Interference handling method and apparatus

Abstract

This application relates to the field of wireless technology and provides an interference processing method and apparatus. The method includes: determining target sequences for at least two sensing stations based on a preset number of sensing pulses; determining sensing pulse waveform sequences for each sensing station based on the target sequences of each sensing station, and determining echo waveform sequences for each sensing station based on the sensing pulse waveform sequences of each sensing station and a target matched filter; performing accumulation processing on the echo waveform sequences of each sensing station to obtain accumulation processing results for each sensing station; and determining the sensing results for each sensing station based on the accumulation processing results for each sensing station; wherein the target sequences are used to indicate the symbol identifiers of each sensing station at multiple sensing pulse times. The interference processing method and apparatus provided in this application improve the accuracy of the sensing results of the sensing stations.

Description

Technical Field

[0001] This application relates to the field of wireless technology, and in particular to an interference processing method and apparatus. Background Technology

[0002] With the development of integrated communication and sensing technology, sensing stations not only need to perform communication functions, but also need to transmit sensing signals on specific sensing resources to achieve functions such as target detection and distance sensing. Currently, when multiple sensing stations are deployed in a network, inter-station interference is prone to occur due to the high transmission power of sensing pulse waves.

[0003] Existing technologies typically differentiate multiple sensing stations using time-division and frequency-division resources to reduce mutual interference between them. However, in large-scale sensing station networking scenarios, the number of resources available for different sensing stations is limited. When multiple sensing stations use the same frequency sensing resources simultaneously, inter-station interference can still easily occur, affecting the processing effect of each sensing station on the echo signal and thus impacting the accuracy of the sensing results. Furthermore, using more time-division resources to expand available sensing resources can lead to slower track initiation, increased speed ambiguity, and trajectory correlation risks due to reduced trajectory continuity. Using more frequency-division resources to expand available sensing resources, under the condition of limited operator spectrum resources, usually requires reducing the bandwidth occupied by a single sensing unit to increase the number of frequency-division resources, which in turn leads to a decrease in sensing resolution.

[0004] Therefore, it is of great significance to solve the technical problem that the interference between stations is difficult to effectively cancel or reduce under the same frequency sensing resources in the existing sensing station networking scenario, and to improve the accuracy of the sensing results of the sensing station. Summary of the Invention

[0005] This application provides an interference processing method and apparatus to solve the technical problem in the prior art that it is difficult to effectively cancel or reduce inter-station interference under simultaneous and co-frequency sensing resources, thereby improving the accuracy of sensing results from the sensing station.

[0006] In a first aspect, this application provides an interference processing method, the method comprising: Based on the preset number of sensing pulses, determine the target sequence of at least two sensing stations; Based on the target sequence of each sensing station, the sensing pulse waveform sequence of each sensing station is determined, and based on the sensing pulse waveform sequence of each sensing station and the target matched filter, the echo waveform sequence of each sensing station is determined. The echo waveform sequences of each sensing station are accumulated to obtain the accumulated processing results of each sensing station. Based on the cumulative processing results of each sensor station, the sensing result of each sensor station is determined; The target sequence is used to indicate the symbolic identifiers of each sensor station at multiple sensing pulse moments.

[0007] Optionally, according to the interference processing method of this application, determining the sensing pulse waveform sequence of each sensing station based on the target sequence of each sensing station includes: For any one of the aforementioned sensing stations, acquire the reference sensing pulse waveform of that sensing station; Based on the target sequence of any of the sensing stations, determine the waveform transformation mode of any of the sensing stations; The reference sensing pulse waveform of any of the sensing stations is transformed according to the waveform transformation method of any of the sensing stations to determine the sensing pulse waveform sequence of any of the sensing stations.

[0008] Optionally, according to the interference processing method of this application, the target matched filter includes a reference matched filter and a sequence matched filter; The step of determining the echo waveform sequence of each sensing station based on the sensing pulse waveform sequence of each sensing station and the target matched filter includes at least one of the following: For any of the sensing stations, based on the sensing pulse waveform sequence of any sensing station, the received waveform sequence of any sensing station is obtained; a reference matched filter of any sensing station is acquired; the reference matched filter is transformed according to the target sequence of any sensing station to obtain a sequence matched filter of any sensing station; the sequence matched filter includes the symbol identifier in the target sequence; the received waveform sequence of any sensing station is matched and filtered according to the sequence matched filter of any sensing station to obtain the echo waveform sequence of any sensing station. For any of the sensing stations, the received waveform sequence of any sensing station is obtained based on the sensing pulse waveform sequence of any sensing station; the reference matched filter of any sensing station is obtained; and the received waveform sequence of any sensing station is subjected to matched filtering processing based on the reference matched filter of any sensing station to obtain the echo waveform sequence of any sensing station.

[0009] Optionally, according to the interference processing method of this application, the step of accumulating the echo waveform sequences of each sensing station to obtain the accumulation processing result of each sensing station includes: For any one of the sensing stations, the sensing station is identified as the target sensing station, and the sensing stations other than the target sensing station are identified as interfering sensing stations. The accumulation processing method is determined based on the target sequence of the target sensor station; or, the accumulation processing method is determined based on the echo waveform sequence of the target sensor station. According to the accumulation processing method, each echo waveform in the echo waveform sequence of the target sensing station is processed to obtain multiple echo waveforms to be accumulated; the multiple echo waveforms to be accumulated include multiple target echo components and multiple interference echo components, the multiple target echo components are the echo components corresponding to the target sensing station, and the multiple interference echo components are the echo components corresponding to the interference sensing station. The multiple echo waveforms to be accumulated are accumulated to obtain the accumulation result of the target sensor station.

[0010] Optionally, according to the interference processing method of this application, the step of accumulating the plurality of echo waveforms to be accumulated to obtain the accumulation processing result of the target sensor station includes: Based on the symbol identifier of the target sequence of the target sensor station, the multiple target echo components are accumulated in phase to obtain the enhanced target echo components.

[0011] Optionally, according to the interference processing method of this application, the step of accumulating the plurality of echo waveforms to be accumulated to obtain the accumulation processing result of the target sensor station includes: Based on the sign relationship between the target sequence of the target sensing station and the target sequence of the interfering sensing station, the multiple interfering echo components are accumulated in opposite phases to obtain the interfering echo components after canceling or reducing the interference.

[0012] Optionally, according to the interference processing method of this application, determining the target sequence of at least two sensing stations based on a preset number of sensing pulses includes: The reference sequence length and length coefficient are determined based on the preset number of sensing pulses; Based on the reference sequence length and the length coefficient, a target sequence for at least two sensing stations is determined; The reference sequence length is used to generate sequences that satisfy orthogonality. The length coefficient is used to adjust the length of the reference sequence.

[0013] Optionally, according to the interference processing method of this application, determining the target sequence of at least two sensing stations based on the reference sequence length and the length coefficient includes at least one of the following: When the preset number of sensing pulses can be decomposed into the product of the reference sequence length and the length coefficient, and the reference sequence length satisfies the power relationship of a preset constant, at least two orthogonal sequences are generated based on the reference sequence length, and the target sequences of the at least two sensing stations are determined based on the length coefficient and the at least two orthogonal sequences. When the length of the reference sequence does not satisfy the power relationship of a preset constant, at least two non-perfectly orthogonal sequences are determined according to the preset number of sensing pulses, and the target sequences of the at least two sensing stations are determined according to the length coefficient and the at least two non-perfectly orthogonal sequences. The orthogonal sequence is used to cancel inter-station interference; The non-perfectly orthogonal sequences are used to reduce inter-station interference.

[0014] Secondly, this application also provides an interference processing apparatus, the apparatus comprising: The first determining module is used to determine the target sequence of at least two sensing stations based on a preset number of sensing pulses; The second determining module is used to determine the sensing pulse waveform sequence of each sensing station based on the target sequence of each sensing station, and to determine the echo waveform sequence of each sensing station based on the sensing pulse waveform sequence of each sensing station and the target matched filter. The accumulation processing module is used to accumulate the echo waveform sequences of each sensing station to obtain the accumulation processing results of each sensing station. The third determining module is used to determine the sensing result of each sensing station based on the cumulative processing result of each sensing station; The target sequence is used to indicate the symbolic identifiers of each sensor station at multiple sensing pulse moments.

[0015] Thirdly, this application provides an electronic device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the interference processing method described in the first aspect above.

[0016] Fourthly, this application provides a non-transitory computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the interference processing method as described in the first aspect above.

[0017] The interference processing method and apparatus provided in this application determine the target sequence of at least two sensing stations by preset the number of sensing pulses. This enables each sensing station to form a symbol combination corresponding to the target sequence at multiple sensing pulse moments, thus providing a basis for distinguishing different sensing stations under simultaneous and same-frequency resource conditions. Then, the sensing pulse waveform sequence of each sensing station is determined by the target sequence of each sensing station. Based on the sensing pulse waveform sequence of each sensing station and the target matched filter, the echo waveform sequence of each sensing station is determined. The echo waveform sequences of each sensing station are then accumulated, enabling the echo information at multiple sensing pulse moments to participate in the accumulation according to the symbol corresponding to the target sequence, thereby reducing the interference impact of other sensing stations on the sensing processing of this station. Finally, the sensing result of each sensing station is determined by the accumulation processing result of each sensing station. This method and apparatus solves the technical problem that inter-station interference is difficult to effectively cancel or reduce in existing sensing station networking scenarios under simultaneous and same-frequency sensing resources, improving the accuracy of sensing station sensing results. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is an example diagram illustrating the existing sensing resources of a sensor station.

[0020] Figure 2 This is an example diagram of existing sensing time-division resources within a sensing station.

