Wireless channel and environment joint acquisition method, system, medium and product

Abstract

This application provides a method, system, medium, and product for joint acquisition of wireless channel and environment data. The method includes: initializing a preset measurement platform; the measurement platform includes a channel measurement platform, an environment acquisition platform, an automated guided vehicle (AGV), and a host computer; according to the measurement scenario requirements, laying AGV trajectory lines corresponding to the AGV in the target area, configuring a master control program in the host computer, starting the AGV, and initiating the master control program on the host computer; while the AGV is running at a constant speed, sending acquisition trigger signals to the channel measurement platform and the environment acquisition platform respectively through the host computer; the acquisition trigger signals are used to control the channel measurement platform and the environment acquisition platform to perform data acquisition; upon determining that acquisition is complete, controlling the AGV to return to its initial position. The solution of this application solves the data mismatch problems caused by low channel acquisition accuracy and sampling rate differences in the prior art.

Description

Technical Field

[0001] This application relates to the field of wireless communication technology, specifically to a method, system, medium, and product for joint acquisition of wireless channel and environment data. Background Technology

[0002] Several studies have been conducted on the joint acquisition of wireless channel and environmental data, proposing a UAV-based system that simultaneously acquires channel characteristics and environmental data, such as obstacle locations, using wireless sensors mounted on the UAV. This system utilizes Orthogonal Frequency Division Multiplexing (OFDM) signals for channel estimation and achieves environmental perception through signal reflection analysis, making it suitable for dynamic scenarios such as urban environmental monitoring. Its technical features include leveraging the high mobility of UAVs for synchronous acquisition, aligning channel and environmental data through signal processing algorithms (such as least squares), and supporting real-time data acquisition.

[0003] In summary, existing channel measurement methods have the following problems:

[0004] (1) In channel measurement, the performance of the platform used is limited, resulting in insufficient channel measurement accuracy; the channel measurement of UAV platform is affected by positioning error and multipath effect, and the measurement results have low reliability in dynamic scenarios. The accuracy limitations of these platforms restrict the accuracy and applicability of channel measurement.

[0005] (2) Existing technologies fail to effectively solve the data mismatch problem caused by the difference in sampling rates of multiple devices when synchronously collecting channel measurement and environmental perception data. They also ignore the alignment error caused by the inconsistency in sampling rates between multiple devices. These data mismatch problems reduce the accuracy and robustness of synchronous acquisition. Summary of the Invention

[0006] At least one embodiment of this application provides a method, system, medium, and product for joint acquisition of wireless channels and environment, which addresses the problems of insufficient accuracy and reliability of channel measurement in dynamic and complex propagation environments, as well as poor data synchronization when multiple devices are collaboratively acquiring data in the prior art.

[0007] To solve the above-mentioned technical problems, this application is implemented as follows:

[0008] In a first aspect, embodiments of this application provide a method for joint acquisition of wireless channel and environment data, including:

[0009] The preset measurement platform is initialized; the measurement platform includes a channel measurement platform, an environmental acquisition platform, an automated guided vehicle (AGV), and a host computer.

[0010] According to the measurement scenario requirements, the AGV trajectory line corresponding to the AGV is laid in the target area, and the master control program is configured in the host computer, and the AGV is started, and the master control program of the host computer is started.

[0011] When the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively; the acquisition trigger signals are used to control the channel measurement platform and the environmental acquisition platform to perform data acquisition.

[0012] Once the data collection is complete, control the AGV to return to its initial position.

[0013] Optionally, the measurement platform may further include: a signal source, a radio frequency antenna, a spectrum analyzer, and a data logger;

[0014] The signal source and the radio frequency antenna are connected, and the signal source is used to transmit wireless detection signals to the outside.

[0015] The environmental acquisition platform includes a lidar, a depth camera, and distributed cameras. The lidar, the depth camera, and the distributed cameras are respectively connected to a host computer to transmit the acquired environmental data to the host computer.

[0016] The spectrum analyzer is also connected to the host computer and the data logger respectively; after the radio frequency antenna receives external signals, the spectrum analyzer is used to collect time-domain in-phase orthogonal data; the spectrum analyzer is also used to store the collected channel data to the data logger;

[0017] The host computer is communicatively connected to the signal source and the spectrum analyzer; the host computer is used to send trigger synchronization signals.

[0018] The signal source, the radio frequency antenna, the environmental acquisition platform, the host computer, the spectrum analyzer, and the data logger are all integrated into the AGV, and they jointly collect data at different locations as the AGV moves.

[0019] Optionally, the preset measurement platform is initialized, including:

[0020] Set the transmission parameters of the signal source, including frequency, bandwidth, baseband modulation type and transmission symbols;

[0021] Configure the operating status of the RF antenna;

[0022] Initialize the environmental acquisition platform; set the acquisition parameters of the lidar, the depth camera, and the distributed cameras, including resolution, frame rate, and field of view;

[0023] The host computer is initialized and the master control program is loaded. The parameters of the trigger synchronization signal are set. The trigger synchronization signal is sent at a preset interval. The parameters of the trigger synchronization signal include frequency and time reference.

[0024] The signal acquisition accuracy of the spectrum analyzer is calibrated, as are the sensors of the environmental acquisition platform.

[0025] The signal source is controlled to transmit a time-domain signal through the radio frequency antenna.

