Sensing processing method, apparatus and node

Abstract

The application discloses a kind of perception processing method, device and node, belong to communication technical field, the perception processing method of the embodiment of the application includes: first node executes first operation;Wherein, the execution first operation includes at least one of the following: receiving perception request, the first information is carried in the perception request, and the first information includes at least one first area as follows at least one of the following: perception area level, environmental dynamic factor, perception performance parameter;Second node is sent to perception configuration information to the first node, and the perception configuration information includes at least one second area as follows at least one of the following: perception area level, perception performance parameter;Wherein, the perception performance parameter is associated with perception area level.

Description

Technical Field

[0001] This application belongs to the field of communication technology, specifically relating to a sensing processing method, device, and node. Background Technology

[0002] Communication and sensing integration technology enables sensing and communication systems to share the same frequency band and hardware, improving frequency efficiency and reducing hardware costs. Communication and sensing integration will become a key technology for future wireless communication systems to support many important application scenarios. For different application scenarios, the sensing methods used when applying communication and sensing integration technology are the same. However, for UAV scenarios, due to their strong spatial correlation, using general-purpose sensing methods will result in poor sensing performance in UAV scenarios. Summary of the Invention

[0003] This application provides a perception processing method, apparatus, and node that can solve the problem of poor perception performance in drone scenarios.

[0004] Firstly, a perception processing method is provided, the method comprising:

[0005] The first node executes the first operation;

[0006] The execution of the first operation includes at least one of the following:

[0007] Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter;

[0008] Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters;

[0009] The perception performance parameters are related to the perception area level.

[0010] Secondly, a perception processing method is provided, the method comprising:

[0011] The second node receives the perception configuration information sent by the first node. The perception configuration information includes at least one of the following for at least one second region: perception region level, perception performance parameters;

[0012] The perception performance parameters are related to the perception area level.

[0013] Thirdly, a perception processing method is provided, which includes:

[0014] The third node sends a perception request to the first node. The perception request carries first information, which includes at least one of the following for at least one first region: perception region level, environmental dynamic factor, and perception performance parameter.

[0015] The perception performance parameters are related to the perception area level.

[0016] Fourthly, a sensing processing device is provided, comprising:

[0017] The processing module executes the first operation;

[0018] The execution of the first operation includes at least one of the following:

[0019] Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter;

[0020] Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters;

[0021] The perception performance parameters are related to the perception area level.

[0022] Fifthly, a sensing processing device is provided, comprising:

[0023] The receiving module is used to receive the perception configuration information sent by the first node. The perception configuration information includes at least one of the following for at least one second region: perception region level and perception performance parameters.

[0024] The perception performance parameters are related to the perception area level.

[0025] Sixthly, a sensing processing device is provided, comprising:

[0026] The sending module is used to send a perception request to the first node. The perception request carries first information, which includes at least one of the following for at least one first region: perception region level, environmental dynamic factor, and perception performance parameter.

[0027] The perception performance parameters are related to the perception area level.

[0028] In a seventh aspect, a sensing processing apparatus is provided, the apparatus being configured to perform the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect, or to implement the steps of the method described in the third aspect.

[0029] Eighthly, a node is provided, the node including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first, second, or third aspect.

[0030] Ninthly, a first node is provided, including a processor and a communication interface, wherein,

[0031] The processor is used to: perform the first operation;

[0032] The execution of the first operation includes at least one of the following:

[0033] Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter;

[0034] Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters;

[0035] The perception performance parameters are related to the perception area level.

[0036] In a tenth aspect, a second node is provided, including a processor and a communication interface, wherein,

[0037] A communication interface is used to receive sensing configuration information sent by the first node, wherein the sensing configuration information includes at least one of the following for at least one second region: sensing region level, sensing performance parameters;

[0038] The perception performance parameters are related to the perception area level.

[0039] Eleventhly, a third node is provided, including a processor and a communication interface, wherein,

[0040] A communication interface is used to send a perception request to a first node. The perception request carries first information, which includes at least one of the following for at least a first region: perception region level, environmental dynamic factor, and perception performance parameter.

[0041] The perception performance parameters are related to the perception area level.