[0021] Figure 3 This is an example diagram of existing inter-station frequency division resources.

[0022] Figure 4 This is an example diagram of existing in-phase interference and out-of-phase noise floor elevation.

[0023] Figure 5 This is a flowchart illustrating the interference handling method provided in this application.

[0024] Figure 6 This is an example diagram of the interference processing method provided in this application.

[0025] Figure 7 This is a schematic diagram of the interference processing device provided in this application.

[0026] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application. Detailed Implementation

[0027] In the embodiments of this application, the term "at least two" refers to two or more, and other quantifiers are similar.

[0028] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0029] To facilitate understanding of the technical solution of this application, the following content is now described: Figure 1 This is an example diagram illustrating the sensing resources of existing sensor stations, such as... Figure 1 As shown, existing 4.9GHz band integrated sensing systems typically employ a dual-cycle frame structure of "DDDSU DDSUU". The sensing function of the sensing station is set in the first downlink time slot after the uplink time slot; specifically, slots 0 and 5 can be selected as sensing time slots, with the remaining slots used for communication. Each sensing time slot includes 14 symbols, with the first 7 symbols used for sensing and the last 7 symbols still used for communication. Therefore, the sensing function accounts for approximately 10% of the total resources of the sensing station. Furthermore, to accommodate sensing requirements at different detection distances, the first 7 sensing symbols can be configured with 4 pulse waves and 3 continuous waves, i.e., a 4P3C resource configuration. The first 4 symbols correspond to pulse wave sensing resources, which can be used for long-range target detection. Each pulse wave can include a pulse wave transmission window, a guard interval, and a pulse wave reception window. The last 3 symbols correspond to continuous wave sensing resources, which can be used for short-range target detection. Each continuous wave can include a cyclic prefix and transmission and reception windows.

[0030] Figure 2 This is an example diagram of existing sensing time-division resources within a sensing station, such as... Figure 2 As shown, when multiple sensing stations or sectors are networked, the high transmission power of pulse waves can easily lead to strong mutual interference between sensing stations if different stations or sectors transmit pulse waves at the same time. To reduce this interference, existing solutions can allocate pulse wave sensing resources in a time-division manner. For example, pulse wave sensing resources can be divided into three groups of time-division resources, corresponding to sector 1, sector 2, and sector 3, respectively. The pulse wave transmission windows, guard intervals, and pulse wave reception windows in different sectors are staggered in time, so that pulse waves from different sectors avoid occupying the same sensing resources at the same time as much as possible, thereby reducing pulse wave interference within a station or between sectors.

[0031] Figure 3 This is an example diagram of existing inter-station frequency division resources, such as... Figure 3 As shown, in the frequency domain dimension, existing schemes can divide the 100MHz sensing resource bandwidth into 5 frequency bands and allocate different frequency bands to different sensing stations, such as sensing station 1, sensing station 2, sensing station 3, sensing station 4, and sensing station 5. In this way, different sensing stations can use different frequency domain resources for sensing, which can, to some extent, avoid simultaneous operation on the same frequency between stations, thereby reducing mutual interference between sensing stations. Therefore, combined with... Figure 2 The three groups of time-division resources shown are Figure 3 The five sets of frequency division resources shown can form a total of 15 orthogonal sensing resource units in the existing scheme, which can be used to support the sensing network of multiple sensing stations.

[0032] Figure 4 These are example diagrams of existing in-phase interference and out-of-phase noise floor enhancement, such as... Figure 4 As shown, in large-scale networking of sensing stations with more than 15 stations, relying solely on time-division and frequency-division resources is insufficient to ensure orthogonality among all sensing stations. This can easily lead to different sensing stations sensing on the same time and frequency, resulting in interference between stations operating simultaneously on the same frequency. To further expand the available orthogonal resources, existing solutions can introduce linear frequency modulated (FM) waves with positive and negative slopes into the time-division and frequency-division systems. By using FM waves with different slopes, different sensing stations can be distinguished, thereby expanding the original 15 sets of orthogonal resources to 30 sets. Figure 4 The left side shows the matching results under the condition of in-phase interference, where the horizontal axis represents the time delay and the vertical axis represents the amplitude of the matched filter result. It can be seen that there is a significant spike response at a specific time delay position, indicating that strong interference will be formed between stations on the same frequency at the same time. Figure 4 The right side shows the matching results after using an inverted slope linear frequency modulated (LFM) wave. It can be seen that although the inverted slope LFM wave can reduce... Figure 4 The left side shows spike interference, but the matching results maintain a high amplitude overall over a wide time delay range, which leads to an increase in background noise.

[0033] Figure 5 This is a flowchart illustrating the interference processing method provided in this application, as shown below. Figure 5 As shown, the method may include: Step 510: Determine the target sequence of at least two sensing stations based on the preset number of sensing pulses; Step 520: Based on the target sequence of each sensing station, determine the sensing pulse waveform sequence of each sensing station, and based on the sensing pulse waveform sequence of each sensing station and the target matched filter, determine the echo waveform sequence of each sensing station. Step 530: Accumulate the echo waveform sequences of each sensing station to obtain the accumulation results of each sensing station; Step 540: Determine the sensing results of each sensor station based on the cumulative processing results of each sensor station; The target sequence is used to indicate the symbolic identifiers of each synaptic station at multiple sensing pulse moments.

[0034] It should be noted that the entity executing the above-mentioned interference processing method can be an interference processing device. This interference processing device can be a sensing station, a sensing base station, a sensing station control device, a network-side centralized control device, an edge computing device, a server, a dedicated computing device, or a sensing station network system composed of multiple sensing stations and control devices. This application does not specifically limit this.

[0035] Specifically, the preset number of sensing pulses refers to the number of sensing pulses pre-configured during a single sensing process. For example, the preset number of sensing pulses can be configured based on the proportion of sensing resources; it can also be configured based on the scale of the sensor network, detection distance requirements, sensing time slot structure, or interference handling requirements. For another example, the preset number of sensing pulses can be 2, 4, 6, or other numbers. This application does not impose specific limitations on this.

[0036] A sensing station refers to a station that combines communication and sensing functions. For example, a sensing station can be a station in a 5G-A (5G-Advanced, 5G evolution) integrated sensing system; it can also be a communication-sensing integrated station operating in the 4.9 GHz band; or it can be a sensing device with sensing capabilities, such as radar, networked radar equipment, multi-station collaborative radar nodes, distributed radar nodes, or other devices capable of transmitting and / or receiving sensing pulse waveforms. This application does not specifically limit its scope.

[0037] It is understood that, for ease of description of the network interference processing process, this application uses a sensing pulse as an example. In practical applications, the sensing signal can also include continuous wave signals, frequency-modulated continuous wave signals, phase-coded continuous wave signals, frequency-coded signals, orthogonal-coded signals, or other signal forms that can be used for target sensing, radar detection, or network interference cancellation. For example, in a radar detection scenario using continuous wave signals, echo enhancement and interference reduction or cancellation can be achieved by configuring target sequence symbols, phase adjustment amounts, or orthogonal coding relationships for different sensing signal units, and performing matched filtering and / or accumulation processing based on the target sequence.

[0038] The target sequence refers to the sequence of symbols used to indicate the timing of multiple sensing pulses at each sensor station. For example, the target sequence can be obtained by generating an orthogonal code Walsh code sequence from a Hadamard matrix; it can also be obtained based on a pre-configured symbol table, sensor station grouping information, resource planning information, or manually configured symbol rules. This application does not impose specific limitations on this.

[0039] A symbol is a marker used to characterize the polarity or sign direction of a sensing pulse waveform. For example, a symbol could be +1 or -1; another example is a phase factor. Symbols for complex forms, where, Used to characterize the amount of phase adjustment. Take 0 or In this case, It can correspond to +1 or -1; in Take 0, , or In this case, They can correspond to +1 respectively. -1 or This allows for the formation of orthogonal or non-perfectly orthogonal relationships through different phases; alternatively, other forms of symbolic identification can be used, as long as different symbols can enhance, weaken, or cancel the corresponding sensing pulse waveform during subsequent accumulation processing. This application does not impose specific limitations in this regard.

[0040] A target matched filter is used to perform matched filtering on the received waveform sequence of a sensing station. For example, the target matched filter may include a reference matched filter and a sequence matched filter. The reference matched filter corresponds to a reference sensing pulse waveform; the sequence matched filter may be a matched filter obtained by performing sign transformation, inversion, or phase adjustment on the reference matched filter based on the target sequence of the sensing station. This application does not specifically limit this. The sensing pulse waveform sequence refers to the set of sensing pulse waveforms formed by each sensing station at multiple sensing pulse moments based on the target sequence. This application does not specifically limit this.

[0041] An echo waveform sequence refers to multiple echo waveforms obtained by each sensing station after sensing based on its own sensing pulse waveform sequence. For example, the echo waveform sequence may include echo information related to the sensing target of that sensing station, or it may include interference information generated by other sensing stations under the condition of simultaneous and same frequency resources. This application does not specifically limit this.

[0042] Accumulation processing refers to the process of performing sign transformation on the echo waveform sequences corresponding to multiple sensing pulse times based on the target sequence of the sensing station, when a reference matched filter is used and the sign identifier in the target sequence is not introduced in the matched filtering stage, and then accumulating the transformed echo waveform sequences; alternatively, it can be a process of directly accumulating the echo waveform sequences at multiple sensing pulse times when a sequence matched filter is used and the sign identifier in the target sequence has been introduced in the matched filtering stage. For example, accumulation processing may include enhancing some echo waveforms during the accumulation process; it may also include weakening or canceling some echo waveforms during the accumulation process. This application does not specifically limit this.