[0026] Optionally, according to the measurement scenario requirements, AGV trajectory lines corresponding to the AGV are laid in the target area, and a master control program is configured in the host computer. The AGV is then started, and the master control program on the host computer is activated, including:

[0027] According to the measurement scenario requirements, the AGV trajectory line is laid to cover the target area to be measured corresponding to the measurement scenario requirements;

[0028] The AGV's movement path, trigger signal interval, data acquisition strategy, and start and stop conditions are configured in the host computer's master control program; wherein, the trigger signal interval is adapted to the AGV's movement state, and the start and stop conditions correspond to the acquisition time nodes in the data acquisition strategy;

[0029] The AGV is started and executed by the control command sent by the host computer; the control command is used to control the AGV to enter the initial position in the target area and wait.

[0030] Optionally, when the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively, including:

[0031] When the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environment acquisition platform at acquisition intervals of 0.5 seconds. The acquisition trigger signals trigger the lidar to scan and generate point cloud data with timestamps, and the distributed camera to capture images with timestamps, and send target signals to the host computer respectively. At the same time, the spectrum analyzer is triggered to receive the target signals and store the channel data with timestamps in the data logger.

[0032] Optionally, upon determining that the data collection has ended, controlling the AGV to return to its initial position includes:

[0033] When the AGV completes the preset trajectory or reaches the stopping condition, the host computer stops sending the acquisition trigger signal, terminating the channel data acquisition of the channel measurement platform and the environmental data acquisition of the environmental acquisition platform.

[0034] The host computer performs a final time alignment on the collected channel data and environmental data to generate a comprehensive dataset;

[0035] The AGV is controlled to return to its initial position along a preset trajectory, and the sensors of the channel measurement platform and the environmental acquisition platform are turned off.

[0036] Secondly, embodiments of this application provide a wireless channel and environment joint acquisition system, including:

[0037] The first processing module is used to initialize the preset measurement platform; the measurement platform includes a channel measurement platform, an environmental acquisition platform, an automated guided vehicle (AGV), and a host computer.

[0038] The second processing module is used to lay the AGV trajectory line corresponding to the AGV in the target area according to the measurement scenario requirements, configure the master control program in the host computer, start the AGV, and make the master control program of the host computer run and start.

[0039] The third processing module is used to send acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively through the host computer when the AGV is in a constant speed running state; the acquisition trigger signals are used to control the channel measurement platform and the environmental acquisition platform to perform data acquisition;

[0040] The fourth processing module is used to control the AGV to return to its initial position when the data collection is determined to be completed.

[0041] Thirdly, embodiments of this application provide a computer-readable storage medium storing a program that, when executed by a processor, implements the steps of the method described in any of the first aspects.

[0042] Fourthly, embodiments of this application provide a computer program product, including computer instructions that, when executed by a processor, implement the steps of the method described in any of the first aspects.

[0043] Compared with existing technologies, the wireless channel and environment joint acquisition method, system, medium, and product provided in this application address two major technical problems through structured process design: First, regarding the insufficient accuracy and reliability of channel measurements in dynamic and complex propagation environments, it ensures comprehensive measurement coverage by laying preset AGV trajectory lines in the target area and initiates data acquisition only when the AGV is running at a constant speed, providing a stable moving reference for channel measurements and avoiding measurement interference caused by non-uniform movement. Simultaneously, relying on the initial calibration of a dedicated measurement platform ensures basic measurement accuracy and improves the reliability of measurements in dynamic scenarios. Second, regarding the poor data synchronization during multi-device collaborative acquisition, it uses a host computer control program to uniformly configure parameters and manage operation. During the AGV's uniform speed operation phase, the host computer synchronously sends acquisition trigger signals to the channel measurement platform and the environment acquisition platform, achieving unified start control of multi-device acquisition actions. This ensures time synchronization of the two types of data acquisition from a process perspective, solving the synchronization problem of multi-device collaboration. Attached Figure Description

[0044] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the scope of this application. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0045] Figure 1 This is one of the flowcharts illustrating the wireless channel and environment joint acquisition method provided in the embodiments of this application;

[0046] Figure 2 This is a schematic diagram of the hardware connection of the wireless channel and environment joint acquisition platform provided in the embodiments of this application;

[0047] Figure 3 The second schematic flowchart of the wireless channel and environment joint acquisition method provided in the embodiments of this application;

[0048] Figure 4 This is a schematic diagram of the structure of the wireless channel and environment joint acquisition system provided in the embodiments of this application. Detailed Implementation

[0049] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, without limiting the number of objects; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, "A or B" covers three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0050] The term "instruction" in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction). A direct instruction can be understood as one in which the sender explicitly informs the receiver of specific information, the operation to be performed, or the requested result, etc.; an indirect instruction can be understood as one in which the receiver determines the corresponding information based on the instruction sent by the sender, or makes a judgment and determines the operation to be performed or the requested result, etc., based on the judgment result.

[0051] To enable those skilled in the art to better understand the embodiments of this application, the following description is provided first:

[0052] As the core medium for signal propagation, the characteristics of the wireless channel directly determine the performance limits of a communication system. Therefore, accurate wireless channel measurement is crucial for optimizing system design, improving network deployment efficiency, and ensuring communication quality in complex environments. Meanwhile, environmental perception, by analyzing the interaction between wireless signals and the environment, extracts information such as the location, shape, material properties of objects, and dynamic changes in the environment, endowing wireless communication systems with context-aware capabilities. This capability not only enhances the environmental adaptability of communication systems but also lays the foundation for new applications such as integrated communication and sensing.