[0042] In a twelfth aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

[0043] In a thirteenth aspect, a wireless communication system is provided, comprising: a first node, a second node, and a third node, wherein the first node is configured to perform the steps of the method described in the first aspect, the second node is configured to perform the steps of the method described in the second aspect, and the third node is configured to perform the steps of the method described in the third aspect.

[0044] In a fourteenth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run a program or instructions to implement the steps of the method as described in the first aspect, or the steps of the method as described in the second aspect, or the steps of the method as described in the third aspect.

[0045] In a fifteenth aspect, a computer program / program product is provided, the computer program / program product being stored in a storage medium, the computer program / program product being executed by at least one processor to implement the method as described in the first aspect, or the method as described in the second aspect, or the method as described in the third aspect.

[0046] In this embodiment, a first node performs a first operation, which includes at least one of the following: receiving a perception request carrying first information, the first information including at least one of the following for at least a first region: perception region level, environmental dynamic factor, and perception performance parameter; and sending perception configuration information to a second node, the perception configuration information including at least one of the following for at least a second region: perception region level and perception performance parameter; wherein the perception performance parameter is associated with the perception region level. Through the aforementioned first information and / or perception configuration information, perception becomes spatially relevant, enhancing the perception method for UAV scenarios and thereby improving the perception performance of UAV scenarios. Attached Figure Description

[0047] Figure 1 This is a block diagram of a wireless communication system applicable to embodiments of this application;

[0048] Figure 2 This is a schematic diagram of a perception method applicable to an embodiment of this application;

[0049] Figure 3 This is one of the flowcharts of a perception processing method provided in the embodiments of this application;

[0050] Figure 4 This is a schematic diagram of a flight route provided in an embodiment of this application;

[0051] Figure 5 This is a schematic diagram of a region division method provided in an embodiment of this application;

[0052] Figure 6 This is a three-dimensional spatial diagram of an unmanned aerial vehicle (UAV) provided in an embodiment of this application;

[0053] Figure 7 This is a schematic diagram of a horizontal protection zone for a drone flight path provided in an embodiment of this application;

[0054] Figure 8 This is a schematic diagram of a vertical protection zone for a drone flight path provided in an embodiment of this application;

[0055] Figure 9 This is a second flowchart of a perception processing method provided in an embodiment of this application;

[0056] Figure 10 This is the third flowchart of a perception processing method provided in the embodiments of this application;

[0057] Figure 11 This is the fourth flowchart of a perception processing method provided in the embodiments of this application;

[0058] Figure 12 This is the fifth flowchart of a perception processing method provided in the embodiments of this application;

[0059] Figure 13 This is the sixth flowchart of a perception processing method provided in the embodiments of this application;

[0060] Figure 14 This is one of the structural schematic diagrams of a sensing processing device provided in the embodiments of this application;

[0061] Figure 15 This is a second schematic diagram of the structure of a sensing processing device provided in an embodiment of this application;

[0062] Figure 16 This is the third schematic diagram of a sensing processing device provided in the embodiments of this application;

[0063] Figure 17 This is a schematic diagram of the structure of a communication device provided in an embodiment of this application;

[0064] Figure 18 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application;

[0065] Figure 19 This is one of the structural schematic diagrams of a network-side device provided in the embodiments of this application;

[0066] Figure 20 This is a second schematic diagram of the structure of a network-side device provided in an embodiment of this application. Detailed Implementation

[0067] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0068] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, the scope of protection for "A or B" covers at least three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. In addition, the terms "A and / or B," "at least one of A and B," and "at least one of A or B" also cover at least the above three scenarios. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0069] The term "instruction" in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction). A direct instruction can be understood as the sender explicitly informing the receiver of specific information, the required operation, or the requested result in the instruction sent. An indirect instruction can be understood as the receiver determining the corresponding information based on the instruction sent by the sender, or making a judgment and determining the required operation or requested result based on the judgment result.

[0070] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), or other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used in the systems and radio technologies mentioned above, as well as in other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to systems other than NR systems, such as 6th Generation (6G) communication systems.