[0043] The cumulative processing result refers to the processing result obtained by accumulating the echo waveform sequences of each sensing station according to the target sequence of each sensing station. For example, the cumulative processing result can reflect the cumulative result of the echo information corresponding to the sensing station at multiple sensing pulse moments; it can also reflect the remaining result of the interference information generated by the signals transmitted by other sensing stations after cumulative processing. This application does not make specific limitations in this regard.

[0044] The perception result refers to the target perception information determined based on the accumulated processing results. For example, the perception result can be the target detection result; it can also be the target distance perception result, the target existence judgment result, or the target motion information. This application does not specifically limit it in this regard.

[0045] Specifically, in a network scenario of sensing stations, the preset number of sensing pulses used in each sensing process can be determined first. This preset number of sensing pulses characterizes the number of sensing pulses continuously transmitted by each sensing station during a single sensing process. Subsequently, target sequences can be determined for at least two sensing stations based on the preset number of sensing pulses. The target sequences for different sensing stations can be different, allowing each station to have different symbol combinations at multiple sensing pulse moments. For example, the target sequence can be obtained using a Walsh code sequence generated from a Hadamard matrix.

[0046] Step 520: Determine the sensing pulse waveform sequence for each sensing station based on the correspondence between the symbols in the target sequence of each sensing station and the times of multiple sensing pulses. The sensing pulse waveform sequence reflects the actual waveform arrangement used for sensing at multiple sensing pulse times by the sensing station.

[0047] Subsequently, each sensing station, based on its own sensing pulse waveform sequence, can receive echo information corresponding to the sensing pulse waveform sequence, thereby determining the echo waveform sequence of each sensing station. The echo waveform sequence may include echo information related to the sensing target of that sensing station, or it may include interference information generated by other sensing stations under the condition of simultaneous and same-frequency resource operation.

[0048] Step 530: After determining the echo waveform sequence of each sensing station, the echo waveform sequences of each sensing station are accumulated. When a reference matched filter is used and the symbol identifier in the target sequence is not introduced during the matched filtering stage, the echo waveform sequences corresponding to multiple sensing pulse times are symbol-transformed according to the target sequence, and the transformed echo waveform sequences are accumulated. When a sequence matched filter is used and the symbol identifier in the target sequence has already been introduced during the matched filtering stage, the echo waveform sequences at multiple sensing pulse times are directly accumulated.

[0049] Step 540: Since the cumulative processing result has integrated the echo information of multiple sensing pulse moments and reduced the impact of interference from other sensing stations under the condition of simultaneous and same frequency resources, the sensing result of each sensing station can be determined based on the cumulative processing result of each sensing station.

[0050] Optionally, when two sensing stations simultaneously perform sensing at the same frequency, a target sequence is determined for sensing station A and another target sequence is determined for sensing station B based on a preset number of sensing pulses. The target sequence corresponding to sensing station A can instruct sensing station A to use corresponding symbols to participate in sensing processing at multiple sensing pulse moments; the target sequence corresponding to sensing station B can instruct sensing station B to use another set of symbols to participate in sensing processing at multiple sensing pulse moments. Thus, sensing station A and sensing station B can each form their own sensing pulse waveform sequences.

[0051] When sensing stations A and B simultaneously perform sensing at the same frequency, the echo waveform sequence received by sensing station A may contain echo information related to the target sensed by station A, as well as interference information generated by the signal transmitted by sensing station B; similarly, the echo waveform sequence received by sensing station B may contain echo information related to the target sensed by station B, as well as interference information generated by the signal transmitted by sensing station A. Since sensing stations A and B each have different target sequences, when accumulating the echo waveform sequences according to their respective target sequences, the echo information related to the sensed target can accumulate across multiple sensing pulse moments, while interference information from the other sensing station can be weakened or canceled due to different sign relationships. Finally, sensing station A can determine its sensing result based on its accumulation processing result, and sensing station B can determine its sensing result based on its accumulation processing result. This reduces mutual interference between sensing stations under simultaneous, same-frequency resource conditions without solely relying on increasing time-division or frequency-division resources.

[0052] Optionally, when two or more sensing stations are simultaneously sensing at the same frequency, a corresponding target sequence can be determined for each of the two or more sensing stations based on a preset number of sensing pulses, so that each sensing station has a corresponding symbol combination at multiple sensing pulse moments. For any one of the two or more sensing stations, the sensing station can determine a sensing pulse waveform sequence based on its own corresponding target sequence, and determine an echo waveform sequence based on the sensing pulse waveform sequence and a matched filter. Then, the echo waveform sequence is accumulated to obtain the corresponding accumulation result, and thus the corresponding sensing result is determined. In other words, the processing logic for two or more sensing stations is the same as that for two sensing stations, both of which form different symbol combinations at multiple sensing pulse moments through different target sequences, and reduce the influence of interference from other sensing stations during the accumulation process. For ease of understanding, the following embodiments mainly use two sensing stations as an example for explanation. The processing process for two or more sensing stations is similar to that for two sensing stations, and will not be described again hereafter.

[0053] The interference processing method provided in this application determines the target sequence of at least two sensing stations by pre-setting the number of sensing pulses. This enables each sensing station to form a symbol combination corresponding to the target sequence at multiple sensing pulse moments, thus providing a basis for distinguishing different sensing stations under simultaneous and same-frequency resource conditions. Then, the method determines the sensing pulse waveform sequence of each sensing station based on its target sequence, and determines the echo waveform sequence of each sensing station based on the sensing pulse waveform sequence and the target matched filter. The method then accumulates the echo waveform sequences of each sensing station, enabling the echo information at multiple sensing pulse moments to participate in the accumulation according to the symbol corresponding to the target sequence, thereby reducing the interference impact of other sensing stations on the sensing processing of this station. Finally, the method determines the sensing result of each sensing station based on the accumulation result of each sensing station. This method solves the technical problem in existing sensing station networking scenarios where inter-station interference is difficult to effectively cancel or reduce under simultaneous and same-frequency sensing resources, improving the accuracy of the sensing results of the sensing stations.

[0054] In one embodiment, determining the sensing pulse waveform sequence of each sensing station based on the target sequence of each sensing station includes: For any one of the sensing stations, acquire the reference sensing pulse waveform of that sensing station; Based on the target sequence of any sensing station, determine the waveform transformation method of any sensing station; The reference sensing pulse waveform of any sensing station is transformed according to the waveform transformation method of any sensing station to determine the sensing pulse waveform sequence of any sensing station.

[0055] Specifically, the reference sensing pulse waveform refers to the basic waveform used by the sensing station to generate the sensing pulse waveform sequence before combining it with the symbol identifier in the target sequence. For example, the reference sensing pulse waveform can be a sensing pulse signal pre-stored locally by the sensing station; or it can be a sensing pulse signal generated in real time by the sensing station according to the sensing resource configuration. This application does not specifically limit it in this regard.

[0056] Waveform transformation refers to the method of adjusting the sign direction or phase of the reference sensing pulse waveform based on the sign identifier in the target sequence. For example, if the sign identifier in the target sequence is +1, the sign direction of the reference sensing pulse waveform can be maintained; if the sign identifier in the target sequence is -1, the reference sensing pulse waveform can be inverted, which is equivalent to adjusting the phase of the reference sensing pulse waveform by 180 degrees. Furthermore, the sign identifier in the target sequence can also be a phase factor. Symbols for complex forms, where, Used to characterize the amount of phase adjustment. Take 0 or In this case, It can correspond to +1 or -1; when w is 0, , or In this case, They can correspond to +1 respectively. -1 or Thus, orthogonal or non-perfectly orthogonal relationships are formed through different phases.

[0057] Optionally, when two sensing stations simultaneously perform sensing at the same frequency, assuming the preset number of sensing pulses is 2, a target sequence can be determined for sensing station A. To determine the target sequence for sensor station B. Both sensor stations A and B can acquire the reference sensing pulse waveform s(t) and determine the corresponding waveform transformation method according to their respective target sequences. Subsequently, the reference sensing pulse waveforms of sensor stations A and B are transformed according to the waveform transformation method to determine the sensing pulse waveform sequences of sensor stations A and B. This process can be shown in formula (1): Formula (1) in, Represents the reference sensing pulse waveform; Indicates the timing of the sensing pulse; Indicates the target sequence of sensor station A; This represents the target sequence of the B-sensor station; 1 indicates that the sign direction of the reference sensing pulse waveform is maintained; -1 indicates that the reference sensing pulse waveform is inverted.

[0058] The target sequence of sensory station A This indicates that sensor A maintains the sign direction of the reference sensing pulse waveform at both sensing pulse moments; therefore, the sensing pulse waveform sequence of sensor A can be... The target sequence of the B-sensory station This means that the B-sensor station maintains the sign direction of the reference sensing pulse waveform at the first sensing pulse moment, and inverts the reference sensing pulse waveform at the second sensing pulse moment. Therefore, the sensing pulse waveform sequence of the B-sensor station can be... .

[0059] Optionally, each sensor station can save data locally. and Two signal formats are used; when the symbol in the target sequence indicates a positive waveform, the signal is invoked. When the symbol in the target sequence indicates an inverted waveform, call... .

[0060] Optionally, each sensor station can also save only the data locally. When the symbol in the target sequence indicates an inverted waveform, in the output Invert the values ​​at the specified time to generate .

[0061] Through any of the above implementation methods, the reference sensing pulse waveform of any sensing station can be transformed according to the waveform transformation method of any sensing station, thereby determining the sensing pulse waveform sequence of any sensing station.