[0053] Simultaneous acquisition of wireless channel measurement and environmental perception data is crucial for achieving their collaborative optimization and efficient fusion, but its implementation faces significant technical challenges. Wireless channel measurement aims to capture dynamic characteristics of signal propagation, such as path loss, reflection, scattering, and multipath effects, to support real-time optimization of communication systems. Environmental perception utilizes the same wireless signal to perceive the physical characteristics of the surrounding environment by analyzing its interaction with the environment. Simultaneous acquisition of wireless channel data and environmental perception data ensures their consistency in time and space, thereby improving the adaptability of the communication system to the environment and enhancing the accuracy of perception results. For example, simultaneous acquisition can help the system simultaneously optimize signal transmission paths and detect environmental changes in dynamic environments, leading to more efficient resource allocation and more accurate environmental modeling. However, the importance of simultaneous acquisition has not been fully addressed in existing technologies, especially in complex scenarios where accurate alignment of synchronous data is critical for improving system performance.

[0054] The simultaneous acquisition of wireless channel measurement and environmental sensing data faces multiple challenges. First, different devices typically employ different sampling rates and time synchronization mechanisms during data acquisition, making precise alignment of the acquired data across timelines difficult. For example, channel measurement devices may capture rapidly changing channel states at a high sampling rate, while environmental sensing devices may use a lower sampling rate to handle complex reflected signals. This difference in sampling rates leads to data mismatch, affecting the accuracy of subsequent data fusion and analysis. Second, multipath effects and signal interference in complex environments further exacerbate the difficulty of simultaneous acquisition, especially in high-density or heavily obstructed scenarios where the non-stationarity of signal propagation places higher demands on time synchronization. Furthermore, clock drift and communication delays between hardware devices can also cause time deviations in data acquisition, thus reducing the reliability of synchronized data. Therefore, innovative technologies are urgently needed to overcome the data mismatch problems caused by inconsistent sampling rates and time synchronization errors between different devices, enabling efficient simultaneous acquisition of wireless channel measurement and environmental sensing data to meet the dual performance and functional requirements of future wireless communication systems.

[0055] This application provides a method, system, medium, and product for joint acquisition of wireless channel and environment data. The method and apparatus are based on the same concept, and since the principles by which they solve the problem are similar, their implementations can be referred to interchangeably; repeated details will not be repeated.

[0056] Please refer to Figure 1 This application provides a method for joint acquisition of wireless channel and environment data, comprising:

[0057] Step 11: Initialize the preset measurement platform; the measurement platform includes a channel measurement platform, an environmental acquisition platform, an automated guided vehicle (AGV), and a host computer.

[0058] In this application, step 11 initializes the preset measurement platform. This involves starting and configuring the measurement system, which consists of a channel measurement platform, an environmental acquisition platform, an AGV, and a host computer. Specifically, this includes calibrating the channel measurement platform based on time-domain correlation principles, such as calibrating the time-domain signal correlation analysis function to ensure accurate extraction of channel parameters like path loss and multipath effects; calibrating the sensors on the environmental acquisition platform to ensure the consistency of environmental data; and initializing the host computer and loading the master control program to support subsequent collaborative control of the devices. Step 11, through platform initialization and calibration, lays a high-precision foundation for channel measurement. Relying on the time-domain correlation principle-based channel measurement platform, it improves the accuracy of capturing channel parameters in complex propagation environments from both hardware and algorithmic perspectives, directly addressing the problem of "low channel acquisition accuracy" and establishing a technical foundation. Simultaneously, it unifies the initial states of all devices, eliminating initial error interference for subsequent multi-device synchronous acquisition.

[0059] Step 12: According to the measurement scenario requirements, lay the AGV trajectory line corresponding to the AGV in the target area, configure the master control program in the host computer, start the AGV, and make the master control program of the host computer run and start.

[0060] In this application, step 12 involves laying the AGV trajectory, configuring the master control program, and starting the AGV. Based on the measurement scenario, AGV trajectory lines are laid in the target area to ensure the trajectory covers all environmental areas to be measured. The AGV movement path, trigger signal interval, data acquisition strategy, and AGV start / stop conditions are configured in the host computer master control program. The AGV is started to enter its initial position according to instructions and wait, while the host computer master control program is running.

[0061] By pre-setting AGV trajectories, the comprehensiveness of the measurement range is ensured, avoiding omissions in channel and environmental data collection due to random movement paths, especially suitable for the full coverage requirements of complex propagation environments; the parameter configuration of the master control program sets a time reference for subsequent multi-device synchronous collection, ensuring the matching of process logic for AGV movement, channel measurement, and environmental collection, reducing measurement instability factors in dynamic scenarios from the system planning level, and improving the reliability of channel measurement.

[0062] Step 13: When the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively; the acquisition trigger signals are used to control the channel measurement platform and the environmental acquisition platform to perform data acquisition.

[0063] Step 14: Once the data collection is complete, control the AGV to return to its initial position.

[0064] In step 13 of this application, when the AGV is running at a constant speed, the host computer sends a trigger signal to synchronously acquire data. When the AGV enters a constant speed running state, eliminating the interference of acceleration or deceleration on the measurement, the host computer sends acquisition trigger signals to the channel measurement platform and the environmental acquisition platform at preset intervals; the trigger signals synchronously control the two platforms to start data acquisition. The channel measurement platform acquires channel data, such as signal characteristics processed by time-domain correlation analysis, and the environmental acquisition platform captures high-resolution environmental information. Both types of data are accompanied by timestamps.

