element can be co-located with other network elements in the core network. For example, the sensing network element can be co-located with the LMF network element, meaning that sensing and localization are implemented by the same network element.

[0114] For example, an LMF (Local Position Filter) network element can be understood as a network element in the core network that provides control plane positioning. It is used to calculate and feedback location information within the network, providing functions such as positioning process management, terminal capability acquisition, auxiliary data provision, and terminal location estimation. Specifically, an LMF network element can provide the following functions: supporting terminal location calculation; obtaining downlink location measurements or location estimates from the terminal; and obtaining uplink location measurements from the RAN (Radio Router).

[0115] For example, when the sensing network element and the LMF network element are co-located, the sensing network element can reuse the interface between the LMF network element and other core network elements (such as AMF network element, NEF network element, UDM network element, NWDAF network element, PCF network element, etc.) for sensing interaction.

[0116] Sensing control signaling between the LMF (including sensing network elements) and the RAN or terminal can be transmitted through the AMF network element; sensing measurement data acquired by the RAN or terminal can be transmitted to the LMF (including sensing network elements) via the control plane, such as using the LTE positioning protocol (LPP) or NR positioning protocol annex (NRPPa) via the control plane; or, sensing measurement data acquired by the RAN or terminal can also be transmitted via the user plane, forwarded through the UPF network element or directly transmitted to the LMF (including sensing network elements).

[0117] Furthermore, if the sensing network element and the LMF network element are co-located, the LMF network element and the gateway mobile location center (GMLC) need to be functionally enhanced to support basic sensing functions. The GMLC is 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 network element, and performing LMF selection, among other things.

[0118] Furthermore, interfaces related to LMF and GMLC (such as the NL1 interface between AMF and LMF, the NL2 interface between AMF and GMLC, the NL5 interface between NEF and GMLC, and the NL6 interface between UDM and GMLC) also need to support the transmission of awareness service-related information. Additionally, a new NL9 interface is added between LMF and GMLC. Details are as follows:

[0119] N33 Interface: The interface between AF network elements and NEF network elements. Through this interface, the type of sensing service, service requirements, sensing results, etc. can be transmitted.

[0120] NL5 interface: The interface between NEF network elements and GMLC. Through this interface, the type of sensing service, service requirements, sensing results, etc. can be transmitted.

[0121] NL6 interface: The interface between GMLC and UDM network elements, through which privacy inspection data can be transmitted.

[0122] NL2 interface: The interface between NEF network elements and AMF network elements. Through this interface, the type of sensing service, service requirements, sensing results, etc. can be transmitted.

[0123] NL1 interface: The interface between AMF network elements and LMF network elements. Through this interface, the type of sensing service, service requirements, sensing results, etc. can be transmitted.

[0124] NL9 Interface: The interface between GMLC and LMF network elements. Through this interface, information such as sensing service type, service requirements, and sensing results can be transmitted.

[0125] The above explanation uses the deployment of sensing network elements in the core network as an example. In addition, sensing network elements can also be deployed on the RAN side; this application does not specify a particular deployment location for sensing network elements.

[0126] In one possible implementation, RAN 500 can be a 3GPP-related cellular system, such as a 4G or 5G mobile communication system, an NTN system (e.g., an NTN supporting pass-through mode and / or regenerative mode, or an NTN supporting eye-fixed cell mode and / or eye-moving cell mode), or a future-oriented evolution system. RAN 500 can also be an open RAN (O-RAN or ORAN), a cloud radioaccess network (CRAN), or a wireless fidelity (WiFi) system. RAN 500 can also be a communication system integrating two or more of the above systems.

[0127] A RAN node is a network-side device with wireless transceiver capabilities. RAN nodes, sometimes also referred to as RAN entities or access nodes, form part of the communication system and help terminals achieve wireless access.

[0128] As one possible implementation, a RAN node can be an access network device, such as a base station, an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, a base station evolved from a 3GPP system, a base station in a future mobile communication system, an access node in a WiFi system, a wireless relay node, or a wireless backhaul node. For example, a RAN node can contain one or more co-located or non-co-located transmission reception points.

[0129] For example, a RAN node can be a macro base station, micro base station, indoor station, relay node, donor node, or a radio controller in a CRAN scenario. Optionally, a RAN node can also be a server, wearable device, vehicle, or in-vehicle equipment. For example, in V2X technology, a RAN node can be a roadside unit (RSU).

[0130] As another possible implementation, multiple RAN nodes collaborate to assist terminal devices in achieving wireless access, with different RAN nodes each implementing some of the functions of the access network equipment. For example, RAN nodes can be central units (CU), distributed units (DU), CU-control plane (CP), CU-user plane (UP), radio units (RU), or sensing units (SU), etc.

[0131] For example, the SU is mainly used to implement sensing and / or positioning-related functions, such as sending sensing signals and / or receiving echo signals of sensing signals, performing corresponding signal processing based on the received echo signals to obtain sensing measurement data, and performing sensing-related processing, etc.

[0132] For example, such as Figure 8 As shown, the CU, DU, and RU cooperate to assist the terminal in achieving wireless access. The CU, DU, and RU can be included in the access network equipment. See also... Figure 8Access network devices communicate with core network devices via backhaul links and with terminals via air interfaces. Specifically, the CU communicates with core network devices via backhaul links, and the RU communicates with at least one terminal via air interfaces. The DU communicates with at least one RU via fronthaul links, and the CU communicates with at least one DU via midhaul links.

[0133] For example, the CU and DU can be configured separately or included in the same network element, such as in a baseband unit (BBU). The RU can be included in radio frequency equipment or radio frequency units, such as in a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). The BBU and RU can be co-located or not.

[0134] 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 O-RAN central unit (O-CU), DU can also be called an O-RAN distributed unit (O-DU), CU-CP can also be called an O-RAN central unit control plane (O-CU-CP), CU-UP can also be called an O-RAN central unit user plane (O-CU-UP), and RU can also be called an O-RAN radio unit (O-RU).

[0135] For example, the CU / O-CU is used to implement the functions of the radio resource control (RRC) layer, packet data convergence protocol (PDCP) layer, and service data adaptation protocol (SDAP) layer in the 3GPP standard.

[0136] Furthermore, CU-CP / O-CU-CP is used to implement the functions of the RRC layer and the control plane functions of the PDCP layer, and is part of the time-domain CU / O-CU. CU-UP / O-CU-UP is used to implement the functions of the SDAP layer and the user plane functions of the PDCP layer, and is also part of the CU / O-CU.

[0137] The DU / O-DU is based on low-layer function segmentation and is used to implement the functions of the radio link control (RLC) layer, media access control (MAC) layer, and higher physical layer (Higher PHY) layer in the 3GPP standard. Among them, the higher physical layer functions include one or more of the following: forward error correction (FEC) encoding / decoding, scrambling / descrambling, or modulation / demodulation.

[0138] RU / O-RU is based on low-layer function partitioning and is used to implement lower physical layer (PHY) functions and radio frequency (RF) functions in the 3GPP standard. These PHY functions include one or more of the following: Fast Fourier Transform (FFT) / Inverse Fast Fourier Transform (iFFT), digital beamforming, or extraction and filtering of the Physical Random Access Channel (PRACH). It is similar to TRP or RRH in 3GPP, but includes PHY functions such as FFT / iFFT or PRACH extraction.

[0139] For example, depending on the functions of the DU and RU, and / or the different ways of splitting, the interface between the DU and RU can be a common public radio interface (CPRI) or an enhanced common public radio interface (eCPRI).

[0140] As one possible implementation, the CU can be used to perform layer 2 (L2) and layer 3 (L3) functions. Furthermore, the CU can also have some core network functions. The DU can be used to perform layer 1 (L1) and some L2 functions, and the RU can be used to perform L1 computing and radio frequency (RF) digital functions. The midhaul and backhaul interfaces are used to carry traffic between the CU and DU, and between the CU and the core network. The fronthaul interface is used to carry traffic between the RU and DU. An integrated DU can include the aforementioned DU and RU functions.

[0141] For example, in terms of hardware, the CU and DU may include a chassis platform, motherboard, peripheral devices, and cooling equipment. The motherboard includes processing units, memory, internal input / output (I / O) interfaces, and external connection ports. The hardware of the CU and DU may also include hardware accelerators. Hardware accelerators include interfaces and hardware functional components, including: storage for software, hardware, and system debugging interfaces, and a single-board management controller. For example, the processing unit may include a general-purpose processor, such as a central processing unit (CPU).

[0142] like Figure 9 As shown, DU is typically implemented using a multi-core processor and one or more hardware accelerators. Parts of the DU protocol stack can be implemented in software running on the multi-core processor, while computationally intensive L1 and L2 functions can be offloaded to a field-programmable gate array (FPGA) / graphics processing unit (GPU)-based hardware accelerator; or all L1 functions can be offloaded to an FPGA / GPU-based hardware accelerator, while other protocol stack components are implemented in software running on the processor; or the entire protocol stack can be implemented in software running on the processor. The hardware accelerator supports interconnection with x86 or non-x86 processors. Similarly, the accelerator has a multi-channel peripheral component interconnect express (PCIe) interface pointing to the CPU and external connections via gigabit Ethernet (GE) connectivity.

[0143] An RU may include an O-RAN processing unit (OPU), a digital processing unit (DPU), and an RF processing unit.

[0144] The OPU is used to receive Enhanced Common Public Radio Interface (eCPRI) frames from the O-RAN fronthaul and perform fronthaul interface, L1 layer (coding, scrambling, modulation, layer mapping, precoding), synchronization, beamforming, and resource unit mapping. The OPU can be implemented as a CPU, FPGA, or application-specific integrated circuit (ASIC).