[0062] Optionally, when two or more sensing stations participate in the network, each sensing station can transform its own reference sensing pulse waveform according to its own target sequence to obtain its own sensing pulse waveform sequence. That is, different sensing stations can share the same type of reference sensing pulse waveform, but because the target sequences corresponding to different sensing stations are different, the final sensing pulse waveform sequences formed by different sensing stations can be different, thus providing a basis for distinguishing sensing stations under conditions of simultaneous use and the same frequency resources. The method for determining the sensing pulse waveform sequence of two or more sensing stations can be the same as or similar to the processing method for sensing station A and sensing station B, and will not be elaborated further here.

[0063] The interference processing method provided in this application acquires the reference sensing pulse waveform of any sensing station, enabling all sensing stations to uniformly configure the reference sensing pulse waveform, thereby reducing the complexity of the sensing pulse waveform sequence generation process. Then, it determines the waveform transformation mode of any sensing station based on the target sequence of that station, and transforms the reference sensing pulse waveform of that station according to the waveform transformation mode, thus determining the sensing pulse waveform sequence of that station. This method can form sensing pulse waveform sequences with different combinations at multiple sensing pulse moments, thereby reducing the probability of in-phase cumulative interference between sensing pulse waveforms of different sensing stations under simultaneous, same-frequency resources, and improving the accuracy of the sensing results of the sensing stations.

[0064] In one embodiment, the target matching filter includes a baseline matching filter and a sequence matching filter; Based on the sensing pulse waveform sequence of each sensing station and the target matched filter, determine the echo waveform sequence of each sensing station, including at least one of the following: For any one of the sensing stations, the received waveform sequence of any sensing station is obtained based on the sensing pulse waveform sequence of any sensing station; a reference matched filter of any sensing station is obtained; the reference matched filter is transformed according to the target sequence of any sensing station to obtain a sequence matched filter of any sensing station; the sequence matched filter includes the symbol identifier in the target sequence; the received waveform sequence of any sensing station is matched and filtered according to the sequence matched filter of any sensing station to obtain the echo waveform sequence of any sensing station. For any one of the sensing stations, the received waveform sequence of any sensing station is obtained based on the sensing pulse waveform sequence of any sensing station; the reference matched filter of any sensing station is obtained; and the received waveform sequence of any sensing station is subjected to matched filtering based on the reference matched filter of any sensing station to obtain the echo waveform sequence of any sensing station.

[0065] Specifically, the received waveform sequence refers to the set of waveforms received by any sensing station after sensing based on the sensing pulse waveform sequence. For example, the received waveform sequence may include echoes corresponding to the sensing pulse waveform sequence transmitted by any sensing station itself; it may also include waveforms from signals transmitted by other sensing stations under the condition of simultaneous transmission of signals at the same frequency. This application does not impose specific limitations on this.

[0066] The target matching filter can be obtained by combining locally stored baseline matching parameters with symbol identifiers in the target sequence; it can also be obtained by multiple locally pre-stored matching parameters. This application does not impose specific limitations on this.

[0067] An echo waveform sequence refers to the set of waveform processing results obtained after performing matched filtering on a received waveform sequence. For example, an echo waveform sequence may include echo waveforms corresponding to multiple sensing pulse times. When using a sequence matched filter for matched filtering, the symbol identifier in the target sequence can be introduced into the echo waveform sequence during the matched filtering stage; when using a reference matched filter for matched filtering, the symbol identifier in the target sequence may not be introduced during the matched filtering stage, but rather the symbol transformation or phase adjustment of the echo waveform sequence can be performed based on the target sequence during subsequent accumulation processing. This application does not impose specific limitations in this regard.

[0068] Optionally, taking the simultaneous sensing by two sensor stations at the same frequency as an example, the target sequence of sensor station A can be: The sensing pulse waveform sequence of sensor station A can be The target sequence of the B-sensor station can be The sensing pulse waveform sequence of sensor station B can be .

[0069] When a target object exists in space, sensor station A senses the target object based on its sensing pulse waveform sequence. It can also acquire the received waveform sequence, which includes the echo of the detection signal sent by sensor station A. and interference signals from sensor station B. The received waveform sequence of sensor A can be shown in formula (2): Formula (2) in, This represents the received waveform sequence of sensor station A. This represents the time delay parameter corresponding to the arrival of the signal sent by sensor station A at the receiving side of sensor station A. This represents the time delay parameter corresponding to the arrival of the signal sent by sensor station B at the receiving side of sensor station A.

[0070] Similarly, based on the sensing pulse waveform sequence of sensor station B, the target object can be sensed, and the received waveform sequence of sensor station B can be obtained. The received waveform sequence includes the echo of the detection signal sent by sensor station B. and interference signals from sensor station A. The received waveform sequence of sensor B can be shown in formula (3): Formula (3) in, This represents the received waveform sequence of sensor station B. This represents the time delay parameter corresponding to the arrival of the signal sent by sensor station A at the receiving side of sensor station B. This represents the time delay parameter corresponding to the arrival of the signal sent by sensor station B at the receiving side of sensor station B.

[0071] In one alternative implementation, symbolic identifiers from the target sequence can be introduced during the matched filtering stage. That is, sensor station A can determine the target sequence based on its signal characteristics. Determine the matched filter The B-sensory station can be based on the target sequence Determine the matched filter Among them, the matched filter It can be shown in formula (4): Formula (4) in, Represents the matched filter function; Represents the conjugate form of the reference sensing pulse waveform; This represents the preset time base corresponding to the matched filter function. The preset time base can be used to perform time reversal alignment on the reference sensing pulse waveform.

[0072] Furthermore, the convolution result between the reference sensing pulse waveform and the matched filter function can be denoted as... As shown in formula (5): Formula (5) Based on this, A-sensor station uses the matched filter The received waveform sequence of sensor station A By performing matched filtering, the echo waveform sequence of sensor station A can be obtained. The echo waveform sequence of sensor station A can be shown in formula (6): Formula (6) in, This represents the echo waveform sequence of sensor station A; This represents the waveform components in sensing station A that are related to the signal transmitted by sensing station A; This represents the waveform component in sensing station A that is related to the signal transmitted by sensing station B.

[0073] Based on the matched filter, the B-sensory station... The received waveform sequence of sensor station B By performing matched filtering, the echo waveform sequence of sensor B can be obtained. The echo waveform sequence of sensor B can be shown in formula (7): Formula (7) in, This represents the echo waveform sequence of sensor station B; This represents the waveform component in sensing station B that is related to the signal transmitted by sensing station A; This represents the waveform component in the sensing station B that is related to the signal transmitted by the sensing station B.

[0074] In another alternative implementation, instead of introducing the symbol identifier from the target sequence during the matched filtering stage, a reference matched filter is used to perform matched filtering on the received waveform sequence. That is, both sensing stations A and B can obtain a reference matched filter corresponding to the reference sensing pulse waveform, and perform matched filtering on their respective received waveform sequences according to the reference matched filter to obtain the corresponding echo waveform sequences. In this implementation, since the reference matched filter does not perform symbol transformation based on the target sequence, the symbol identifier from the target sequence can be introduced in the subsequent accumulation stage. For example, before accumulating the echo waveform sequences, symbol transformation or phase adjustment can be performed on each echo waveform in the echo waveform sequence of the target sensing station according to the target sequence of the target sensing station. This also allows the target echo component corresponding to the target sensing station to be enhanced in phase during accumulation, while weakening or canceling the interference echo component corresponding to the interfering sensing station. Optionally, sensing stations A and B can locally store matching data in both directions, or they can store only one local matching parameter and invert the local matching parameter when inverse matching is required. For example, it can be saved locally. and Two matching parameters; it is also possible to save only one. When the symbol identifier in the target sequence indicates an inverse match, for Inverting the result yields .

[0075] Optionally, when two or more sensing stations are simultaneously sensing at the same frequency, a matched filter for each sensing station can be determined based on the target sequence corresponding to each station. The received waveform sequence is then processed using the matched filter of each sensing station to obtain the echo waveform sequence for each station. The processing logic for two or more sensing stations is the same as that for sensing stations A and B, which involves using matched filters corresponding to the symbols in the target sequence to process the received waveform sequence. The processing procedure for two or more sensing stations is the same as or similar to that for sensing stations A and B, and will not be described further.

[0076] The interference processing method provided in this application obtains the received waveform sequence of any sensing station by sensing based on the sensing pulse waveform sequence of any sensing station, and then performs matched filtering processing on the received waveform sequence of any sensing station based on a target matched filter to obtain the echo waveform sequence of any sensing station. The target matched filter includes a reference matched filter and a sequence matched filter, which prevents the received waveforms at multiple sensing pulse moments from being processed indiscriminately in the same way. Furthermore, by performing matched filtering processing on the received waveform sequence of any sensing station using either the reference matched filter or the sequence matched filter, the echo waveform sequence of any sensing station is obtained. This method converts the received waveform sequence into an echo waveform sequence corresponding to each sensing pulse moment, thereby improving the anti-interference capability and processing accuracy during sensing processing.

[0077] In one embodiment, the echo waveform sequences of each sensing station are accumulated to obtain the accumulation results for each sensing station, including: For any one of the various sensing stations, that sensing station is designated as the target sensing station, and the other sensing stations in the various sensing stations are designated as interfering sensing stations. The accumulation processing method is determined based on the target sequence of the target sensor station; or, the accumulation processing method is determined based on the echo waveform sequence of the target sensor station. According to the accumulation processing method, each echo waveform in the echo waveform sequence of the target sensing station is processed to obtain multiple echo waveforms to be accumulated; the multiple echo waveforms to be accumulated include multiple target echo components and multiple interference echo components, the multiple target echo components are the echo components corresponding to the target sensing station, and the multiple interference echo components are the echo components corresponding to the interference sensing station. Multiple echo waveforms to be accumulated are accumulated to obtain the accumulated processing result of the target sensor station.