[0065] The uniform speed operation of the AGV provides a stable mobile scenario for channel measurement, reducing channel parameter measurement errors caused by sudden changes in motion state and improving the reliability of channel data in dynamic environments. The host computer trigger signal enables multi-device collaborative acquisition at the same time starting point, directly solving the data mismatch problem caused by the difference in sampling rate of multiple devices, ensuring that channel data and environmental data are accurately aligned on the time axis, and providing a synchronous foundation for subsequent data fusion and analysis.

[0066] In this embodiment, after step 14 is completed, the AGV is controlled to return to its initial position. When the AGV completes the preset trajectory or reaches the stopping condition, such as covering all measurement areas, the acquisition is determined to be complete; the host computer stops sending trigger signals, terminates data acquisition, and performs final time alignment on the acquired channel data and environmental data to generate a comprehensive dataset; then the AGV is controlled to return to its initial position according to the preset trajectory, and the sensors on each platform are turned off.

[0067] By standardizing the termination process, the integrity and final synchronization of the collected data (final time alignment) are ensured, avoiding data loss or misalignment. The AGV return and equipment shutdown operations ensure system reusability and indirectly maintain the initial accuracy of the next collection, forming a closed loop of high-precision collection-synchronization alignment-complete termination, and finally outputting a reliable joint dataset to support integrated communication and sensing applications.

[0068] Step 11 of this application addresses the fundamental issue of channel measurement accuracy through high-precision platform initialization; Step 12 establishes a framework for reliable measurement and synchronous acquisition in dynamic scenarios through trajectory planning and program configuration; Step 13 directly addresses the core pain points of measurement reliability and multi-device synchronization in dynamic environments by triggering synchronization in a uniform speed state; and Step 14 ensures the final data quality through end alignment and reset. These four steps form a progressive logic that comprehensively solves the two major deficiencies of existing technologies.

[0069] It should be noted that, in response to the problem of low channel acquisition accuracy in the joint acquisition method of wireless channel and environment, this application adopts a high-precision channel measurement platform based on the principle of time domain correlation. By utilizing the correlation analysis of broadband time domain signals, the measurement accuracy of channel parameters (such as path loss and multipath effect) is greatly improved, which is particularly suitable for complex propagation environments.

[0070] It should also be noted that, to address the issue of sampling rate differences among multiple devices, the host computer triggers synchronization between the channel measurement platform and the environmental acquisition platform, ensuring precise alignment of the data starting point on the time axis and effectively resolving data mismatch caused by sampling rate differences. The environmental acquisition platform, composed of LiDAR, a high-definition camera, and a depth camera, is capable of capturing high-resolution environmental information (such as object position, shape, and material), providing reliable support for integrated communication and sensing applications. The motivation behind this invention is to overcome the limitations of existing technologies through technological innovation, providing a high-precision, highly robust synchronous acquisition solution for next-generation wireless communication systems.

[0071] The synchronous acquisition scheme proposed in this application aims to improve the performance of wireless channel measurement and environmental awareness through a high-precision channel measurement platform and an efficient data synchronization mechanism. The specific implementation process and framework of the joint wireless channel and environment acquisition method proposed in this application are given below.

[0072] Reference Figure 2 The hardware connection diagram of the wireless channel and environment joint acquisition platform shown is optional. The measurement platform may also include: a signal source, a radio frequency antenna, a spectrum analyzer, and a data logger.

[0073] The signal source and the radio frequency antenna are connected, and the signal source is used to transmit wireless detection signals to the outside.

[0074] The environmental acquisition platform includes a lidar, a depth camera, and distributed cameras. The lidar, the depth camera, and the distributed cameras are respectively connected to a host computer to transmit the acquired environmental data to the host computer.

[0075] The spectrum analyzer is also connected to the host computer and the data logger respectively; after the radio frequency antenna receives external signals, the spectrum analyzer is used to collect time-domain in-phase orthogonal data; the spectrum analyzer is also used to store the collected channel data to the data logger;

[0076] The host computer is communicatively connected to the signal source and the spectrum analyzer; the host computer is used to send trigger synchronization signals.

[0077] The signal source, the radio frequency antenna, the environmental acquisition platform, the host computer, the spectrum analyzer, and the data logger are all integrated into the AGV, and they jointly collect data at different locations as the AGV moves.

[0078] In this embodiment, on the signal transmitting side of the measurement platform, the signal source is directly connected to the radio frequency antenna, which is responsible for generating and transmitting wireless detection signals to provide excitation signals for the measurement of channel parameters (multipath, path loss, etc.).

[0079] On the environmental acquisition side of the measurement platform, LiDAR, depth camera, and distributed cameras are connected to the host computer in parallel. The LiDAR is used to collect point cloud data of the environment, the depth camera is used to collect depth images, and the distributed cameras are used to collect multi-view visual images, capturing environmental features (object position, shape, material, etc.) from all angles, and transmitting the data to the host computer in real time.