[0145] The DPU is used to perform synchronization, uplink (UL) digital downconversion (DDC), downlink (DL) digital upconversion (DUC), channel failure ratio (CFR), and digital pre-distortion (DPD) processing. It improves power amplifier efficiency by reducing the peak-to-average power ratio (PAPR) / adjacent channel leakage ratio (ACLR) of the RF front-end. The DPU can be implemented as an FPGA or ASIC.

[0146] The RF processing unit includes a transceiver module, up / down converters, power amplifiers (PA), low-noise amplifiers (LNA), and Tx / Rx filters. Conversion between the analog and digital domains can be performed within the transceiver module. This conversion includes, but is not limited to: digital-to-analog converter (DAC), analog-to-digital converter (ADC), RF sampling, and frequency conversion using a mixture of RF, intermediate frequency (IF), and local oscillator (LO) during up-conversion and down-conversion. Optionally, the physical and logical partitions within the RF processing unit do not require specific boundaries; that is, it is not necessary to distinguish between physical and logical partitions.

[0147] All or part of the functions of the terminal, RAN node, and sensing network element in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform), or through software modules, hardware modules, or a combination of software and hardware modules. The terminal / RAN node / sensing network element in this application can also be a logical node, logical module, or software capable of implementing all or part of the terminal / access network device / sensing network element functions, or a device with some terminal / access network device / sensing network element functions, such as a chip system, which can be installed in the terminal / access network device / sensing network element.

[0148] It should be noted that the system described in the embodiments of this application is for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and does not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0149] The following description, using the above-mentioned communication system as an example, illustrates the communication method provided in the embodiments of this application through the interaction between RAN nodes, terminals, and sensing network elements.

[0150] It should be noted that in the following embodiments of this application, the message names, parameter names, or information names between RAN nodes, terminals, and sensing network elements are just examples. Other names may also be used in other embodiments, and the method provided in this application does not specifically limit them.

[0151] It is understood that in the embodiments of this application, RAN nodes, terminals, and sensing network elements may execute some or all of the steps in the embodiments of this application. These steps or operations are merely examples, and the embodiments of this application may also execute other operations or variations thereof. Furthermore, the various steps may be executed in different orders as presented in the embodiments of this application, and it is not necessarily necessary to execute all the operations in the embodiments of this application.

[0152] It is understood that this application uses RAN nodes, terminals, and sensing network elements as examples to illustrate the execution of the interaction, but this application does not limit the execution subject of the interaction. For example, the method executed by the RAN node in this application can also be executed by a module (e.g., a chip, chip system, or processor) applied to the RAN node, or by a logical node, logical module, or software that can implement all or part of the RAN node's functions; the method executed by the terminal in this application can also be executed by a module (e.g., a chip, chip system, or processor) applied to the terminal, or by a logical node, logical module, or software that can implement all or part of the terminal's functions; the method executed by the sensing network element in this application can also be executed by a module (e.g., a chip, chip system, or processor) applied to the sensing network element, or by a logical node, logical module, or software that can implement all or part of the sensing network element's functions.

[0153] The method for determining parameter deviations provided in the embodiments of this application will be described below. For example... Figure 10 As shown, the method for determining this parameter deviation may include the following steps:

[0154] S1001, The second sensing device acquires the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device.

[0155] In this embodiment, the first sensing device is a sensing transmitter, and the second sensing device is a sensing receiver. For example, the first sensing device can be a terminal, and the second sensing device can be a RAN node; alternatively, the first and second sensing devices can have other forms, which are not specifically limited in this application.

[0156] As one possible implementation, a LOS path can be understood as: a path where a signal can propagate directly from the transmitter to the receiver without obstacles; that is, the signal transmitted via the LOS path does not undergo scattering / reflection / refraction / diffraction by objects. Correspondingly, an NLOS path can be understood as: a path where a signal emitted from the transmitter undergoes scattering / reflection / refraction / diffraction by obstacles to reach the receiver; that is, the signal transmitted via the NLOS path undergoes scattering / reflection / refraction / diffraction by objects. For example, based on... Figure 4 In the example shown, the path of the reference signal sent by the terminal to the base station after passing through the sensing target can be understood as the NLOS path, and the path of the reference signal directly to the base station can be understood as the LOS path.

[0157] As one possible implementation, the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device is: the angle of arrival of the reference signal transmitted by the first sensing device through the LOS path.

[0158] For example, before step S1001, the first sensing device can send a reference signal that can reach the second sensing device through multiple paths (i.e., multipath propagation). These multiple paths include LOS paths and NLOS paths. The second sensing device can measure the reference signal transmitted through the LOS path to obtain the measured angle of arrival corresponding to the LOS path.

[0159] Furthermore, the reference signal transmitted via the NLOS path can be understood as a reference signal scattered / reflected / refracted / diffracted by the sensing target. The second sensing device can measure the reference signal transmitted via the NLOS path to obtain the corresponding NLOS path measurement. This NLOS path measurement can carry relevant information about the sensing target, such as its position and distance.

[0160] As one possible implementation, the reference signal received by the second sensing device can be understood as a superposition of reference signals transmitted via the LOS path and the NLOS path. Understandably, the second sensing device is capable of identifying the reference signals transmitted via the LOS path and the NLOS path.

[0161] For example, the first sensing device and the second sensing device can align the time-frequency resources where the reference signal is located, such as the second sensing device pre-configuring the time-frequency resources of the reference signal. Then, the first sensing device transmits the reference signal on the time-frequency resources, and the second sensing device receives the reference signal on the same time-frequency resources. The second sensing device can determine the signal received first on the time-frequency resources as the reference signal transmitted via the LOS path. Alternatively, the second sensing device can determine the path first reached on the time-domain resources as the LOS path, and determine the signal transmitted on that path as the reference signal transmitted via the LOS path. Of course, the second sensing device can also identify LOS paths, NLOS paths, and reference signals transmitted via both LOS and NLOS paths in other ways, which are not specifically limited in this application.

[0162] The reference signal can also be called or understood as the sensing signal or sensing reference signal. Please refer to the previous explanation of the sensing signal, which will not be repeated here.

[0163] As one possible implementation, the angle of arrival in this embodiment includes the azimuth of arrival (AOA) and / or the zenith of arrival (ZOA). That is, the measured angle of arrival corresponding to the LOS path may include the AOA and / or ZOA of the reference signal transmitted through the LOS path as measured by the second sensing device.

[0164] As one possible implementation, the measured angle of arrival corresponding to the LOS path can be an angle represented based on a local coordinate system or an angle represented based on a global coordinate system.

[0165] For example, a local coordinate system can be understood as a coordinate system from the perspective of the second sensing device, such as a coordinate system with the position of the second sensing device as the origin or the orientation of the second sensing device as the coordinate axes. A global coordinate system can be understood as a universal coordinate system, such as the earth-centered earth-fixed (ECEF) coordinate system, the geodetic coordinate system, the earth-centered inertial (ECI) coordinate system, etc.

[0166] The measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device is used to determine the parameter deviation of the first sensing device and / or the second sensing device.

[0167] S1002. The second sensing device determines the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path.

[0168] The parameter deviation of the first sensing device is used to calibrate the parameters (such as engineering parameters) of the first sensing device, and the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device. The calibrated parameters of the first and second sensing devices are then used for sensing, such as to determine the sensing result.

[0169] As one possible implementation, if the first sensing device is a terminal, the parameter deviation of the first sensing device may include the position deviation of the terminal; if the second sensing device is a RAN node, the reference deviation of the second sensing device may include the position deviation and / or orientation deviation of the RAN node.

[0170] For example, positional bias may include at least one of latitude bias, longitude bias, or altitude bias. Orientation bias may include azimuth bias and / or elevation bias. Positional bias can also be understood as coordinate bias.

[0171] Optionally, since the terminal may be mobile, the terminal's positional deviation can be associated with time. For example, the terminal's positional deviation can correspond to a timestamp, indicating the terminal's positional deviation at the time indicated by the timestamp.

[0172] Optionally, after step S1002, the second sensing device may determine the sensing result based on the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device, i.e., perform the following step S1003a; or, the second sensing device may also send the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device to the sensing network element, i.e., perform the following step S1003b, so that the sensing network element can determine the sensing result.

[0173] S1003a, The second sensing device determines the sensing result based on the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device.

[0174] As one possible implementation, if the parameter deviation of the first sensing device is determined in step S1002 above, and the parameter deviation of the second sensing device is not determined, the second sensing device can determine the sensing result based on the parameter deviation of the first sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the NLOS radial measurement quantity corresponding to the reference signal.

[0175] The NLOS path measurement corresponding to the reference signal can be understood as the measurement of the reference signal transmitted through the NLOS path between the first sensing device and the second sensing device. This reference signal is sent by the first sensing device and has undergone scattering / reflection from the sensing target. Refer to the relevant explanation of the NLOS path measurement in step S1001 above; it will not be repeated here.

[0176] For example, the NLOS path measurement quantities corresponding to the reference signal may include time delay, AOA, and ZOA. The time delay can be the transmission delay of the reference signal transmitted through the NLOS path, which can also be called the time of flight (ToF). The AOA / ZOA can be the AOA / ZOA of the reference signal transmitted through the NLOS path.

[0177] For example, the second sensing device can calibrate the parameters of the first sensing device based on the parameter deviation of the first sensing device to obtain the calibrated parameters of the first sensing device, and then determine the sensing result based on the calibrated parameters of the first sensing device, the parameters of the second sensing device, and the NLOS diameter measurement corresponding to the reference signal.