[0078] Specifically, the target sensor station refers to the sensor station that currently needs to undergo accumulation processing.

[0079] An interfering sensing station refers to a sensing station other than the target sensing station whose transmitted signals may interfere with the target sensing station. For example, if sensing station A is the target sensing station, sensing station B or other sensing stations can act as interfering sensing stations; conversely, if sensing station B is the target sensing station, sensing station A or other sensing stations can act as interfering sensing stations. This application does not impose specific limitations on this.

[0080] The accumulation processing method is used to determine whether each echo waveform in the target sensing station's echo waveform sequence needs sign direction adjustment, phase adjustment, or complex domain weighting before accumulation processing, and how to perform the accumulation processing. The accumulation processing method can be determined based on the target sequence of the target sensing station or the echo waveform sequence of the target sensing station. For example, if the target sensing station uses a reference matched filter to perform matched filtering on the received waveform sequence, meaning the sign identifiers in the target sequence have not yet been introduced in the matched filtering stage, then the sign transformation or phase adjustment can be performed on the echo waveforms corresponding to multiple sensing pulse times based on the sign identifiers in the target sequence, and the processed echo waveforms can be accumulated. As another example, if the target sensing station uses a sequence matched filter to perform matched filtering on the received waveform sequence, meaning the sign identifiers in the target sequence have already been introduced in the matched filtering stage and are reflected in the echo waveform sequence, then the accumulation can be performed directly based on the existing sign or phase relationships between the echo waveforms in the echo waveform sequence.

[0081] It is understandable that "determining the accumulation processing method based on the target sequence of the target sensor station" mainly corresponds to the implementation method of the reference matched filter; "determining the accumulation processing method based on the echo waveform sequence of the target sensor station" mainly corresponds to the implementation method of the sequence matched filter.

[0082] The echo waveform to be accumulated refers to the echo waveform waiting to participate in the accumulation process after processing each echo waveform in the echo waveform sequence of the target sensing station according to the accumulation processing method. For example, the echo waveform to be accumulated may include the echo component corresponding to the target sensing station; it may also include the echo component corresponding to the interfering sensing station. This application does not specifically limit it in this regard.

[0083] The waveform transformation method for the echo waveform sequence may include maintaining the sign direction of the echo waveform; it may also include inverting the phase or changing the phase of the echo waveform. This application does not specifically limit this.

[0084] The target echo component refers to the echo component corresponding to the target sensing station. For example, the target echo component can be the echo component obtained by the target sensing station after the sensing signal transmitted by the target sensing station has propagated through space and is received and processed by the target sensing station; it can also be the waveform component formed after the echo component corresponding to the target sensing station has undergone matched filtering. This application does not make specific limitations in this regard.

[0085] Interference echo components refer to the echo components corresponding to the interfering sensing station. For example, interference echo components can be waveform components obtained by receiving and processing the sensing signal sent by the interfering sensing station and then by the target sensing station; or they can be waveform components formed after the echo components corresponding to the interfering sensing station have undergone matched filtering. This application does not impose specific limitations on this.

[0086] The cumulative processing result of the target sensing station may include the echo accumulation result corresponding to the target sensing station; it may also include the residual interference result corresponding to the interfering sensing station. This application does not specifically limit this.

[0087] It is understandable that, for the target sensing station, its echo waveform sequence may simultaneously include the echo component corresponding to the target sensing station and the echo component corresponding to the interfering sensing station.

[0088] Optionally, consider the simultaneous sensing at the same frequency by sensing stations A and B. With sensing station A as the target sensing station, sensing station B is the interfering sensing station. The echo waveform sequence of sensing station A may include the target echo component corresponding to sensing station A and the interfering echo component corresponding to sensing station B. Sensing station A can determine the accumulation processing method for its echo waveform sequence based on its target sequence or its own echo waveform sequence, and process each echo waveform in the sequence according to this accumulation processing method to obtain multiple echo waveforms to be accumulated. Subsequently, the accumulation processing of these multiple echo waveforms yields the accumulation processing result of sensing station A.

[0089] Similarly, when sensor station B is the target sensor station, sensor station A is the interfering sensor station. The echo waveform sequence of sensor station B can include the target echo component corresponding to sensor station B and the interfering echo component corresponding to sensor station A. Sensor station B can determine the accumulation processing method for its echo waveform sequence based on its target sequence or its own echo waveform sequence, and process each echo waveform in the sequence according to this accumulation processing method to obtain multiple echo waveforms to be accumulated. Subsequently, the accumulation processing of these multiple echo waveforms yields the accumulation processing result of sensor station B.

[0090] Optionally, when two or more sensing stations are simultaneously sensing at the same frequency, any one of the sensing stations can be designated as the target sensing station, and the others as interfering sensing stations. For each target sensing station, the accumulation processing method for its echo waveform sequence can be determined based on the target sequence of the target sensing station. Each echo waveform in the echo waveform sequence of the target sensing station is then processed according to this accumulation processing method to obtain multiple echo waveforms to be accumulated. These multiple echo waveforms are then accumulated to obtain the accumulation processing result of the target sensing station. The processing procedure for two or more sensing stations is the same as or similar to that for sensing stations A and B, and will not be described in detail here.

[0091] The interference processing method provided in this application determines the accumulation processing method based on the target sequence of the target sensor station, or based on the echo waveform sequence of the target sensor station. It then processes each echo waveform in the echo waveform sequence of the target sensor station according to the accumulation processing method to obtain multiple echo waveforms to be accumulated. These multiple echo waveforms are then accumulated to obtain the accumulation processing result of the target sensor station. This method makes the target echo component of the target sensor station more prominent in the accumulation processing result, while reducing or canceling the interference echo component of the interfering sensor station, thereby improving the accuracy of the sensor station's sensing results.

[0092] In one embodiment, multiple echo waveforms to be accumulated are accumulated to obtain the accumulation result of the target sensing station, including: Based on the symbol identifier of the target sequence of the target sensor station, multiple target echo components are accumulated in phase to obtain the enhanced target echo components.

[0093] Specifically, the enhanced target echo component refers to the result obtained by accumulating multiple in-phase target echo components. For example, the enhanced target echo component can be the echo component after signal amplitude enhancement. This application does not impose a specific limitation on this.

[0094] In-phase means that after multiple target echo components are processed by the symbol relationship corresponding to the target sequence of the target sensing station, they exhibit the same symbol direction and are accumulated in the same direction in the cumulative processing result.

[0095] In-phase is used to describe the sign relationship in the accumulation result, and does not indicate that an additional independent transformation step is performed on the target echo component.

[0096] Optionally, taking the simultaneous sensing of sensor stations A and B at the same frequency as an example, when sensor station A is the target sensor station, as shown in formula (6), the waveform components corresponding to sensor station A all exhibit the following characteristics. Since the two symbols are aligned in the same direction, by performing in-phase accumulation of multiple target echo components, the enhanced target echo component of sensor station A can be obtained.

[0097] When sensor station B is the target sensor station, as shown in formula (7), the waveform components corresponding to sensor station B all exhibit the following characteristics. Since the two symbols are aligned in the same direction, by performing in-phase accumulation of multiple target echo components, the enhanced target echo components of the B-sensor station can be obtained.

[0098] Optionally, when two or more sensing stations are simultaneously sensing at the same frequency, any one of the sensing stations can be selected as the target sensing station. For any target sensing station, multiple target echo components can be accumulated in phase according to the symbol identifier of the target sequence of the target sensing station to obtain the enhanced target echo component. The processing procedure for any target sensing station among two or more sensing stations is the same as or similar to the processing procedure for sensing stations A and B, and will not be described again here.

[0099] The interference processing method provided in this application performs in-phase accumulation processing on multiple target echo components according to the symbol identifier of the target sequence of the target sensor station to obtain enhanced target echo components. This method enables the echo corresponding to the sensor station to be enhanced in the accumulation processing result, thereby improving the accuracy of the sensor station's sensing results.

[0100] In one embodiment, multiple echo waveforms to be accumulated are accumulated to obtain the accumulation result of the target sensing station, including: Based on the sign relationship between the target sequence of the target sensing station and the target sequence of the interfering sensing station, multiple interfering echo components are accumulated in opposite phases to obtain the interfering echo components after canceling or reducing the interference.

[0101] Specifically, the symbol relationship refers to the relationship between the target sequence of the target sensing station and the target sequence of the interfering sensing station at multiple sensing pulse moments. For example, the symbol relationship can be an in-phase symbol relationship; it can also be an out-of-phase symbol relationship; or it can be a partially in-phase and partially out-of-phase symbol relationship. This application does not impose specific limitations on this.

[0102] The interference echo component after interference cancellation can be the zero-value component after complete cancellation.

[0103] The interference echo component after interference reduction can be a residual interference component that is not completely canceled but has an amplitude lower than the interference amplitude before processing. This application does not specifically limit this.

[0104] In-phase means that some of the interference echo components in multiple interference echo components have the same sign direction when accumulated. These interference echo components will participate in the accumulation as the remaining interference that has not been canceled. In interference processing scenarios, in-phase is used to describe the remaining terms corresponding to the sign relationship, and does not indicate active enhancement of interference.

[0105] Phase reversal means that at least some of the multiple interference echo components show opposite signs when accumulated. These components cancel each other out or weaken each other during the accumulation process, thus obtaining interference echo components after cancellation or reduction of interference.