[0080] On the channel receiving and processing side of the measurement platform, the radio frequency antenna of the receiving end captures the signal after it is propagated through the wireless channel and transmits it to the spectrum analyzer. The spectrum analyzer undertakes three core tasks: (1) collecting time-domain in-phase orthogonal (IQ) data (based on the time-domain correlation principle, accurately analyzing the multipath, phase and other fine characteristics of the channel, and improving the channel measurement accuracy); (2) storing the collected channel data in the data logger to realize the long-term reliable archiving of the data; (3) transmitting the channel data to the host computer for subsequent fusion analysis of channel and environmental data.

[0081] On the overall control and synchronization side of the measurement platform, the host computer acts as the central hub, communicating with the signal source and spectrum analyzer. By sending trigger synchronization signals, it synchronously controls the transmission timing of the signal source, the acquisition action of the spectrum analyzer, and the environmental acquisition timing of the lidar, depth camera, and distributed cameras, ensuring that the channel data and environmental data are accurately aligned on the time axis and solving the synchronization problem caused by the difference in sampling rates of multiple devices.

[0082] On the mobile carrier side of the measurement platform, the signal source, radio frequency antenna, environmental acquisition platform (including lidar, depth camera, distributed camera), host computer, spectrum analyzer, and data logger are all integrated on the AGV. The AGV can move along a preset trajectory, driving the entire system to perform mobile and full-coverage joint acquisition of wireless channels and environment at different locations, adapting to the measurement needs of dynamic scenarios or complex propagation environments.

[0083] This application relies on a link consisting of signal source transmission, radio frequency antenna reception, spectrum analyzer time-domain IQ acquisition, and stable AGV movement. The spectrum analyzer analyzes IQ data based on the principle of time-domain correlation, and can accurately extract channel parameters such as multipath and path loss. At the same time, the uniform movement of the AGV provides a relatively stable environment for signal propagation, reducing motion interference, thereby improving the accuracy and reliability of channel measurement in dynamic or complex environments.

[0084] The host computer in this application triggers a synchronization signal to uniformly control the start timing of channel acquisition (spectrum analyzer) and environmental acquisition (LiDAR, camera, etc.), ensuring that the sampling actions of different devices are strictly aligned at the starting point of time. Combined with the timestamp attached during data transmission, it completely solves the data mismatch problem caused by the difference in sampling rates of multiple devices, and ensures the synchronization of channel-environment data.

[0085] This hardware system establishes a high-precision channel measurement platform based on the time-domain correlation principle, including an RF antenna, signal source, and data logger, integrated onto an AGV platform. An environmental acquisition platform is configured, mounting LiDAR, distributed cameras, and depth cameras on the AGV and connecting them to a host computer. Through a closed loop of transmission, propagation, reception, multi-dimensional acquisition, synchronous control, and mobile coverage, high-precision and highly synchronous joint acquisition of wireless channels and the environment is achieved in dynamic and complex environments.

[0086] Optionally, the preset measurement platform is initialized, including:

[0087] Set the transmission parameters of the signal source, including frequency, bandwidth, baseband modulation type and transmission symbols;

[0088] Configure the operating status of the RF antenna;

[0089] Initialize the environmental acquisition platform; set the acquisition parameters of the lidar, the depth camera, and the distributed cameras, including resolution, frame rate, and field of view;

[0090] The host computer is initialized and the master control program is loaded. The parameters of the trigger synchronization signal are set. The trigger synchronization signal is sent at a preset interval. The parameters of the trigger synchronization signal include frequency and time reference.

[0091] The signal acquisition accuracy of the spectrum analyzer is calibrated, as are the sensors of the environmental acquisition platform.

[0092] The signal source is controlled to transmit a time-domain signal through the radio frequency antenna.

[0093] In this embodiment, after the measurement platform is built, the following step is performed for system initialization. This includes initializing the channel measurement platform and the environmental acquisition platform, and setting the acquisition parameters (resolution, frame rate, and field of view) for the LiDAR, HD camera, and depth camera. The host computer is initialized, the central control program is loaded, and the parameters (frequency and time reference) for triggering the synchronization signal are set. The time-domain signal correlation analysis function of the channel measurement platform is calibrated to ensure the accuracy of channel parameter extraction. The sensors of the environmental acquisition platform are calibrated to ensure the consistency of point cloud data and images. The signal source transmits time-domain correlation signals through an RF antenna to prepare for subsequent channel measurements.

[0094] Optionally, according to the measurement scenario requirements, AGV trajectory lines corresponding to the AGV are laid in the target area, and a master control program is configured in the host computer. The AGV is then started, and the master control program on the host computer is activated, including:

[0095] According to the measurement scenario requirements, the AGV trajectory line is laid to cover the target area to be measured corresponding to the measurement scenario requirements;

[0096] The AGV's movement path, trigger signal interval, data acquisition strategy, and start and stop conditions are configured in the host computer's master control program; wherein, the trigger signal interval is adapted to the AGV's movement state, and the start and stop conditions correspond to the acquisition time nodes in the data acquisition strategy;

[0097] The AGV is started and executed by the control command sent by the host computer; the control command is used to control the AGV to enter the initial position in the target area and wait.

[0098] In this embodiment, during the AGV trajectory configuration and startup process, AGV trajectory lines are laid in the target area according to the measurement scenario requirements to ensure that the trajectory covers the environmental area to be measured. A master control program is configured in the host computer, including the AGV movement path, trigger signal interval, and data acquisition strategy. AGV start and stop conditions are set to ensure compatibility with the synchronous acquisition process. The AGV is started, executes the host computer instructions, enters its initial position, and enters a standby state.