[0178] As another possible implementation, if the parameter deviation of the second sensing device is determined in step S1002 above, and the parameter deviation of the first sensing device is not determined, the second sensing device can determine the sensing result based on the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the NLOS diameter measurement corresponding to the reference signal. The NLOS diameter measurement corresponding to the reference signal can be referred to in the aforementioned related descriptions, and will not be repeated here.

[0179] For example, the second sensing device can calibrate its parameters based on the parameter deviation of the second sensing device to obtain the calibrated parameters of the second sensing device, and then determine the sensing result based on the calibrated parameters of the second sensing device, the parameters of the first sensing device, and the NLOS diameter measurement corresponding to the reference signal.

[0180] As another possible implementation, if the parameter deviations of the first sensing device and the second sensing device are determined in step S1002 above, the second sensing device can determine the sensing result based on the parameter deviations of the first and second sensing devices, the parameters of the first and second sensing devices, and the NLOS diameter measurement corresponding to the reference signal. The NLOS diameter measurement corresponding to the reference signal can be referred to in the aforementioned explanations and will not be repeated here.

[0181] For example, the second sensing device can calibrate the parameters of the first sensing device according to the parameter deviation of the first sensing device to obtain the calibrated parameters of the first sensing device, and calibrate the parameters of the second sensing device according to the parameter deviation of the second sensing device to obtain the calibrated parameters of the second sensing device. Then, based on the calibrated parameters of the first sensing device, the calibrated parameters of the second sensing device, the parameters of the first sensing device, and the NLOS diameter measurement corresponding to the reference signal, the sensing result is determined.

[0182] For example, taking the second sensing device as the RAN node, the first sensing device as the terminal, and the parameter deviation as the position deviation, the RAN node calibrates the position of the terminal according to the position deviation of the terminal, calibrates the position of the RAN node according to the position deviation of the RAN node, and then determines the sensing result according to the calibrated position of the terminal, the calibrated position of the RAN node, and the NLOS radial measurement corresponding to the reference signal.

[0183] S1003b: The second sensing device sends the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device to the sensing network element. Correspondingly, the sensing network element receives the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device from the second sensing device.

[0184] For example, the second sensing device can send the parameter deviation to the sensing network element through the user plane or the control plane, or the second sensing device can directly send the parameter deviation to the sensing network element through the interface between the second sensing device and the sensing network element.

[0185] As one possible implementation, the second sensing device also sends the NLOS path measurement corresponding to the reference signal to the sensing network element. The NLOS path measurement corresponding to the reference signal can be found in the foregoing description and will not be repeated here. Optionally, the second sensing device also sends the measured angle of arrival corresponding to the LOS path and the time delay corresponding to the LOS path to the sensing network element.

[0186] After step S1003b, the sensing network element can also perform the following step S1004:

[0187] S1004. The sensing element determines the sensing result based on the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device. Refer to the description of the second sensing device determining the sensing result in step S1003a above; it will not be repeated here.

[0188] Based on the above scheme, since RAN nodes or sensing network elements can estimate the parameter deviations of RAN nodes and / or terminals, parameter calibration can be performed based on these deviations. Because the parameters of RAN nodes and / or terminals can be calibrated, sensing accuracy can be improved when sensing based on calibrated parameters compared to sensing using uncalibrated parameters, thereby enhancing sensing performance.

[0189] In one possible implementation, step S1002 above, in which the second sensing device determines the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path, may include: the second sensing device determining the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the parameter deviation range.

[0190] The parameter deviation range includes a first parameter deviation range and / or a second parameter deviation range. The first parameter deviation range is the range of parameter deviations of the first sensing device, and the second parameter deviation range is the range of parameter deviations of the second sensing device. Taking the first sensing device as a terminal and the second sensing device as a RAN node as an example, the first parameter deviation range can be the terminal position deviation range, such as a terminal position deviation of 1 meter, and the second parameter deviation range can include the RAN node position deviation range and / or orientation deviation range.

[0191] For example, if the parameter deviation range includes a first parameter deviation range, the parameter deviation of the first sensing device can be determined; if the parameter deviation range includes a second parameter deviation range, the parameter deviation of the second sensing device can be determined.

[0192] As one possible implementation, the second sensing device determines the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the parameter deviation range. This can include: the second sensing device can determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path. Here, the predicted angle of arrival corresponding to the LOS path is a variable, and it is determined based on the parameter deviation range.

[0193] For example, the predicted angle of arrival corresponding to the LOS path can be understood as the angle of arrival predicted by the second sensing device. For instance, the predicted angle of arrival corresponding to the LOS path can be calculated by the second sensing device after calibrating the parameters of the first and / or second sensing devices based on an assumed parameter deviation. Here, the assumed parameter deviation is within the parameter deviation range.

[0194] For example, the second sensing device can first assume the parameter deviations of the first sensing device and / or the parameter deviations of the second sensing device. For instance, it can assume the position and orientation deviations of the RAN node (such as azimuth deviation Δ_(gnb,α) and elevation deviation Δ_(gnb,β)), and assume the position deviation of the terminal. The position deviation of the RAN node can be represented by coordinate deviations, which can be deviations in different coordinate systems, such as latitude deviation Δ_(gnb,x) and longitude deviation Δ_(gnb,y) in latitude and longitude coordinates, or deviations in a rectangular coordinate system. The position deviation of the terminal can also be represented by latitude deviation Δ_(ue,x) and longitude deviation Δ_(ue,y) in latitude and longitude coordinates, or by coordinate deviations in other coordinate systems (such as a rectangular coordinate system). This application does not specifically limit this.

[0195] For example, taking a parameter deviation range that includes a first parameter deviation range and / or a second parameter deviation range as an example, a parameter deviation (denoted as parameter deviation 1) can be determined within the first parameter deviation range, and / or a parameter deviation (denoted as parameter deviation 2) can be determined within the second parameter deviation range. Here, parameter deviation 1 can be understood as a hypothetical parameter deviation of the first sensing device, and parameter deviation 2 can be understood as a hypothetical parameter deviation of the second sensing device.

[0196] Subsequently, the second sensing device can obtain the preset calibration parameters of the first sensing device based on the assumed parameter deviation of the first sensing device and the parameters of the first sensing device; and / or, obtain the preset calibration parameters of the second sensing device based on the assumed parameter deviation of the second sensing device and the parameters of the second sensing device.

[0197] Finally, the second sensing device can calculate the predicted angle of arrival (Angle of Arrival) corresponding to the LOS path based on the preset calibration parameters of the first sensing device and / or the preset calibration parameters of the second sensing device. For example, when the measured angle of arrival corresponding to the LOS path is represented based on a local coordinate system, the second sensing device can first calculate the predicted angle of arrival corresponding to the LOS path in the global coordinate system, and then convert the predicted angle of arrival in the global coordinate system to the predicted angle of arrival in the local coordinate system.

[0198] Understandably, since the parameter deviation range includes multiple parameter deviations, different predicted angles of arrival (Angles of Arrival) for different LOS paths can be obtained based on different parameter deviations within this range. In other words, the predicted angle of arrival for a LOS path can be considered a variable.

[0199] As one possible implementation, the second sensing device can determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path through the following three steps:

[0200] 1) The second sensing device constructs a cost function based on the measured angle of arrival (LOS) and the predicted angle of arrival (LOS). This cost function can also be called a loss function.

[0201] For example, the cost function can represent the similarity between the predicted angle of arrival (Angle of Arrival) and the measured angle of arrival (Angle of Arrival) of the LOS path. For instance, the cost function can be correlated with the difference between the predicted and measured Angles of Arrival of the LOS path. Thus, the cost function can be expressed as sqrt((Predicted Angle of Arrival of LOS Path - Measured Angle of Arrival of LOS Path)). 2 ), sqrt represents the square root operation.

[0202] The predicted angle of arrival for the LOS path is a variable, and its value can be the angle corresponding to each ergodic value of the parameter deviation within the above parameter deviation range. The calculation method for the predicted angle of arrival for the LOS path can be found in the relevant explanations above, and will not be repeated here.

[0203] Since the predicted angle of arrival (Angle of Arrival) for the LOS path is a variable, it can also be understood as a solution to the cost function. The cost function takes different values ​​depending on the predicted Angle of Arrival for the LOS path.

[0204] 2) The second sensing device uses an optimization algorithm to search within the range of the first parameter deviation and / or the range of the second parameter deviation to obtain the first parameter deviation and / or the second parameter deviation.

[0205] Here, the first parameter deviation falls within the range of the first parameter deviation, and the second parameter deviation falls within the range of the second parameter deviation. If the range of the first parameter deviation exists, the first parameter deviation is obtained through the search; if the range of the second parameter deviation exists, the second parameter deviation is obtained through the search. The first parameter deviation and / or the second parameter deviation represent the optimal solution to the cost function, or can be understood as the solution that minimizes the cost function.

[0206] For example, the optimization algorithm can be a particle swarm optimization (PSO) algorithm. Of course, other optimization algorithms can also be used, and this application does not specifically limit the type of optimization algorithm.

[0207] The first parameter deviation and / or the second parameter deviation correspond to the first predicted angle of arrival (Angle of Arrival) of the LOS path. In other words, the first predicted Angle of Arrival (Angle of Arrival) of the LOS path can be determined based on the first parameter deviation and / or the second parameter deviation. The method for determining the predicted Angle of Arrival of the LOS path based on the parameter deviations can be found in the relevant explanations above, and will not be repeated here.