[0106] Optionally, taking simultaneous sensing by sensing stations A and B at the same frequency as an example, when sensing station A is the target sensing station and sensing station B is the interfering sensing station, sensing station A can perform inverse accumulation processing on multiple interfering echo components from sensing station B based on the sign relationship between the target sequence of sensing station A and the target sequence of sensing station B, or based on the sign relationship already reflected in the echo waveform sequence of sensing station A, so that the multiple interfering echo components form a relationship of mutual cancellation or reduction during the accumulation process. The accumulation processing result of sensing station A can be shown in formula (8): Formula (8) in, This represents the cumulative processing result of sensor station A.

[0107] From formula (8), it can be seen that the multiple interference echo components received by sensor station A from sensor station B can be expressed as follows: and The two interference echo components have opposite signs. Multiple interference echo components are accumulated in opposite phases, canceling each other out during the accumulation process, resulting in the canceled interference echo component. At this point, the canceled interference echo component can be represented as 0.

[0108] Similarly, when sensing station B is the target sensing station and sensing station A is the interfering sensing station, sensing station B can perform inverse accumulation processing on multiple interfering echo components from sensing station A based on the sign relationship between the target sequence of sensing station B and the target sequence of sensing station A, or based on the sign relationship already reflected in the echo waveform sequence of sensing station B. This allows the multiple interfering echo components to cancel each other out or reduce each other during the accumulation process. The accumulation processing result of sensing station B can be shown in formula (9): Formula (9) in, This indicates the cumulative processing result of sensor station B.

[0109] From formula (9), it can be seen that the multiple interference echo components received by sensor station B from sensor station A can be expressed as follows: and The two interference echo components have opposite signs. Multiple interference echo components are accumulated in opposite phases, canceling each other out during the accumulation process, resulting in the canceled interference echo component. At this point, the canceled interference echo component can be represented as 0.

[0110] It should be noted that the interference echo component after cancellation or reduction is not necessarily zero. When the preset number of sensing pulses is 2, and the target sequence of the target sensing station and the target sequence of the interfering sensing station can form a complete cancellation relationship, multiple interference echo components can be cancelled after accumulation. For example, if two interference echo components from the interfering sensing station have positive and negative signs respectively, their sum can approach zero.

[0111] If the preset number of sensing pulses cannot achieve complete cancellation, or if the target sequences do not achieve complete cancellation, multiple interfering echo components may not be completely canceled out. For example, if the preset number of sensing pulses is 3, the sign identifiers can be set to +1, -1, and +1. In this combination of sign identifiers, the number of positive sign identifiers is greater than the number of negative sign identifiers. Therefore, during the accumulation process, multiple interfering echo components will have residual interference and cannot be completely canceled out to zero. However, since at least some of the interfering echo components can form an opposite sign relationship with other interfering echo components, the accumulated interference amplitude can still achieve interference reduction.

[0112] Optionally, when two or more sensing stations are simultaneously sensing at the same frequency, any one of the sensing stations can be designated as the target sensing station, and the others as interfering sensing stations. For any target sensing station, multiple interfering echo components can be cumulatively processed in opposite phases based on the sign relationship between the target sequence of the target sensing station and the target sequence of the interfering sensing stations, or based on the sign relationship already reflected in the echo waveform sequence of the target sensing station, to obtain the interfering echo components after cancellation or reduction of interference. The processing procedure for any target sensing station among two or more sensing stations is the same as or similar to the processing procedure for sensing stations A and B, and will not be repeated here.

[0113] The interference processing method provided in this application performs out-of-phase accumulation processing on multiple interference echo components by using the sign relationship between the target sequence of the target sensing station and the target sequence of the interfering sensing station to obtain interference echo components after cancellation or reduction of interference. This method enables multiple interference echo components to cancel or weaken each other during the accumulation process, thereby avoiding interference enhancement caused by in-phase accumulation of interference echo components, reducing mutual interference between sensing stations under the condition of simultaneous and same frequency resources, and improving the accuracy of sensing station sensing results.

[0114] In one embodiment, determining a target sequence for at least two sensing stations based on a preset number of sensing pulses includes: The reference sequence length and length coefficient are determined based on the preset number of sensing pulses; Based on the reference sequence length and the length coefficient, a target sequence for at least two sensing stations is determined; The reference sequence length is used to generate sequences that satisfy the orthogonality relation; The length coefficient is used to adjust the length of the reference sequence.

[0115] Specifically, the reference sequence length refers to the length parameter used to generate the reference sequence. For example, the reference sequence length can be determined based on the preset number of sensing pulses; it can also be determined based on the scale of the sensing station network or the number of available sensing pulse times. This application does not impose specific limitations on this.

[0116] The length factor refers to a parameter used to adjust the length of the reference sequence. For example, the length factor can be used to extend the reference sequence to a length that matches the preset number of sensing pulses; it can also be used to control the number of repetitions or extensions of the reference sequence at multiple sensing pulse moments. This application does not specifically limit this.

[0117] Orthogonality refers to a sequence relationship that allows different sequences to form a distinguishable relationship during cumulative processing. For example, orthogonality can be a relationship where the inner product of different target sequences is zero; or it can be a relationship where the corresponding symbols of different target sequences at multiple sensing pulse moments can form a mutually distinguishable relationship. This application does not impose specific limitations on this.

[0118] Specifically, the preset number of sensing pulses used in a single sensing process is obtained. The preset number of sensing pulses is used to characterize the multiple sensing pulse moments corresponding to each sensing station during a single sensing process.

[0119] Subsequently, the length of the reference sequence and the length coefficient are determined based on the preset number of sensing pulses. The reference sequence length is used to determine the basic length of the target sequence, and the length coefficient is used to adjust the length of the reference sequence so that the target sequence can be adapted to the multiple sensing pulse times corresponding to the preset number of sensing pulses.

[0120] The interference processing method provided in this application determines the reference sequence length and length coefficient by preset the number of sensing pulses, so that the method avoids the impact on waveform transmission and echo accumulation caused by the inconsistency between the target sequence length and the preset number of sensing pulses; then, the target sequence of at least two sensing stations is determined by the reference sequence length and length coefficient, so that the method can obtain a target sequence that matches the preset number of sensing pulses, thereby reducing the interference between sensing stations under the condition of simultaneous and same frequency resources.

[0121] In one embodiment, a target sequence for at least two sensing stations is determined based on a reference sequence length and a length coefficient, including at least one of the following: If the preset number of sensing pulses can be decomposed into the product of the reference sequence length and the length coefficient, and the reference sequence length satisfies the power relationship of the preset constant, at least two orthogonal sequences are generated according to the reference sequence length, and the target sequences of at least two sensing stations are determined according to the length coefficient and at least two orthogonal sequences. If the length of the reference sequence does not satisfy the power relationship of the preset constant, at least two non-perfectly orthogonal sequences are determined according to the preset number of sensing pulses, and the target sequences of at least two sensing stations are determined according to the length coefficient and the at least two non-perfectly orthogonal sequences. Orthogonal sequences are used to cancel inter-station interference; Non-perfectly orthogonal sequences are used to reduce inter-station interference.

[0122] Specifically, the preset constant refers to a constant used to determine whether the lengths of the reference sequence satisfy an exponential relationship. For example, the preset constant can be 2; it can also be other constants used to construct the sequence length relationship. This application does not impose specific limitations on this.

[0123] The power relationship refers to a relationship where the length of the reference sequence can be expressed as an integer power of a preset constant. For example, when the preset constant is 2, the length of the reference sequence can be 2, 4, 8, etc. This application does not impose specific limitations on this.

[0124] An orthogonal sequence refers to a sequence of symbols that satisfies an orthogonal relationship between different sequences. For example, an orthogonal sequence can be a Walsh code sequence generated by a Hadamard matrix; it can also be other sequence of symbols that can establish an orthogonal relationship between different sensing stations. This application does not specifically limit this.

[0125] A non-completely orthogonal sequence refers to a symbol sequence in which different sequences do not completely satisfy the orthogonality relationship, but can still reduce inter-station interference during the accumulation process. For example, a non-completely orthogonal sequence can be a symbol sequence in which the number of positive and negative symbols cannot be completely balanced. This application does not make a specific limitation in this regard.

[0126] It is understandable that orthogonal sequences are used to cancel inter-station interference, meaning that within multiple sensing pulse moments, the interference echo components from interfering sensing stations can form opposite sign relationships during the accumulation process, thereby canceling each other out. For example, when two interference echo components are positive and negative, their sum can approach zero. This application does not specifically limit this.

[0127] Non-perfectly orthogonal sequences are used to reduce inter-station interference. This refers to the situation where, within multiple sensing pulse moments, some interference echo components from interfering sensing stations can form opposite sign relationships. However, due to the inability to perfectly balance the number of symbols, sequence length, or symbol distribution, residual interference may still exist after accumulation. Therefore, it reduces inter-station interference rather than completely canceling it. This application does not specifically limit this aspect.

[0128] Optionally, it can be determined first whether the preset number of sensing pulses can be decomposed into the product of the reference sequence length and the length coefficient, and whether the reference sequence length satisfies the power relationship of the preset constant. This process can be shown in formula (10): Formula (10) in, 2 represents the preset number of sensing pulses; 2 represents the preset constant. Indicates the exponential parameter; Indicates the length of the reference sequence; This represents the length coefficient.

[0129] It is understandable that the length of the baseline sequence satisfies .

[0130] The maximum design can be achieved based on the length of the baseline sequence. One waveform can be obtained There are orthogonal sequences. It is obtained based on the length of the reference sequence. It can be represented as .

[0131] If the preset number of sensing pulses can be decomposed into the product of the reference sequence length and the length coefficient, and the reference sequence length satisfies the power relationship of the preset constant, then at least two orthogonal sequences can be generated based on the reference sequence length, and the target sequences of at least two sensing stations can be determined based on the length coefficient and at least two orthogonal sequences.