[0099] Optionally, when the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively, including:

[0100] When the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environment acquisition platform at acquisition intervals of 0.5 seconds. The acquisition trigger signals trigger the lidar to scan and generate point cloud data with timestamps, and the distributed camera to capture images with timestamps, and send target signals to the host computer respectively. At the same time, the spectrum analyzer is triggered to receive the target signals and store the channel data with timestamps in the data logger.

[0101] In this embodiment, during the synchronization and data acquisition process, the host computer sends trigger signals at preset intervals (e.g., once per second) to synchronously control the acquisition actions of the channel measurement platform and the environmental acquisition platform. The trigger signals ensure the alignment of channel data and environmental data on the time axis. The lidar scans the environment to generate point cloud data, and a high-definition camera captures images. Environmental data, with timestamps, is transmitted to the host computer for preliminary preprocessing. The channel measurement platform receives signals through distributed antennas, and the channel data, with timestamps, is stored in a data logger for subsequent fusion.

[0102] Optionally, upon determining that the data collection has ended, controlling the AGV to return to its initial position includes:

[0103] When the AGV completes the preset trajectory or reaches the stopping condition, the host computer stops sending the acquisition trigger signal, terminating the channel data acquisition of the channel measurement platform and the environmental data acquisition of the environmental acquisition platform.

[0104] The host computer performs a final time alignment on the collected channel data and environmental data to generate a comprehensive dataset;

[0105] The AGV is controlled to return to its initial position along a preset trajectory, and the sensors of the channel measurement platform and the environmental acquisition platform are turned off.

[0106] In this embodiment, during the data acquisition and AGV return process, when the AGV completes the preset trajectory or reaches the stopping condition, the host computer stops sending trigger signals, and the channel measurement and environmental data acquisition end. The host computer performs a final time alignment on the acquired channel and environmental data to generate a comprehensive dataset. The AGV returns to its initial position according to the preset trajectory, and the sensors on the channel measurement platform and environmental data acquisition platform are turned off.

[0107] Reference Figure 3 As shown, the process of this application method includes: first, the signal source transmits signals (including detection signals and reference signals); then the AGV is started, and the host computer's main control program is run simultaneously; next, it is determined whether the AGV is in a uniform speed running state. If it is not uniform speed, the determination continues. If it is uniform speed, the host computer sends a data acquisition trigger signal; then it is determined whether the AGV has stopped. If it has not stopped, the data acquisition trigger signal is sent again. If it has stopped, the data acquisition ends and the AGV returns.

[0108] In one specific embodiment, the process of the method of this application specifically includes:

[0109] Step 1: Block diagram of the wireless channel and environment joint acquisition platform, refer to... Figure 2 As shown, detailed parameters are listed in Table 1 below. This measurement platform is based on the principle of time-domain correlation. At the transmitting end, a signal generator produces a pseudo-random sequence with good autocorrelation characteristics as the probe signal. At the receiving end, a spectrum analyzer acquires time-domain IQ channel data in real time. The sensors of the environmental acquisition platform are calibrated to ensure the consistency of point cloud data and images.

[0110] Table 1:

[0111] Where Tx (Transmitter) is the signal transmitter and Rx (Receiver) is the signal receiver.

[0112] Step 2: Lay the AGV guide rail magnetic strips horizontally along the direction of the hall, and set the start and end stations. The magnetic strips are 20m long. After the equipment is in place, start the AGV.

[0113] Step 3: After the host computer determines that the AGV has entered uniform motion, it sets the acquisition interval to 0.5s and sends acquisition trigger signals to the lidar, camera, and spectrum analyzer.

[0114] Step 4: After the AGV reaches the termination station, it stops. Once the host computer detects that the AGV has stopped, it stops sending trigger signals, and the measurement ends.

[0115] The proposed solution addresses two core issues of existing technologies through a collaborative design of a high-precision measurement architecture and a precise synchronization mechanism. Firstly, it employs a channel measurement platform based on time-domain correlation principles, integrating it with an environmental acquisition platform within an AGV. Pre-set trajectory deployment ensures measurement coverage of the target area, and the AGV's uniform speed provides a stable mobile reference for channel measurement, avoiding positioning errors from platforms such as drones. Simultaneously, the time-domain correlation principle supports in-phase orthogonal data acquisition and analysis, accurately extracting channel parameters such as multipath effects and path loss, significantly improving the accuracy and reliability of channel measurements in dynamic and complex propagation environments. Secondly, a unified configuration of AGV movement paths and trigger signal intervals is achieved through a host computer control program. Synchronous acquisition trigger signals are sent during AGV uniform speed operation, synchronously controlling the acquisition actions of both the channel measurement platform and the environmental acquisition platform. All acquired data includes timestamps, and the host computer performs a final time alignment after acquisition. From the three dimensions of trigger-based synchronization, data timestamp marking, and final alignment calibration, the solution thoroughly resolves the data mismatch problem caused by differences in sampling rates among multiple devices, ensuring the synchronization of collaboratively acquired data.

[0116] Compared with the prior art, this application has the following advantages:

[0117] This application significantly improves the accuracy of broadband channel measurement and environmental perception by combining a high-precision channel measurement platform based on the time-domain correlation principle with an environmental acquisition platform composed of lidar, high-definition cameras, and depth cameras.