[0208] Here, the first predicted angle of arrival is the optimal solution for the cost function. That is, an optimization algorithm can be used to search within the parameter deviation range, and the predicted angle of arrival corresponding to the LOS path can be determined based on the obtained parameter deviation. Then, it can be determined whether the predicted angle of arrival corresponding to that LOS path is the optimal solution for the cost function. If the predicted angle of arrival corresponding to a certain LOS path is not the optimal solution for the cost function, the search is repeated until the optimal solution for the cost function is found.

[0209] 3) The second sensing device determines the first parameter deviation as the parameter deviation of the first sensing device, and / or determines the second parameter deviation as the parameter deviation of the second sensing device.

[0210] In one possible implementation, taking the position as an example of the parameters of the sensing device, the second sensing device or sensing network element determines the sensing result based on the calibrated parameters of the first sensing device, the calibrated parameters of the second sensing device, and the NLOS diameter measurement corresponding to the reference signal. This may include:

[0211] The second sensing device or sensing network element determines the distance (d) between the first and second sensing devices based on the positions of the calibrated first and second sensing devices. Based on the distance d and the position of the calibrated second sensing device, a sensing result is determined, which may be, for example, the coordinates of a scattering point or a sensing target.

[0212] For example, the reference signal corresponding to the NLOS path measurement may include L sets of NLOS path measurements, with each set of LOS path measurements corresponding to one NLOS path. That is, the reference signal can be transmitted to the second sensing device through L NLOS paths, and the second sensing device can measure the measurement of the reference signal transmitted through each NLOS path. In this scenario, the coordinates of the scattering point corresponding to the l-th NLOS path... It can be represented as:

[0213]

[0214] These are the location coordinates of the RAN node after calibration.

[0215] a l Let be the major axis of the ellipse, which is the major axis of the ellipse containing the scattering point. l =d l / 2,d l The transmission delay is the value of the l-th NLOS path.

[0216] e l Let be the eccentricity of the ellipse, which is the ellipse containing the scattering point, with the positions of the terminal and the RAN node as its foci. l =d / d l .

[0217] cosβ is the cosine of the angle between the terminal's direction relative to the base station and the multipath echo's direction relative to the base station. Where θ0 and φ0 are the AOA and ZOA corresponding to the LOS radius, θ l and φ l These are the AOA and ZOA corresponding to the l-th NLOS path. represents the transpose of the matrix.

[0218] The principle behind calculating the coordinates of the scattering point is based on the polar coordinate equation of an ellipse. Based on the ranging, the scattering point can be calculated to be located on an ellipse with the RAN node and the terminal position as the foci. The major axis of this ellipse is 1 / 2 of the multipath ToF corresponding to the scattering point, and the focal length is 1 / 2 of the distance between the RAN node and the terminal.

[0219] As one possible implementation, the angle in the above-mentioned sensing result determination process can be an angle represented by a local coordinate system, which can be related to the orientation of the RAN node, such as a local coordinate system established based on the orientation of the RAN node. In this case, if the parameter deviation of the RAN node includes orientation deviation, the above angle can be an angle calibrated based on the orientation deviation. For example, the local coordinate system can be calibrated based on the orientation deviation, and then the measured angle can be calibrated.

[0220] As one possible implementation, if the parameter deviation of the first sensing device is not determined, then in the process of determining the sensing result described above, the parameters of the first sensing device are the original uncalibrated parameters, and the parameters of the second sensing device are the calibrated parameters; conversely, if the parameter deviation of the second sensing device is not determined, then in the process of determining the sensing result described above, the parameters of the second sensing device are the original uncalibrated parameters, and the parameters of the first sensing device are the calibrated parameters. The specific implementation is similar to the implementation of determining the sensing result described above, and will not be repeated here.

[0221] The following example, using the first sensing device as the terminal, the second sensing device as the RAN node, and the sensing network element as the SF network element, with the terminal / RAN node parameter deviation including positional deviation, illustrates a possible application flow of the above scheme. The SF network element can be co-located with the LMF network element or deployed separately. Figure 11 As shown, the process includes the following steps:

[0222] S1101, terminal, RAN node and SF network element interaction capability information.

[0223] For example, a terminal can report its sensing capabilities, such as supported sensing bandwidth, to the RAN node. The RAN node can maintain the terminal's sensing capabilities or send the terminal's sensing capabilities to the SF network element. Furthermore, the RAN node can also send its own sensing capabilities to the SF network element.

[0224] Optionally, the reporting of the sensing capabilities of the terminal / RAN node can be initiated by the terminal / RAN node or reported based on a request from the SF network element. This application does not impose specific limitations on this.

[0225] S1102, the SF network element sends a measurement request message to the RAN node. Correspondingly, the RAN node receives the measurement request message from the SF network element.

[0226] Specifically, this measurement request information is used to request the RAN node to configure a reference signal for the terminal. Furthermore, this measurement request information is also used to request the terminal to periodically report location information, such as location coordinates.

[0227] For example, the measurement request information can be a sensing measurement request or a location measurement request.

[0228] S1103, the RAN node sends reference signal configuration information to the terminal. Correspondingly, the terminal receives the reference signal configuration information from the RAN node.

[0229] For example, the reference signal configuration information is used to configure the reference signal, such as configuring the time-frequency resources of the reference signal, the sequence used to generate the reference signal, etc., without limitation. This reference signal can be used to measure the channel reflected / scattered / diffracted by the sensing target.

[0230] Optionally, the RAN node can send reference signal configuration information to multiple terminals. The reference signals configured for different terminals can be the same or different, without restriction.

[0231] In addition, RAN nodes can also send location request information to terminals to request terminals to periodically report their location information.

[0232] S1104, The terminal sends a reference signal.

[0233] For example, the terminal sends a reference signal based on the reference signal configuration information received in step S1103. For instance, the reference signal may be sent on the time-frequency resources configured in the reference signal configuration information.

[0234] In addition, the terminal can also send its location information to the RAN node. This location information may include the terminal's absolute location, such as location information obtained based on RTK, inertial navigation, or the Global Positioning System (GPS). Optionally, the terminal can also send timestamp information to indicate the timestamp corresponding to the terminal's location information; that is, the terminal's location information may be different at different times.

[0235] S1105, the RAN node acquires the measured angle of arrival corresponding to the LOS path between the terminal and the RAN node, and the NLOS path measurement corresponding to the reference signal.

[0236] For example, the RAN node can measure the reference signal sent by the terminal in step S1104 to obtain the measured angle of arrival (Angle of Arrival) corresponding to the LOS path and the NLOS path measurement corresponding to the reference signal. Refer to the relevant descriptions in steps S1001, S1003a, etc., above; they will not be repeated here.

[0237] S1106. The RAN node determines the parameter deviation of the terminal and / or the parameter deviation of the RAN node based on the measured angle of arrival corresponding to the LOS path. Refer to the explanation related to step S1002 above; it will not be repeated here.

[0238] Optionally, after step S1106, the RAN node can determine the sensing result based on the parameter deviation of the terminal and / or the parameter deviation of the RAN node, i.e., perform the following step S1107a; or, the RAN node can also send the parameter deviation of the terminal and / or the parameter deviation of the RAN node to the sensing network element, i.e., perform the following step S1107b, so that the sensing network element can determine the sensing result.

[0239] S1107a, the RAN node determines the sensing result based on the parameter deviation of the terminal and / or the parameter deviation of the RAN node, as well as the NLOS path measurement corresponding to the reference signal. Refer to the explanation related to step S1003 above; it will not be repeated here.

[0240] Understandably, in step S1107a, the terminal location used by the RAN node to determine the sensing result can be the location indicated by the location information sent by the terminal to the RAN node.

[0241] S1107b: The RAN node sends the terminal's parameter deviation and / or the RAN node's parameter deviation, along with the NLOS path measurement corresponding to the reference signal, to the SF network element. Correspondingly, the SF network element receives the terminal's parameter deviation and / or the RAN node's parameter deviation, along with the NLOS path measurement corresponding to the reference signal, from the RAN node. Refer to the explanation related to step S1107b above; it will not be repeated here.

[0242] For example, the RAN node can send the terminal's parameter deviation and / or the RAN node's parameter deviation to the sensing network element through a parameter error report.

[0243] Furthermore, in step S1107b, the RAN node can also send the terminal's location information and the RAN node's location information to the sensing network element.

[0244] After step S1107b, the sensing network element may also perform the following step S1108:

[0245] S1108, the SF network element determines the sensing result based on the parameter deviation of the terminal and / or the parameter deviation of the RAN node, as well as the NLOS path measurement corresponding to the reference signal. Refer to the description of the second sensing device determining the sensing result in step S1003a above; it will not be repeated here.

[0246] As one possible implementation, in step S1108, the terminal location and the RAN node location used by the sensing network element to determine the sensing result can be reported by the RAN node to the sensing network element.

[0247] Optionally, the RAN node can also send the terminal's parameter deviations and / or the RAN node's parameter deviations to the terminal. For example, the RAN node can send the terminal's parameter deviations and / or the RAN node's parameter deviations to the terminal via a parameter error report. Upon receiving the terminal's parameter deviations and / or the RAN node's parameter deviations, the terminal can perform parameter calibration, such as calibrating the terminal's position, thereby improving the performance of related processing based on the terminal's position.

[0248] Based on the above scheme, the RAN node can estimate the parameter deviation of the RAN node and / or the terminal, and thus perform parameter calibration based on this deviation. Since the parameters of the RAN node and / or the terminal can be calibrated, the sensing accuracy can be improved compared to uncalibrated parameters when sensing is performed based on the calibrated parameters, thereby enhancing sensing performance. Furthermore, the RAN node can simultaneously acquire the measured angle of arrival (Angle of Arrival) corresponding to the LOS path and the NLOS path measurement corresponding to the reference signal transmitted by the terminal. That is, there is no need for the terminal to transmit additional information for parameter deviation estimation, and therefore no need to design an additional reference signal for parameter deviation estimation, reducing implementation complexity and saving resource overhead.