[0132] For example, in a preset number of sensing pulses In this case, the length of the reference sequence can be determined to be 2, and the length coefficient... The minimum value is 1, at which point the number of waveforms that can be designed is: Based on the number of waveforms, orthogonal sequences can be determined for sensing station A and sensing station B, and these two orthogonal sequences can be designated as the target sequences for sensing stations A and B, respectively. For example, the orthogonal sequences could be [1,1] and [1,-1]. During subsequent accumulation processing, the interference echo components from sensing station B can form a positive-negative relationship, thus being canceled out in the accumulation processing result of sensing station A; similarly, the interference echo components from sensing station A can also be canceled out in the accumulation processing result of sensing station B.

[0133] For example, in a preset number of sensing pulses In this case, the length of the reference sequence can be determined to be 4, and the length coefficient... The minimum value is 1, at which point the number of waveforms that can be designed is: Based on the number of waveforms, orthogonal sequences can be determined for sensing station A and sensing station B, and these two orthogonal sequences are designated as the target sequences for sensing stations A and B, respectively. For example, the orthogonal sequences could be [1,1,1,1] and [1,-1,1,-1]. Since the different target sequences satisfy an orthogonality relationship, during the subsequent echo accumulation process, the interference echo components corresponding to the interfering sensing station can cancel each other out through their positive and negative sign relationships, thereby achieving inter-station interference cancellation.

[0134] For example, in a preset number of sensing pulses In this case, the length of the reference sequence can be determined to be 2, and the length coefficient... The minimum is 3, which represents the number of target sequences that can be designed. Based on the number of waveforms, orthogonal sequences can be determined for both sensing station A and sensing station B, and these two orthogonal sequences can be designated as the target sequences for sensing stations A and B, respectively. For example, the orthogonal sequences could be [1,1,1,1,1,1] and [1,1,1,-1,-1,-1], or [1,1,1,1,1,1] and [1,-1,1,-1,1,-1]. Since the different target sequences satisfy an orthogonality relationship, during the subsequent echo accumulation process, the interference echo components corresponding to the interfering sensing station can cancel each other out through their positive and negative sign relationships, thereby achieving inter-station interference cancellation.

[0135] Optionally, if the length of the reference sequence does not satisfy the power relationship of the preset constant, that is, if it is impossible to form a target sequence that can completely orthogonally cover multiple sensing pulse times based on the current preset number of sensing pulses, then at least two non-completely orthogonal sequences can be determined according to the preset number of sensing pulses, and the target sequence of at least two sensing stations can be determined according to the length coefficient and the at least two non-completely orthogonal sequences.

[0136] For example, in a preset number of sensing pulses In this case, non-perfectly orthogonal sequences can be configured, with length coefficients... The minimum value is 1. For example, the target sequence for sensor station A can be [+1,+1,+1], and the target sequence for sensor station B can be [+1,-1,+1]. When sensor station A is the target sensor station and sensor station B is the interfering sensor station, the interference echo components of sensor station B at the three sensing pulse times can be accumulated according to the sign relationship [+1,-1,+1]. Since the number of positive signs in this sign relationship is 2 and the number of negative signs is 1, the number of positive and negative signs cannot be completely balanced. Therefore, two of the three interference echo components can cancel each other out due to their opposite sign directions, leaving one interference echo component that is not completely canceled out. Therefore, within the preset number of sensing pulses... In the case of a non-completely orthogonal sequence, the interference from the B-sensor station to the A-sensor station can be reduced.

[0137] It should be noted that the use of non-perfectly orthogonal sequences does not affect the target sensing station's ability to generate sensing pulse waveform sequences based on the target sequence and to perform echo accumulation processing. Its main impact is on the interference processing effect. Under perfectly orthogonal conditions, the interference echo components can be nearly completely canceled out through accumulation processing; under non-perfectly orthogonal conditions, the interference echo components may still have residual interference after accumulation processing, but it can still reduce the interference between sensing stations under the condition of simultaneous use and same frequency resources.

[0138] The interference processing method provided in this application, by generating at least two orthogonal sequences based on the reference sequence length when the preset number of sensing pulses can be decomposed into the product of the reference sequence length and the length coefficient, and the reference sequence length satisfies the power relationship of the preset constant, and then determining the target sequences of at least two sensing stations based on the length coefficient and the at least two orthogonal sequences, enables the cancellation of inter-station interference and improves the reliability of the sensing results of the sensing stations. Furthermore, by determining at least two non-perfectly orthogonal sequences based on the preset number of sensing pulses when the reference sequence length does not satisfy the power relationship of the preset constant, and then determining the target sequences of at least two sensing stations based on the length coefficient and the at least two non-perfectly orthogonal sequences, enables the reduction of inter-station interference and improves the reliability of the sensing results of the sensing stations.

[0139] Figure 6 Here is an example diagram of the interference processing method provided in this application, such as... Figure 6 As shown, in a scenario of simultaneous and same-frequency sensing, the solid line represents the signal of station A, and the dashed line represents the signal of station B.

[0140] Figure 6wherein, the green beam on the side of Station A represents the detection direction corresponding to the sensing pulse waveform transmitted by Station A, and the blue beam on the side of Station B represents the detection direction corresponding to the sensing pulse waveform transmitted by Station B. The target object is located between the sensing coverage areas of the two integrated sensing and communication stations, therefore, while Station A receives the echo of its own detection signal, it may receive interference generated by the signal transmitted by Station B; similarly, while Station B receives the echo of its own detection signal, it may also receive interference generated by the signal transmitted by Station A.

[0141] For Station A, Station A may determine the corresponding transmission waveform according to its own target sequence, and perform matched filtering processing on the received waveform by using a matched filter corresponding to its own target sequence, so that the target echo component corresponding to Station A is enhanced in the accumulation process, and the interference echo component corresponding to the Station B signal is canceled in the accumulation process. That is, Station A cancels the interference from Station B through two p-wave accumulations.

[0142] For Station B, Station B may determine the corresponding transmission waveform according to its own target sequence, and perform matched filtering processing on the received waveform by using a matched filter corresponding to its own target sequence, so that the target echo component corresponding to Station B is enhanced in the accumulation process, and the interference echo component corresponding to the Station A signal is canceled in the accumulation process.

[0143] The interference processing apparatus provided in the present application is described below. The interference processing apparatus described hereinafter and the interference processing method described above may be referenced in correspondence with each other, and can achieve the same technical effects, which will not be repeated herein.

[0144] Figure 7 is a schematic structural diagram of the interference processing apparatus provided in the present application, as shown in Figure 7 the figure, the apparatus may include: a first determining module 710, configured to determine target sequences of at least two integrated sensing and communication stations according to a preset number of sensing pulses; a second determining module 720, configured to determine a sensing pulse waveform sequence of each integrated sensing and communication station according to the target sequence of each integrated sensing and communication station, and determine an echo waveform sequence of each integrated sensing and communication station according to the sensing pulse waveform sequence of each integrated sensing and communication station and a target matched filter; an accumulation processing module 730, configured to perform accumulation processing on the echo waveform sequence of each integrated sensing and communication station to obtain an accumulation processing result of each integrated sensing and communication station; a third determining module 740, configured to determine a sensing result of each integrated sensing and communication station according to the accumulation processing result of each integrated sensing and communication station; wherein the target sequence is configured to indicate the symbol identifier of each integrated sensing and communication station at a plurality of sensing pulse moments.

[0145] In one embodiment, the second determining module 720 is specifically configured to: For any one of the aforementioned sensing stations, acquire the reference sensing pulse waveform of that sensing station; Based on the target sequence of any of the sensing stations, determine the waveform transformation mode of any of the sensing stations; The reference sensing pulse waveform of any of the sensing stations is transformed according to the waveform transformation method of any of the sensing stations to determine the sensing pulse waveform sequence of any of the sensing stations.

[0146] In one embodiment, the target matching filter includes a baseline matching filter and a sequence matching filter; The second determining module 720 is specifically used for at least one of the following: For any of the sensing stations, based on the sensing pulse waveform sequence of any sensing station, the received waveform sequence of any sensing station is obtained; a reference matched filter of any sensing station is acquired; the reference matched filter is transformed according to the target sequence of any sensing station to obtain a sequence matched filter of any sensing station; the sequence matched filter includes the symbol identifier in the target sequence; the received waveform sequence of any sensing station is matched and filtered according to the sequence matched filter of any sensing station to obtain the echo waveform sequence of any sensing station. For any of the sensing stations, the received waveform sequence of any sensing station is obtained based on the sensing pulse waveform sequence of any sensing station; the reference matched filter of any sensing station is obtained; and the received waveform sequence of any sensing station is subjected to matched filtering processing based on the reference matched filter of any sensing station to obtain the echo waveform sequence of any sensing station.

[0147] In one embodiment, the accumulation processing module 730 is specifically used for: For any one of the sensing stations, the sensing station is identified as the target sensing station, and the sensing stations other than the target sensing station are identified as interfering sensing stations. The accumulation processing method is determined based on the target sequence of the target sensor station; or, the accumulation processing method is determined based on the echo waveform sequence of the target sensor station. According to the accumulation processing method, each echo waveform in the echo waveform sequence of the target sensing station is processed to obtain multiple echo waveforms to be accumulated; the multiple echo waveforms to be accumulated include multiple target echo components and multiple interference echo components, the multiple target echo components are the echo components corresponding to the target sensing station, and the multiple interference echo components are the echo components corresponding to the interference sensing station. The multiple echo waveforms to be accumulated are accumulated to obtain the accumulation result of the target sensor station.