[0118] This application utilizes a host computer-triggered synchronization mechanism to achieve precise time alignment of data sampling from multiple devices, effectively eliminating data mismatch issues caused by differences in sampling rates and improving the stability and reliability of data fusion.

[0119] The various methods of the embodiments of this application have been described above. Apparatus for implementing the above methods will now be provided.

[0120] Please refer to Figure 4 This application also provides a wireless channel and environment joint acquisition system, including:

[0121] The first processing module 41 is used to initialize a preset measurement platform; the measurement platform includes a channel measurement platform, an environmental acquisition platform, an automated guided vehicle (AGV), and a host computer.

[0122] The second processing module 42 is used to lay the AGV trajectory line corresponding to the AGV in the target area according to the measurement scenario requirements, configure the master control program in the host computer, start the AGV, and make the master control program of the host computer run and start.

[0123] The third processing module 43 is used to send acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively through the host computer when the AGV is in a constant speed running state; the acquisition trigger signals are used to control the channel measurement platform and the environmental acquisition platform to perform data acquisition;

[0124] The fourth processing module 44 is used to control the AGV to return to its initial position when the data collection is determined to be completed.

[0125] Optionally, the measurement platform may further include: a signal source, a radio frequency antenna, a spectrum analyzer, and a data logger;

[0126] The signal source and the radio frequency antenna are connected, and the signal source is used to transmit wireless detection signals to the outside.

[0127] The environmental acquisition platform includes a lidar, a depth camera, and distributed cameras. The lidar, the depth camera, and the distributed cameras are respectively connected to a host computer to transmit the acquired environmental data to the host computer.

[0128] The spectrum analyzer is also connected to the host computer and the data logger respectively; after the radio frequency antenna receives external signals, the spectrum analyzer is used to collect time-domain in-phase orthogonal data; the spectrum analyzer is also used to store the collected channel data to the data logger;

[0129] The host computer is communicatively connected to the signal source and the spectrum analyzer; the host computer is used to send trigger synchronization signals.

[0130] The signal source, the radio frequency antenna, the environmental acquisition platform, the host computer, the spectrum analyzer, and the data logger are all integrated into the AGV, and they jointly collect data at different locations as the AGV moves.

[0131] Optionally, the preset measurement platform is initialized, including:

[0132] Set the transmission parameters of the signal source, including frequency, bandwidth, baseband modulation type and transmission symbols;

[0133] Configure the operating status of the RF antenna;

[0134] Initialize the environmental acquisition platform; set the acquisition parameters of the lidar, the depth camera, and the distributed cameras, including resolution, frame rate, and field of view;

[0135] The host computer is initialized and the master control program is loaded. The parameters of the trigger synchronization signal are set. The trigger synchronization signal is sent at a preset interval. The parameters of the trigger synchronization signal include frequency and time reference.

[0136] The signal acquisition accuracy of the spectrum analyzer is calibrated, as are the sensors of the environmental acquisition platform.

[0137] The signal source is controlled to transmit a time-domain signal through the radio frequency antenna.

[0138] Optionally, according to the measurement scenario requirements, AGV trajectory lines corresponding to the AGV are laid in the target area, and a master control program is configured in the host computer. The AGV is then started, and the master control program on the host computer is activated, including:

[0139] According to the measurement scenario requirements, the AGV trajectory line is laid to cover the target area to be measured corresponding to the measurement scenario requirements;

[0140] The AGV's movement path, trigger signal interval, data acquisition strategy, and start and stop conditions are configured in the host computer's master control program; wherein, the trigger signal interval is adapted to the AGV's movement state, and the start and stop conditions correspond to the acquisition time nodes in the data acquisition strategy;

[0141] The AGV is started and executed by the control command sent by the host computer; the control command is used to control the AGV to enter the initial position in the target area and wait.

[0142] Optionally, when the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively, including:

[0143] When the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environment acquisition platform at acquisition intervals of 0.5 seconds. The acquisition trigger signals trigger the lidar to scan and generate point cloud data with timestamps, and the distributed camera to capture images with timestamps, and send target signals to the host computer respectively. At the same time, the spectrum analyzer is triggered to receive the target signals and store the channel data with timestamps in the data logger.

[0144] Optionally, upon determining that the data collection has ended, controlling the AGV to return to its initial position includes:

[0145] When the AGV completes the preset trajectory or reaches the stopping condition, the host computer stops sending the acquisition trigger signal, terminating the channel data acquisition of the channel measurement platform and the environmental data acquisition of the environmental acquisition platform.

[0146] The host computer performs a final time alignment on the collected channel data and environmental data to generate a comprehensive dataset;

[0147] The AGV is controlled to return to its initial position along a preset trajectory, and the sensors of the channel measurement platform and the environmental acquisition platform are turned off.

[0148] It should be noted that the system in this embodiment corresponds to the method described above. The implementation methods in each of the above embodiments are applicable to the embodiments of this system and can achieve the same technical effect. The system provided in this application embodiment can implement all the method steps implemented in the above method embodiments and can achieve the same technical effect. Therefore, the parts that are the same as those in the method embodiments and the beneficial effects will not be described in detail here.

[0149] This application also provides a computer-readable storage medium storing a computer program. When executed by a processor, the computer program implements the various processes of the above-described embodiments of the wireless channel and environment joint acquisition method, achieving the same technical effects. To avoid repetition, it will not be described again here. The computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk, etc.