[0249] In the above scheme, the parameter deviation of the first sensing device and / or the second sensing device is determined at the RAN node. Furthermore, this application also provides a method in which the parameter deviation of the first sensing device and / or the second sensing device can also be determined by the sensing network element. For example... Figure 12 As shown, the method includes the following steps:

[0250] S1201, The second sensing device acquires the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device.

[0251] The measurement angle of arrival corresponding to the LOS path is used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device. Please refer to the relevant description of step S1001 above, which will not be repeated here.

[0252] As one possible implementation, the second sensing device also acquires the NLOS diameter measurement corresponding to the reference signal. (See reference...) Figure 10 The relevant descriptions of the methods shown will not be repeated here.

[0253] S1202, the second sensing device sends the measured angle of arrival corresponding to the LOS path to the sensing network element. Correspondingly, the sensing network element receives the measured angle of arrival corresponding to the LOS path from the second sensing device. That is, it can be considered that the sensing network element acquires the measured angle of arrival corresponding to the LOS path.

[0254] As one possible implementation, the second sensing device can send first information to the sensing network element, which carries the identifier of the LOS path and the measured angle of arrival corresponding to the LOS path.

[0255] In addition, the second sensing device can also send second information to the sensing network element, which may include the measurement quantities of each NLOS path corresponding to the reference signal and the identifier of the corresponding NLOS path.

[0256] S1203. The sensing network element determines the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path. (Refer to the above.) Figure 10 or Figure 11 The explanation regarding the determination of parameter deviations between the first and / or second sensing devices by the second sensing device in the method shown will not be repeated here.

[0257] S1204. The sensing network element determines the sensing result based on the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device.

[0258] As one possible implementation, the sensing network element can determine the sensing result based on the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the NLOS path measurement corresponding to the reference signal. The parameters of the first sensing device can be reported by either the first or second sensing device, and the parameters of the second sensing device can be reported by the second sensing device itself. The specific implementation of step S1204 can be found above. Figure 10 or Figure 11 The explanation of how the second sensing device determines the sensing result in the method shown will not be repeated here.

[0259] Based on the above scheme, the RAN node sends the measured angle of arrival (OA) corresponding to the LOS path to the sensing network element. This allows the sensing network element to estimate the parameter deviation of the RAN node and / or terminal based on the measured OA, and thus perform parameter calibration based on this deviation. Because the parameters of the RAN node and / or terminal can be calibrated, sensing accuracy is improved compared to uncalibrated parameters when sensing based on calibrated parameters, thereby enhancing sensing performance. Furthermore, having the sensing network element estimate the parameter deviation and determine the sensing results reduces the processing complexity of the RAN node, saves power consumption, and lowers the capability requirements of the RAN node.

[0260] The following section uses the first sensing device as the terminal, the second sensing device as the RAN node, and the sensing network element as the SF network element, taking the parameter deviation between the terminal and the RAN node, including the position deviation, as an example to introduce... Figure 12The illustrated method represents one possible application flow. The SF network element can be co-located with the LMF network element or deployed separately. For example... Figure 13 As shown, the process includes the following steps:

[0261] S1301, Terminal, RAN Node and SF Network Element Interaction Capability Information. Refer to the relevant description in step S1101 above; it will not be repeated here.

[0262] S1302, the SF network element sends a measurement request message to the RAN node. Correspondingly, the RAN node receives the measurement request message from the SF network element.

[0263] This measurement request information is used to request the RAN node to configure a reference signal for the terminal. It also requests the RAN node to report the measured angle of arrival (Angle of Arrival) corresponding to the LOS path. The LOS path is the LOS path between the terminal and the RAN node.

[0264] Optionally, the measurement request information can also be used to request the terminal to periodically report location information, such as location coordinates.

[0265] S1303, the RAN node sends reference signal configuration information to the terminal. Correspondingly, the terminal receives the reference signal configuration information from the RAN node. Refer to the relevant description in step S1103 above; it will not be repeated here.

[0266] S1304. The terminal sends a reference signal. Refer to the relevant explanation in step S1104 above; it will not be repeated here.

[0267] Furthermore, the terminal can also send its location information to the sensing network element, as described above. Figure 11 The relevant descriptions of the methods shown will not be repeated here.

[0268] S1305, the RAN node acquires the measured angle of arrival (OA) of the LOS path between the terminal and the RAN node, and the measured NLOS path of the reference signal. Refer to the relevant description in step S1105 above; it will not be repeated here.

[0269] S1306. The RAN node sends the measured angle of arrival (Angle of Arrival) corresponding to the LOS path and the NLOS path measurement corresponding to the reference signal to the SF network element. Refer to the relevant explanation in step S1202 above; it will not be repeated here.

[0270] S1307. The SF network element determines the parameter deviation of the terminal and / or the parameter deviation of the RAN node based on the measured angle of arrival corresponding to the LOS path. Refer to the relevant explanation in step S1203 above; it will not be repeated here.

[0271] S1308. The SF network element determines the sensing result based on the parameter deviation of the terminal and / or the parameter deviation of the RAN node, as well as the NLOS path measurement corresponding to the reference signal. Refer to the relevant explanation in step S1204 above; it will not be repeated here.

[0272] Based on the above scheme, the RAN node sends the measured angle of arrival (Angle of Arrival) corresponding to the LOS path to the sensing network element. This allows the sensing network element to estimate the parameter deviation of the RAN node and / or the terminal based on the measured Angle of Arrival, and thus perform parameter calibration based on this deviation. Since the parameters of the RAN node and / or the terminal can be calibrated, sensing accuracy is improved compared to uncalibrated parameters when sensing based on calibrated parameters, thereby enhancing sensing performance. Furthermore, having the sensing network element estimate the parameter deviation and determine the sensing result reduces the processing complexity of the RAN node, saves power consumption, and lowers the capability requirements of the RAN node. Moreover, the RAN node can simultaneously acquire the measured Angle of Arrival (Angle of Arrival) corresponding to the LOS path and the NLOS path measurement corresponding to the reference signal sent by the terminal. That is, the terminal does not need to send additional information for parameter deviation estimation, thus eliminating the need to design additional parameter signals for parameter deviation estimation, reducing implementation complexity and saving resource overhead.

[0273] In one possible implementation, for the above method embodiments, in a traditional network architecture, the RAN node can be an access network device, such as a base station. In an ORAN system, the function of interaction between the RAN node and the terminal can be implemented by the DU. The information sent by the RAN node to the terminal can be generated by the DU, or it can be generated by the CU and sent to the DU.

[0274] For example, the aforementioned reference signal configuration information can be generated by the CU and sent to the DU, which then sends it to the terminal via the RU; or, it can be generated by the DU and sent to the terminal via the RU. For instance, the reference signal configuration information can be sent by the CU to the DU via the midhaul link, then by the DU to the RU via the fronthaul link, and finally by the RU to the terminal via the air interface. Information sent by the terminal to the RAN node (such as terminal location information) can be sent by the terminal to the RU, then by the RU to the DU, and processed by the DU; or it can be sent by the terminal to the RU, then by the RU to the DU, and finally by the DU to the CU, where it is processed. Reference signals received by the RAN node can be received by the RU and processed by the DU.

[0275] Furthermore, the interaction function between RAN nodes and sensing network elements can be implemented by CU, DU, or RU. The processing function of RAN nodes can be implemented by CU, DU, or a combination of CU and DU, without restriction.

[0276] For example, taking access network equipment including CU, DU, and RU as an example, under the O-RAN architecture, the above... Figure 11 The process shown can be transformed into Figure 14 The process is shown below. Figure 14 As shown, the process includes the following steps:

[0277] S1401, Terminal, Access Network Equipment and SF Network Element Interaction Capability Information.

[0278] As one possible implementation, the terminal can send capability information to the RU, the RU sends the terminal's capability information to the DU via the fronthaul link, the DU sends the terminal's capability information to the CU via the midhaul link, and the CU sends the terminal's capability information to the SF network element via the backhaul link.

[0279] As one possible implementation, the capability information of the RAN node can be generated by the CU, and the CU can send the capability information of the RAN node to the SF network element through the backhaul link.

[0280] S1402, the SF network element sends a measurement request message to the CU. Correspondingly, the CU receives the measurement request message from the SF network element.

[0281] When the CU receives the measurement request information, if the measurement request information is used to request the configuration of a reference signal for the terminal, the CU can generate reference signal configuration information, or send the measurement request information to the DU so that the DU can generate reference signal configuration information.

[0282] Optionally, in cases where the measurement request information is used to request the terminal to periodically report location information, the CU can send a reporting request information to the DU, which requests the terminal to periodically report location information. After receiving the reporting request information, the DU can send the reporting request information to the RU, which then sends the reporting request information to the terminal via the air interface.

[0283] S1403 and RU send reference signal configuration information to the terminal. Correspondingly, the terminal receives the reference signal configuration information.

[0284] The reference signal configuration information can be generated by the CU and sent to the DU, which in turn sends it to the RU; or, the reference signal configuration can be generated by the DU based on the measurement request information from the CU and sent to the RU, without restriction.

[0285] S1404, The terminal sends a reference signal.

[0286] S1405, RU and / or DU acquire the measurement angle of arrival corresponding to the LOS path and the NLOS path measurement corresponding to the reference signal.