[0148] In one embodiment, the accumulation processing module 730 is specifically used for: Based on the symbol identifier of the target sequence of the target sensor station, the multiple target echo components are accumulated in phase to obtain the enhanced target echo components.

[0149] In one embodiment, the accumulation processing module 730 is specifically used for: Based on the sign relationship between the target sequence of the target sensing station and the target sequence of the interfering sensing station, the multiple interfering echo components are accumulated in opposite phases to obtain the interfering echo components after canceling or reducing the interference.

[0150] In one embodiment, the first determining module 710 is configured to: The reference sequence length and length coefficient are determined based on the preset number of sensing pulses; Based on the reference sequence length and the length coefficient, a target sequence for at least two sensing stations is determined; The reference sequence length is used to generate sequences that satisfy orthogonality. The length coefficient is used to adjust the length of the reference sequence.

[0151] In one embodiment, the first determining module 710 is specifically used for at least one of the following: When the preset number of sensing pulses can be decomposed into the product of the reference sequence length and the length coefficient, and the reference sequence length satisfies the power relationship of a preset constant, at least two orthogonal sequences are generated based on the reference sequence length, and the target sequences of the at least two sensing stations are determined based on the length coefficient and the at least two orthogonal sequences. When the length of the reference sequence does not satisfy the power relationship of a preset constant, at least two non-perfectly orthogonal sequences are determined according to the preset number of sensing pulses, and the target sequences of the at least two sensing stations are determined according to the length coefficient and the at least two non-perfectly orthogonal sequences. The orthogonal sequence is used to cancel inter-station interference; The non-perfectly orthogonal sequences are used to reduce inter-station interference.

[0152] Figure 8 This is a schematic diagram of the structure of the electronic device provided in this application, such as... Figure 8As shown, the electronic device may include: a processor 810, a communications interface 820, a memory 830, and a communication bus 840, wherein the processor 810, the communications interface 820, and the memory 830 communicate with each other via the communication bus 840. The processor 810 can call logical instructions in the memory 830 to execute the interference processing method described in any of the above embodiments, for example including: Based on the preset number of sensing pulses, determine the target sequence of at least two sensing stations; Based on the target sequence of each sensing station, the sensing pulse waveform sequence of each sensing station is determined, and based on the sensing pulse waveform sequence of each sensing station and the target matched filter, the echo waveform sequence of each sensing station is determined. The echo waveform sequences of each sensing station are accumulated to obtain the accumulated processing results of each sensing station. Based on the cumulative processing results of each sensor station, the sensing result of each sensor station is determined; The target sequence is used to indicate the symbolic identifiers of each sensor station at multiple sensing pulse moments.

[0153] Furthermore, the logical instructions in the aforementioned memory 830 can be implemented as software functional units and, when sold or used as independent products, can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0154] On the other hand, this application also provides a non-transitory computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements the interference processing methods provided by the above methods, the method comprising: Based on the preset number of sensing pulses, determine the target sequence of at least two sensing stations; Based on the target sequence of each sensing station, the sensing pulse waveform sequence of each sensing station is determined, and based on the sensing pulse waveform sequence of each sensing station and the target matched filter, the echo waveform sequence of each sensing station is determined. The echo waveform sequences of each sensing station are accumulated to obtain the accumulated processing results of each sensing station. Based on the cumulative processing results of each sensor station, the sensing result of each sensor station is determined; The target sequence is used to indicate the symbolic identifiers of each sensor station at multiple sensing pulse moments.

[0155] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0156] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus necessary general-purpose hardware platforms, and of course, it can also be implemented by hardware. Based on this understanding, the above technical solutions, in essence or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments or some parts of the embodiments.

[0157] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. An interference processing method, characterized in that, The method includes: Based on the preset number of sensing pulses, determine the target sequence of at least two sensing stations; Based on the target sequence of each sensing station, the sensing pulse waveform sequence of each sensing station is determined, and based on the sensing pulse waveform sequence of each sensing station and the target matched filter, the echo waveform sequence of each sensing station is determined. The echo waveform sequences of each sensing station are accumulated to obtain the accumulated processing results of each sensing station. Based on the cumulative processing results of each sensor station, the sensing result of each sensor station is determined; The target sequence is used to indicate the symbolic identifiers of each sensor station at multiple sensing pulse moments.

2. The interference processing method according to claim 1, characterized in that, The step of determining the sensing pulse waveform sequence of each sensing station based on the target sequence of each sensing station includes: For any one of the aforementioned sensing stations, acquire the reference sensing pulse waveform of that sensing station; Based on the target sequence of any of the sensing stations, determine the waveform transformation mode of any of the sensing stations; The reference sensing pulse waveform of any of the sensing stations is transformed according to the waveform transformation method of any of the sensing stations to determine the sensing pulse waveform sequence of any of the sensing stations.

3. The interference processing method according to claim 1, characterized in that, The target matching filter includes a baseline matching filter and a sequence matching filter; The step of determining the echo waveform sequence of each sensing station based on the sensing pulse waveform sequence of each sensing station and the target matched filter includes at least one of the following: For any of the aforementioned sensing stations, the received waveform sequence of any of the sensing stations is obtained based on the sensing pulse waveform sequence of that sensing station. Obtain the reference matched filter for any of the aforementioned sensing stations; The reference matched filter is transformed according to the target sequence of any of the sensing stations to obtain the sequence matched filter of any of the sensing stations; the sequence matched filter includes the symbol identifier in the target sequence; the received waveform sequence of any of the sensing stations is matched and filtered according to the sequence matched filter of any of the sensing stations to obtain the echo waveform sequence of any of the sensing stations. For any of the aforementioned sensing stations, the received waveform sequence of any of the sensing stations is obtained based on the sensing pulse waveform sequence of that sensing station. Obtain the reference matched filter for any of the aforementioned sensing stations; Based on the reference matched filter of any of the sensing stations, the received waveform sequence of any of the sensing stations is subjected to matched filtering to obtain the echo waveform sequence of any of the sensing stations.

4. The interference processing method according to claim 1, characterized in that, The accumulation processing of the echo waveform sequences from each sensing station to obtain the accumulation processing result for each sensing station includes: For any one of the sensing stations, the sensing station is identified as the target sensing station, and the sensing stations other than the target sensing station are identified as interfering sensing stations. The accumulation processing method is determined based on the target sequence of the target sensor station; or, the accumulation processing method is determined based on the echo waveform sequence of the target sensor station. According to the accumulation processing method, each echo waveform in the echo waveform sequence of the target sensing station is processed to obtain multiple echo waveforms to be accumulated; the multiple echo waveforms to be accumulated include multiple target echo components and multiple interference echo components, the multiple target echo components are the echo components corresponding to the target sensing station, and the multiple interference echo components are the echo components corresponding to the interference sensing station. The multiple echo waveforms to be accumulated are accumulated to obtain the accumulation result of the target sensor station.

5. The interference processing method according to claim 4, characterized in that, The step of accumulating the multiple echo waveforms to obtain the accumulation result of the target sensor station includes: Based on the symbol identifier of the target sequence of the target sensor station, the multiple target echo components are accumulated in phase to obtain the enhanced target echo components.

6. The interference processing method according to claim 4, characterized in that, The step of accumulating the multiple echo waveforms to obtain the accumulation result of the target sensor station includes: Based on the sign relationship between the target sequence of the target sensing station and the target sequence of the interfering sensing station, the multiple interfering echo components are accumulated in opposite phases to obtain the interfering echo components after canceling or reducing the interference.

7. The interference processing method according to claim 1, characterized in that, The step of determining the target sequence of at least two sensing stations based on a preset number of sensing pulses includes: The reference sequence length and length coefficient are determined based on the preset number of sensing pulses; Based on the reference sequence length and the length coefficient, a target sequence for at least two sensing stations is determined; The reference sequence length is used to generate sequences that satisfy orthogonality. The length coefficient is used to adjust the length of the reference sequence.

8. The interference processing method according to claim 7, characterized in that, The determination of the target sequence for at least two sensing stations based on the reference sequence length and the length coefficient includes at least one of the following: When the preset number of sensing pulses can be decomposed into the product of the reference sequence length and the length coefficient, and the reference sequence length satisfies the power relationship of a preset constant, at least two orthogonal sequences are generated based on the reference sequence length, and the target sequences of the at least two sensing stations are determined based on the length coefficient and the at least two orthogonal sequences. When the length of the reference sequence does not satisfy the power relationship of a preset constant, at least two non-perfectly orthogonal sequences are determined according to the preset number of sensing pulses, and the target sequences of the at least two sensing stations are determined according to the length coefficient and the at least two non-perfectly orthogonal sequences. The orthogonal sequence is used to cancel inter-station interference; The non-perfectly orthogonal sequences are used to reduce inter-station interference.

9. An interference processing device, characterized in that, The device includes: The first determining module is used to determine the target sequence of at least two sensing stations based on a preset number of sensing pulses; The second determining module is used to determine the sensing pulse waveform sequence of each sensing station based on the target sequence of each sensing station, and to determine the echo waveform sequence of each sensing station based on the sensing pulse waveform sequence of each sensing station and the target matched filter. The accumulation processing module is used to accumulate the echo waveform sequences of each sensing station to obtain the accumulation processing results of each sensing station. The third determining module is used to determine the sensing result of each sensing station based on the cumulative processing result of each sensing station; The target sequence is used to indicate the symbolic identifiers of each sensor station at multiple sensing pulse moments.

10. An electronic device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that, When the processor executes the computer program, it implements the interference processing method as described in any one of claims 1 to 8.

11. A non-transitory computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the interference processing method as described in any one of claims 1 to 8.

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