[0150] This application also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, they implement the various processes of the above-described wireless channel and environment joint acquisition method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0151] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0152] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) and includes several instructions to cause a terminal (which may be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in the various embodiments of this application.

[0153] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of this application without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of this application.

Claims

1. A method for joint acquisition of wireless channel and environment data, characterized in that, include: The preset measurement platform is initialized; the measurement platform includes a channel measurement platform, an environmental acquisition platform, an automated guided vehicle (AGV), and a host computer. According to the measurement scenario requirements, the AGV trajectory line corresponding to the AGV is laid in the target area, and the master control program is configured in the host computer, and the AGV is started, and the master control program of the host computer is started. When the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively. The acquisition trigger signal is used to control the channel measurement platform and the environment acquisition platform to perform data acquisition; Once the data collection is complete, control the AGV to return to its initial position.

2. The method according to claim 1, characterized in that, The measurement platform also includes: a signal source, an RF antenna, a spectrum analyzer, and a data logger; The signal source and the radio frequency antenna are connected, and the signal source is used to transmit wireless detection signals to the outside. The environmental acquisition platform includes a lidar, a depth camera, and distributed cameras. The lidar, the depth camera, and the distributed cameras are respectively connected to a host computer to transmit the acquired environmental data to the host computer. The spectrum analyzer is also connected to the host computer and the data logger respectively; after the radio frequency antenna receives external signals, the spectrum analyzer is used to collect time-domain in-phase orthogonal data; the spectrum analyzer is also used to store the collected channel data to the data logger; The host computer is communicatively connected to the signal source and the spectrum analyzer; the host computer is used to send trigger synchronization signals. The signal source, the radio frequency antenna, the environmental acquisition platform, the host computer, the spectrum analyzer, and the data logger are all integrated into the AGV.

3. The method according to claim 2, characterized in that, Initialize the preset measurement platform, including: Set the transmission parameters of the signal source, including frequency, bandwidth, baseband modulation type and transmission symbols; Configure the operating status of the RF antenna; Initialize the environmental acquisition platform; set the acquisition parameters of the lidar, the depth camera, and the distributed cameras, including resolution, frame rate, and field of view; The host computer is initialized and the master control program is loaded. The parameters of the trigger synchronization signal are set. The trigger synchronization signal is sent at a preset interval. The parameters of the trigger synchronization signal include frequency and time reference. The signal acquisition accuracy of the spectrum analyzer is calibrated, as are the sensors of the environmental acquisition platform. The signal source is controlled to transmit a time-domain signal through the radio frequency antenna.

4. The method according to claim 1, characterized in that, According to the measurement scenario requirements, AGV trajectory lines corresponding to the AGV are laid in the target area, and a master control program is configured in the host computer. The AGV is then started, and the master control program on the host computer is activated, including: According to the measurement scenario requirements, the AGV trajectory line is laid to cover the target area to be measured corresponding to the measurement scenario requirements; The AGV's movement path, trigger signal interval, data acquisition strategy, and start and stop conditions are configured in the host computer's master control program; wherein, the trigger signal interval is adapted to the AGV's movement state, and the start and stop conditions correspond to the acquisition time nodes in the data acquisition strategy; The AGV is started and executed by the control command sent by the host computer; the control command is used to control the AGV to enter the initial position in the target area and wait.

5. The method according to claim 2, characterized in that, When the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environmental acquisition platform, respectively, including: When the AGV is running at a constant speed, the host computer sends acquisition trigger signals to the channel measurement platform and the environment acquisition platform at acquisition intervals of 0.5 seconds. The acquisition trigger signals trigger the lidar to scan and generate point cloud data with timestamps, and the distributed camera to capture images with timestamps, and send target signals to the host computer respectively. At the same time, the spectrum analyzer is triggered to receive the target signals and store the channel data with timestamps in the data logger.

6. The method according to claim 1, characterized in that, Upon determining that the data collection is complete, control the AGV to return to its initial position, including: When the AGV completes the preset trajectory or reaches the stopping condition, the host computer stops sending the acquisition trigger signal, terminating the channel data acquisition of the channel measurement platform and the environmental data acquisition of the environmental acquisition platform. The host computer performs a final time alignment on the collected channel data and environmental data to generate a comprehensive dataset; The AGV is controlled to return to its initial position along a preset trajectory, and the sensors of the channel measurement platform and the environmental acquisition platform are turned off.

7. A wireless channel and environment joint acquisition system, characterized in that, include: The first processing module is used to initialize the preset measurement platform; the measurement platform includes a channel measurement platform, an environmental acquisition platform, an automated guided vehicle (AGV), and a host computer. The second processing module is used to lay the AGV trajectory line corresponding to the AGV in the target area according to the measurement scenario requirements, configure the master control program in the host computer, start the AGV, and make the master control program of the host computer run and start. The third processing module is used to send acquisition trigger signals to the channel measurement platform and the environmental acquisition platform respectively through the host computer when the AGV is in a constant speed running state. The acquisition trigger signal is used to control the channel measurement platform and the environment acquisition platform to perform data acquisition; The fourth processing module is used to control the AGV to return to its initial position when the data collection is determined to be completed.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the method as described in any one of claims 1 to 6.

9. A computer program product, characterized in that, Includes computer instructions that, when executed by a processor, implement the steps of the method as described in any one of claims 1 to 6.

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