[0287] As one possible implementation, the RU can receive a reference signal, which is then measured by the RU and / or DU to obtain the measured angle of arrival corresponding to the LOS path and the NLOS path measurement corresponding to the reference signal.

[0288] S1406, DU and / or CU determine the parameter deviation of the terminal and / or the parameter deviation of the RAN node based on the measured angle of arrival corresponding to the LOS path.

[0289] S1407a, DU, and / or CU determine the sensing results based on the parameter deviation of the terminal and / or the parameter deviation of the RAN node, as well as the NLOS path measurement corresponding to the reference signal.

[0290] S1407b and CU transmit the terminal parameter deviation and / or RAN node parameter deviation, as well as the NLOS path measurement corresponding to the reference signal, to the SF network element.

[0291] As one possible implementation, if the parameter deviation is determined by the DU, the DU can send the parameter deviation to the CU, which then sends it to the SF network element. If the parameter deviation is determined by the CU, the CU can directly send the parameter deviation to the SF network element.

[0292] As one possible implementation, if the NLOS path measurement corresponding to the reference signal is determined by the DU, the DU can send the NLOS path measurement corresponding to the reference signal to the CU, and then the CU can send it to the SF network element.

[0293] S1408 and SF network elements determine the sensing results based on the parameter deviation of the terminal and / or the parameter deviation of the RAN node, as well as the NLOS path measurement corresponding to the reference signal.

[0294] in, Figure 14 For implementation details in the illustrated process, please refer to [reference needed]. Figure 11 The relevant explanations in the process shown will not be repeated here.

[0295] In addition, the above Figure 13 The implementation of the process shown in the O-RAN architecture can be found in the above. Figure 14 The process illustrated will not be repeated here.

[0296] Understandably, in the above methods or processes, the parameter deviations of the first sensing device and / or the second sensing device can be considered as intermediate quantities for determining the sensing result. Therefore, in the method provided in this application, this intermediate quantity may not be reflected. That is, it can be considered that the second sensing device or sensing network element determines the sensing result based on the measured angle of arrival corresponding to the LOS path, the parameters of the first sensing device, the parameters of the second sensing device, and the NLOS measurement quantity corresponding to the reference signal.

[0297] It is understood that, in the above embodiments, the methods and / or steps implemented by the RAN node can also be implemented by components (e.g., processors, chips, chip systems, circuits, logic modules, or software) that can be used in the RAN node; similarly, the methods and / or steps implemented by the sensing network element can also be implemented by components (e.g., processors, chips, chip systems, circuits, logic modules, or software) that can be used in the sensing network element. The chip system can be composed of chips, or it can include chips and other discrete devices.

[0298] It is understood that, in order to achieve the aforementioned functions, the communication device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should readily recognize that, based on the units and algorithm steps of the examples described in conjunction with the embodiments disclosed herein, this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0299] This application embodiment can divide the communication device into functional modules according to the above method embodiment. For example, each function can be divided into a separate functional module, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. It should be noted that the module division in this application embodiment is illustrative and only represents one logical functional division. In actual implementation, there may be other division methods.

[0300] Figure 15 A schematic diagram of a communication device 150 is shown. The communication device 150 includes a processing module 1501 and a transceiver module 1502. This communication device 150 can be used to implement the functions of the aforementioned second sensing device or sensing network element.

[0301] In some embodiments, the communication device 150 may further include a storage module ( Figure 15 (Not shown in the image) is used to store program instructions and data.

[0302] In some embodiments, the transceiver module 1502, also referred to as a transceiver unit, is used to implement sending and / or receiving functions. The transceiver module 1502 may consist of a transceiver circuit, a transceiver, a transceiver unit, or a communication interface.

[0303] In some embodiments, the transceiver module 1502 may include a receiving module and a sending module, respectively used to perform the receiving and sending steps performed by the sensing network element in the above method embodiments, and / or other processes used to support the technology described herein; the processing module 1501 may be used to perform the processing steps (e.g., determination) performed by the sensing network element in the above method embodiments, and / or other processes used to support the technology described herein.

[0304] As one possible implementation, when the communication device 150 is used to perform the functions of the second sensing device described above:

[0305] Processing module 1501 is used to acquire the measured angle of arrival corresponding to the line-of-sight (LOS) path between the first sensing device and the second sensing device, where the first sensing device is a sensing transmitter and the second sensing device is a sensing receiver. Processing module 1501 is also used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path. The parameter deviation of the first sensing device is used to calibrate the parameters of the first sensing device, and the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device. The calibrated parameters of the first and second sensing devices are then used for sensing.

[0306] Optionally, the processing module 1501 is further configured to determine the sensing result based on the parameter deviation of the first sensing device, the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the non-line-of-sight (NLOS) diameter measurement corresponding to the reference signal.

[0307] Optionally, the processing module 1501 is further configured to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path. This includes: the processing module 1501 is further configured to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the parameter deviation range. The parameter deviation range includes a first parameter deviation range and / or a second parameter deviation range, where the first parameter deviation range is the range of parameter deviations of the first sensing device, and the second parameter deviation range is the range of parameter deviations of the second sensing device.

[0308] Optionally, the processing module 1501 is further configured to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the parameter deviation range. This includes: the processing module 1501 is further configured to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path. Wherein, the predicted angle of arrival corresponding to the LOS path is a variable, and the predicted angle of arrival corresponding to the LOS path is determined based on the parameter deviation range.

[0309] Optionally, the processing module 1501 is further configured to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path, including: the processing module 1501 is further configured to construct a cost function based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path; the processing module 1501 is further configured to use an optimization algorithm to search within the range of the first parameter deviation and / or the range of the second parameter deviation to obtain the first parameter deviation and / or the second parameter deviation; the first parameter deviation and / or the second parameter deviation correspond to the first predicted angle of arrival of the LOS path, and the first predicted angle of arrival is the optimal solution of the cost function; the processing module 1501 is further configured to determine the first parameter deviation as the parameter deviation of the first sensing device, and / or determine the second parameter deviation as the parameter deviation of the second sensing device.

[0310] Optionally, the processing module 1501 is used to obtain the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device, including: the processing module 1501 is used to measure the reference signal sent by the first sensing device transmitted through the LOS path to obtain the measured angle of arrival corresponding to the LOS path.

[0311] Optionally, the transceiver module 1502 is also used to transmit the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device.

[0312] As another possible implementation, when the communication device 150 is used to perform the functions of the second sensing device described above:

[0313] Processing module 1501 is used to acquire the measured angle of arrival corresponding to the line-of-sight (LOS) path between the first sensing device and the second sensing device, where the first sensing device is a sensing transmitter and the second sensing device is a sensing receiver. Transceiver module 1502 is used to transmit the measured angle of arrival corresponding to the LOS path. This measured angle of arrival is used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device. The parameter deviation of the first sensing device is used to calibrate its parameters, and the parameter deviation of the second sensing device is used to calibrate its parameters. The calibrated parameters of the first and second sensing devices are then used for sensing.

[0314] Optionally, the transceiver module 1502 is used to send the measured angle of arrival corresponding to the LOS path, including: the transceiver module 1502 is used to send first information, the first information including the identifier of the LOS path and the measured angle of arrival corresponding to the LOS path.

[0315] As one possible implementation, when the communication device 150 is used to implement the functions of the aforementioned sensing network element:

[0316] The transceiver module 1502 is used to receive the measured angle of arrival corresponding to the line-of-sight (LOS) path between the first sensing device and the second sensing device, where the first sensing device is the sensing transmitter and the second sensing device is the sensing receiver. The processing module 1501 is used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path. The parameter deviation of the first sensing device is used to calibrate the parameters of the first sensing device, and the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device. The calibrated parameters of the first and second sensing devices are then used for sensing.

[0317] Optionally, the processing module 1501 is further configured to determine the sensing result based on the parameter deviation of the first sensing device, the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the non-line-of-sight (NLOS) diameter measurement corresponding to the reference signal.

[0318] Optionally, the transceiver module 1502 is used to receive the measured angle of arrival corresponding to the LOS path, including: the transceiver module 1502 is used to receive first information, the first information including the identifier of the LOS path and the measured angle of arrival corresponding to the LOS path.

[0319] As another possible implementation, when the communication device 150 is used to implement the functions of the aforementioned sensing network element:

[0320] The transceiver module 1502 is used to receive the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device; the processing module 1501 is used to determine the sensing result based on the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device. The parameter deviation of the first sensing device is used to calibrate the parameters of the first sensing device, the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device, and the calibrated parameters of the first and second sensing devices are used for sensing.

[0321] Optionally, the processing module 1501 is used to determine the sensing result based on the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device, including: the processing module 1501 is used to determine the sensing result based on the parameter deviation of the first sensing device, the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the non-line-of-sight (NLOS) diameter measurement corresponding to the reference signal.

[0322] All relevant content of each step involved in the above method embodiments can be referenced from the functional description of the corresponding functional module, and will not be repeated here.

[0323] In this application, the communication device 150 can be presented in an integrated manner, divided into various functional modules. Here, "module" can refer to an application-specific integrated circuit (ASIC), a circuit, a processor and memory that executes one or more software or firmware programs, integrated logic circuits, and / or other devices that can provide the above functions.

[0324] Alternatively, the modules in communication device 150 can be implemented in software, hardware, or a combination of both. When any of the above modules are implemented in software, the software exists as computer program instructions and is stored in memory. The processor can be used to execute the program instructions and implement the above method flow. The processor can be built into a system-on-chip (SoC) or ASIC, or it can be a separate semiconductor chip. In addition to the core that executes the software instructions for computation or processing, the processor may further include necessary hardware accelerators, such as field-programmable gate arrays (FPGAs), programmable logic devices (PLDs), or logic circuits that implement dedicated logic operations.

[0325] When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a general-purpose central processing unit (CPU), microprocessor, digital signal processing (DSP) chip, microcontroller unit (MCU), artificial intelligence processor, ASIC, SoC, FPGA, PLD, application-specific digital circuit, hardware accelerator, or non-integrated discrete device, which can run the necessary software or perform the above method flow independently of software.

[0326] In some embodiments, when Figure 15 When the communication device 150 is a chip or chip system, the function / implementation process of the transceiver module 1502 can be implemented through the input / output interface (or communication interface) of the chip or chip system, and the function / implementation process of the processing module 1501 can be implemented through the processor (or processing circuit) of the chip or chip system.

[0327] Since the communication device 150 provided in this embodiment can execute the above method, the technical effects it can achieve can be referred to the above method embodiment, and will not be repeated here.

[0328] As a possible product form, the second sensing device or sensing network element described in the embodiments of this application can also be implemented using one or more FPGAs, PLDs, controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing the various functions described throughout this application.

[0329] As another possible product form, the second sensing device or sensing network element described in the embodiments of this application can be implemented using a general bus architecture. For ease of explanation, see [link to documentation]. Figure 16 , Figure 16 This is a schematic diagram of the structure of a communication device 1600 provided in an embodiment of this application. The communication device 1600 includes a processor 1601 and a transceiver 1602. The communication device 1600 can be a second sensing device, or a chip or chip system therein; or, the communication device 1600 can be a sensing network element, or a chip or chip system therein. Figure 16 Only the main components of the communication device 1600 are shown. In addition to the processor 1601 and transceiver 1602, the communication device may further include a memory 1603 and input / output devices (not shown).

[0330] Optionally, the processor 1601 is mainly used to process communication protocols and communication data, control the entire communication device, execute software programs, and process the data of the software programs. The memory 1603 is mainly used to store software programs and data. The transceiver 1602 may include radio frequency (RF) circuitry and an antenna. The RF circuitry is mainly used for converting baseband signals to RF signals and processing RF signals. The antenna is mainly used for transmitting and receiving RF signals in the form of electromagnetic waves. Input / output devices, such as touchscreens, displays, and keyboards, are mainly used to receive user input data and output data to the user.

[0331] Optionally, the processor 1601, transceiver 1602, and memory 1603 can be connected via a communication bus.

[0332] When the communication device is powered on, the processor 1601 can read the software program in the memory 1603, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be transmitted wirelessly, the processor 1601 performs baseband processing on the data to be transmitted and outputs the baseband signal to the radio frequency (RF) circuit. The RF circuit processes the baseband signal and transmits the RF signal outward in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the RF circuit receives the RF signal through the antenna, converts the RF signal into a baseband signal, and outputs the baseband signal to the processor 1601. The processor 1601 converts the baseband signal into data and processes the data.

[0333] In another implementation, the radio frequency circuitry and antenna can be set up independently of the processor performing baseband processing. For example, in a distributed scenario, the radio frequency circuitry and antenna can be arranged remotely, independent of the communication device.

[0334] In some embodiments, those skilled in the art will recognize that the above-described communication device 150 can be implemented in hardware using... Figure 16 The communication device shown is in the form of 1600.

[0335] As an example, Figure 15 The functions / implementation process of the processing module 1501 and the transceiver module 1502 can be obtained through Figure 16 The processor 1601 in the communication device 1600 shown calls computer execution instructions stored in memory 1603 to implement the function. Alternatively, Figure 15 The function / implementation process of the processing module 1501 can be achieved through... Figure 16 The processor 1601 in the communication device 1600 shown calls computer execution instructions stored in memory 1603 to implement this. Figure 15 The function / implementation process of the transceiver module 1502 can be obtained through Figure 16This is achieved through the transceiver 1602 in the communication device 1600 shown.

[0336] As another possible product form, the second sensing device or sensing network element in this application can adopt... Figure 17 The shown composition structure, or including Figure 17 The components shown. Figure 17 This application provides a schematic diagram of the composition of a communication device 1700, which can be a sensing network element or a module, chip or system-on-a-chip in the sensing network element; or the communication device 1700 can be a second sensing device or a module, chip or system-on-a-chip in the second sensing device.

[0337] like Figure 17 As shown, the communication device 1700 includes at least one processor 1701 and at least one communication interface. Figure 17 (This is merely an example illustration, using a communication interface 1704 and a processor 1701 as examples. Optionally, the communication device 1700 may also include a communication bus 1702 and a memory 1703.)

[0338] Processor 1701 can be a CPU, a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a PLD, or any combination thereof. Processor 1701 can also be other devices with processing functions, such as circuits, devices, one or more integrated circuits or software modules for controlling the execution of the program of this application, without limitation.

[0339] Communication bus 1702 is used to connect different components in communication device 1700, enabling communication between them. Communication bus 1702 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 17 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0340] Communication interface 1704 is used for communicating with other devices or communication networks. For example, communication interface 1704 can be a module, circuit, transceiver, or any device capable of communication, such as an Ethernet interface, RAN interface, WLAN interface, transceiver, pin, bus, interface circuit, or transceiver circuit. Optionally, communication interface 1704 can also be an input / output interface located within processor 1701, used to implement signal input and signal output for the processor.

[0341] The memory 1703 may be a device with storage function, used to store instructions and / or data. The instructions may be computer programs.

[0342] For example, memory 1703 may be read-only memory (ROM) or other types of static storage devices capable of storing static information and / or instructions; it may also be random access memory (RAM) or other types of dynamic storage devices capable of storing information and / or instructions; it may also be electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital universal 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.

[0343] It should be noted that the memory 1703 can exist independently of the processor 1701, or it can be integrated with the processor 1701. The memory 1703 can be located inside or outside the communication device 1700, without limitation.

[0344] The memory stores the computer execution instructions involved in the implementation of the solution provided in this solution, and the processor controls the execution of these instructions. The processor executes the computer execution instructions stored in the memory to implement the method provided in this solution. Alternatively, in this solution, the processor may execute the processing-related functions of the method provided below, and the communication interface is responsible for communicating with other devices or communication networks; this solution does not specifically limit this aspect.

[0345] Optionally, the computer execution instructions in this solution can also be referred to as application code, and this solution does not specifically limit this.

[0346] As an optional implementation, the communication device 1700 may also include an output device 1705 and an input device 1706. The output device 1705 communicates with the processor 1701 and can display information in various ways. For example, the output device 1705 may be a liquid crystal display (LCD), a light-emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector, etc. The input device 1706 communicates with the processor 1701 and can receive user input in various ways. For example, the input device 1706 may be a mouse, keyboard, touchscreen device, or sensing device, etc.

[0347] In some embodiments, the hardware implementation will be apparent to those skilled in the art as described above. Figure 15 The communication device 150 shown can be adopted Figure 17 The communication device shown is in the form of 1700.

[0348] As an example, Figure 15 The functions / implementation process of the processing module 1501 and the transceiver module 1502 can be obtained through Figure 17 The processor 1701 in the communication device 1700 shown calls computer execution instructions stored in memory 1703 to implement the function. Alternatively, Figure 15 The function / implementation process of the processing module 1501 can be achieved through... Figure 17 The processor 1701 in the communication device 1700 shown calls computer execution instructions stored in memory 1703 to implement this. Figure 15 The function / implementation process of the transceiver module 1502 can be obtained through Figure 17 This is achieved through the communication interface 1704 in the communication device 1700 shown.

[0349] It should be noted that, Figure 17 The structures shown do not constitute a specific limitation on the sensing network element or the second sensing device. For example, in other embodiments of this application, the sensing network element or the second sensing device may include more or fewer components than those shown, or combine some components, or split some components, or have different component arrangements. The components shown can be implemented in hardware, software, or a combination of software and hardware.

[0350] In some embodiments, this application also provides a communication device, which includes a processor for implementing the methods in any of the above method embodiments.

[0351] As one possible implementation, the communication device also includes a memory. This memory stores necessary computer programs and data. The computer program may include instructions, which a processor can invoke to instruct the communication device to execute the methods described in any of the above method embodiments. Alternatively, the memory may not be present in the communication device.

[0352] As one possible implementation, the communication device also includes an interface circuit, which is a code / data read / write interface circuit, used to receive computer execution instructions (which are stored in memory and may be read directly from memory or may be transmitted through other devices) and transmit them to the processor.

[0353] As one possible implementation, the communication device further includes a communication interface for communicating with modules outside the communication device. For example, the processor can be coupled to memory via the communication interface, causing the methods in any of the above method embodiments to be executed when the processor executes a computer program or instructions in the memory.

[0354] It is understood that the communication device can be a chip or a chip system. When the communication device is a chip system, it can be composed of chips or may include chips and other discrete devices. This application does not specifically limit this.

[0355] This application also provides a computer-readable storage medium having a computer program or instructions stored thereon, which, when executed by a computer, implements the functions of any of the above-described method embodiments.

[0356] This application also provides a computer program product that, when executed by a computer, implements the functions of any of the above method embodiments.

[0357] Those skilled in the art will understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0358] It is understood that the systems, apparatuses, and methods described in this application can also be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the couplings or direct couplings or communication connections shown or discussed may be through some interfaces; indirect couplings or communication connections between devices or units may be electrical, mechanical, or other forms.

[0359] The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. The components shown as units may or may not be physical units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0360] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0361] In the above embodiments, implementation can be achieved, in whole or in part, through software, hardware, firmware, or any combination thereof. When implemented using software programs, implementation can be, in whole or in part, in the form of a computer program product. This 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 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 accessible to a computer or a data storage device containing one or more servers, data centers, etc., that can be integrated with the medium. 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 drive (SSD)). In this embodiment, the computer may include the aforementioned apparatus.

[0362] Although this application has been described herein in conjunction with various embodiments, those skilled in the art, by reviewing the accompanying drawings, disclosure, and appended claims, will understand and implement other variations of the disclosed embodiments in carrying out the claimed application. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude a plurality. A single processor or other unit can implement several functions listed in the claims. While different dependent claims may recite certain measures, this does not mean that these measures cannot be combined to produce good results.

[0363] Although this application has been described in conjunction with specific features and embodiments, it is obvious that various modifications and combinations can be made thereto without departing from the spirit and scope of this application. Accordingly, this specification and drawings are merely exemplary illustrations of this application as defined by the appended claims, and are considered to cover any and all modifications, variations, combinations, or equivalents within the scope of this application. Clearly, those skilled in the art can make various alterations and modifications to this application without departing from the spirit and scope of this application. Thus, if such modifications and modifications of this application fall within the scope of the claims of this application and their equivalents, this application is also intended to include such modifications and modifications.

Claims

1. A method for determining parameter deviation, characterized in that, The method includes: The measurement angle of arrival corresponding to the line-of-sight (LOS) path between the first sensing device and the second sensing device is obtained. The first sensing device is a sensing transmitter and the second sensing device is a sensing receiver. Send the measured angle of arrival corresponding to the LOS path, which is used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device; or, determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path. Wherein, the parameter deviation of the first sensing device is used to calibrate the parameters of the first sensing device, the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device, and the calibrated parameters of the first sensing device and the calibrated parameters of the second sensing device are used for sensing.

2. The method according to claim 1, characterized in that, The method further includes: The sensing result is determined based on the parameter deviation of the first sensing device, the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the non-line-of-sight (NLOS) diameter measurement corresponding to the reference signal.

3. The method according to claim 1 or 2, characterized in that, Based on the measured angle of arrival corresponding to the LOS path, determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device, including: Based on the measured angle of arrival and parameter deviation range corresponding to the LOS path, determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device; The parameter deviation range includes a first parameter deviation range and / or a second parameter deviation range, wherein the first parameter deviation range is the range of parameter deviation of the first sensing device, and the second parameter deviation range is the range of parameter deviation of the second sensing device.

4. The method according to claim 3, characterized in that, Based on the measured angle of arrival and parameter deviation range corresponding to the LOS path, determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device, including: Based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path, determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device; Wherein, the predicted angle of arrival corresponding to the LOS path is a variable, and the predicted angle of arrival corresponding to the LOS path is determined based on the parameter deviation range.

5. The method according to claim 4, characterized in that, Based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path, determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device, including: A cost function is constructed based on the measured angle of arrival (OA) and the predicted angle of arrival (OA) of the LOS path. Using an optimization algorithm, a search is performed within the range of the first parameter deviation and / or the range of the second parameter deviation to obtain the first parameter deviation and / or the second parameter deviation. The first parameter deviation and / or the second parameter deviation correspond to the first predicted angle of arrival of the LOS path, and the first predicted angle of arrival is the optimal solution of the cost function. The first parameter deviation is determined as the parameter deviation of the first sensing device, and / or the second parameter deviation is determined as the parameter deviation of the second sensing device.

6. The method according to any one of claims 1-5, characterized in that, The angle of arrival corresponding to the LOS path is the angle of arrival of the reference signal transmitted by the first sensing device through the LOS path.

7. The method according to any one of claims 1-6, characterized in that, The method is applied to the second sensing device; obtaining the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device includes: The reference signal transmitted by the first sensing device through the LOS path is measured to obtain the angle of arrival corresponding to the LOS path.

8. The method according to any one of claims 1-7, characterized in that, The method is applied to the second sensing device; the method further includes: sending parameter deviations of the first sensing device and / or parameter deviations of the second sensing device.

9. The method according to any one of claims 1-8, characterized in that, The method is applied to the second sensing device; transmitting the measured angle of arrival corresponding to the LOS path includes: Send first information, which includes the identifier of the LOS path and the measured angle of arrival corresponding to the LOS path.

10. The method according to any one of claims 1-6, characterized in that, The method is applied to a sensing network element; the step of obtaining the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device includes: Receive the measured angle of arrival corresponding to the LOS path from the second sensing device.

11. The method according to any one of claims 1-10, characterized in that, Angle of arrival includes horizontal angle of arrival (AOA) and / or vertical angle of arrival (ZOA).

12. The method according to any one of claims 1-11, characterized in that, The second sensing device is a Radio Access Network (RAN) node, and the first sensing device is a terminal; The parameter deviation of the first sensing device includes the position deviation and / or orientation deviation of the RAN node, and the parameter deviation of the second sensing device includes the position deviation of the terminal.

13. A communication device, characterized in that, The communication device includes: a processing module and a transceiver module; The processing module is used to obtain the measured angle of arrival corresponding to the line-of-sight (LOS) path between the first sensing device and the second sensing device, wherein the first sensing device is a sensing transmitter and the second sensing device is a sensing receiver. The transceiver module is configured to transmit the measured angle of arrival corresponding to the LOS path, and the measured angle of arrival corresponding to the LOS path is used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device; or, the processing module is further configured to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path. Wherein, the parameter deviation of the first sensing device is used to calibrate the parameters of the first sensing device, the parameter deviation of the second sensing device is used to calibrate the parameters of the second sensing device, and the calibrated parameters of the first sensing device and the calibrated parameters of the second sensing device are used for sensing.

14. The communication device according to claim 13, characterized in that, The processing module is further configured to determine the sensing result based on the parameter deviation of the first sensing device, the parameter deviation of the second sensing device, the parameters of the first sensing device, the parameters of the second sensing device, and the non-line-of-sight (NLOS) diameter measurement corresponding to the reference signal.

15. The communication device according to claim 13 or 14, characterized in that, The processing module is specifically used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival and parameter deviation range corresponding to the LOS path. The parameter deviation range includes a first parameter deviation range and / or a second parameter deviation range, wherein the first parameter deviation range is the range of parameter deviation of the first sensing device, and the second parameter deviation range is the range of parameter deviation of the second sensing device.

16. The communication device according to claim 15, characterized in that, The processing module is specifically used to determine the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path. Wherein, the predicted angle of arrival corresponding to the LOS path is a variable, and the predicted angle of arrival corresponding to the LOS path is determined based on the parameter deviation range.

17. The communication device according to claim 16, characterized in that, The processing module is specifically used to construct a cost function based on the measured angle of arrival corresponding to the LOS path and the predicted angle of arrival corresponding to the LOS path. The processing module is further configured to use an optimization algorithm to search within the range of the first parameter deviation and / or the range of the second parameter deviation to obtain the first parameter deviation and / or the second parameter deviation; the first parameter deviation and / or the second parameter deviation correspond to the first predicted angle of arrival of the LOS path, and the first predicted angle of arrival is the optimal solution of the cost function; The processing module is further configured to determine the first parameter deviation as the parameter deviation of the first sensing device, and / or to determine the second parameter deviation as the parameter deviation of the second sensing device.

18. The communication device according to any one of claims 13-17, characterized in that, The angle of arrival corresponding to the LOS path is the angle of arrival of the reference signal transmitted by the first sensing device through the LOS path.

19. The communication device according to any one of claims 13-18, characterized in that, The communication device is used to implement the functions of the second sensing device; The processing module is used to obtain the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device, including: the processing module is used to measure the reference signal sent by the first sensing device transmitted through the LOS path to obtain the measured angle of arrival corresponding to the LOS path.

20. The communication device according to any one of claims 13-19, characterized in that, The communication device is used to implement the functions of the second sensing device; The transceiver module is also used to send the parameter deviation of the first sensing device and / or the parameter deviation of the second sensing device.

21. The communication device according to any one of claims 13-20, characterized in that, The communication device is used to implement the functions of the second sensing device; The transceiver module is used to send the measured angle of arrival corresponding to the LOS path, including: the transceiver module is used to send first information, the first information including the identifier of the LOS path and the measured angle of arrival corresponding to the LOS path.

22. The communication device according to any one of claims 13-18, characterized in that, The communication device is used to realize the functions of the sensing network element; The processing module is used to obtain the measured angle of arrival corresponding to the LOS path between the first sensing device and the second sensing device, including: the processing module is used to receive the measured angle of arrival corresponding to the LOS path from the second sensing device through the transceiver module.

23. The communication device according to any one of claims 13-22, characterized in that, Angle of arrival includes horizontal angle of arrival (AOA) and / or vertical angle of arrival (ZOA).

24. The communication device according to any one of claims 13-23, characterized in that, The second sensing device is a Radio Access Network (RAN) node, and the first sensing device is a terminal; The parameter deviation of the first sensing device includes the position deviation and / or orientation deviation of the RAN node, and the parameter deviation of the second sensing device includes the position deviation of the terminal.

25. A communication device, characterized in that, The communication device includes a processor; the processor is configured to run a computer program or instructions to cause the communication device to perform the method as described in any one of claims 1-12.

26. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions or programs that, when executed on a computer, cause the method described in any one of claims 1-12 to be performed.

27. A computer program product, characterized in that, The computer program product includes computer instructions; when some or all of the computer instructions are run on a computer, the method described in any one of claims 1-12 is performed.

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