[0071] Figure 1This diagram illustrates a block diagram of a wireless communication system applicable to embodiments of this application. The wireless communication system includes a terminal 101 and a network-side device 102. The terminal 101 can also be referred to as User Equipment (UE), and can be a mobile phone, tablet computer, laptop computer, notebook computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR), virtual reality (VR) device, robot, wearable device, flight vehicle, vehicle user equipment (VUE), shipboard equipment, pedestrian user equipment (PUE), smart home devices (home appliances with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game consoles, personal computers (PCs), ATMs, or self-service machines, etc. Wearable devices include: smartwatches, smart bracelets, smart headphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among these, in-vehicle devices can also be referred to as in-vehicle terminals, in-vehicle controllers, in-vehicle modules, in-vehicle components, in-vehicle chips, or in-vehicle units, etc. It should be noted that the specific type of terminal 101 is not limited in this application embodiment. Network-side equipment 102 may include access network equipment or core network equipment, wherein access network equipment may also be referred to as Radio Access Network (RAN) equipment, radio access network function, or radio access network unit. Access network equipment may include base stations, Wireless Local Area Network (WLAN) access points (APs), or Wireless Fidelity (WiFi) nodes, etc.Among them, base stations can be referred to as Node B (NB), Evolved Node B (eNB), Next Generation Node B (gNB), New Radio Node B (NRNode B), Access Point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), Radio Base Station, Radio Transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B (HNB), Home Evolved Node B, Transmission and Reception Point (TRP), Non-Terrestrial Network (NTN) equipment (such as satellite or high altitude platform stations). The term "base station" can be any suitable term in the field, such as "station" or any other appropriate term in the relevant field, as long as the same technical effect is achieved. The term "base station" is not limited to specific technical terms. It should be noted that the embodiments of this application only use the base station in the NR system as an example for introduction, and do not limit the specific type of base station.

[0072] Core network equipment, also known as core network nodes, core network functions, or core network elements, includes, but is not limited to, at least one of the following: Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (L-NEF), and Binding Support. Functions include BSF, Application Function (AF), Location Management Function (LMF), Gateway Mobile Location Centre (GMLC), Network Data Analytics Function (NWDAF), and Non-Terrestrial Network (NTN) equipment (such as satellite or high altitude platform station).It should be noted that the embodiments of this application only use the core network equipment in the NR system as an example for introduction, and do not limit the specific type of core network equipment. If the name of the core network equipment mentioned in the embodiments of this application changes in subsequent protocol versions (e.g., 6G), it is also within the scope of protection of this application.

[0073] Optionally, the core network equipment can be implemented by one or more functional modules in a single device, or by multiple devices working together; this application does not specifically limit this. It is understood that the aforementioned functional modules can be network elements in hardware devices, software functional modules running on dedicated hardware, or virtualized functional modules instantiated on a platform (e.g., a cloud platform).

[0074] For ease of understanding, the following explains some aspects of the embodiments of this application:

[0075] 1. Communication perception integration / communication perception fusion

[0076] Future B5G and 6G wireless communication systems are expected to provide various high-precision sensing services, such as indoor positioning for robot navigation, Wi-Fi sensing for smart homes, and radar sensing for autonomous vehicles. Sensing and communication systems are typically designed separately and occupy different frequency bands. Integrated Sensing and Communication (ISAC) enables sensing and communication systems to share the same frequency band and hardware, improving frequency efficiency and reducing hardware costs. ISAC will become a key technology for future wireless communication systems to support many important application scenarios. Typical applications of ISAC include: navigation and obstacle avoidance for autonomous vehicles, Wi-Fi-based indoor positioning and activity recognition, communication and sensing for unmanned aerial vehicles, extended reality (XR), and radar and communication integration. Each application has different requirements, limitations, and regulatory issues.

[0077] ISAC achieves a low-cost, integrated implementation of communication and sensing functions through shared hardware and software-defined features. Its main characteristics include: a unified and simplified architecture; reconfigurable and scalable functionality; and improved efficiency and reduced costs. The advantages of integrated communication and sensing are threefold: reduced equipment costs and smaller size; improved spectrum utilization; and enhanced system performance.

[0078] The following table shows typical scenarios of integrated communication and sensing that can be realized through technological upgrades based on the 5G communication system architecture.

[0079] Table 1 Typical Scenarios of Integrated Communication and Sensing

[0080]

[0081]

[0082] Based on the different transmitting and receiving nodes of the sensing signal, there are six basic sensing methods, such as... Figure 2 As shown, it specifically includes:

[0083] (1) Base station self-transmitting and self-receiving sensing: In this sensing method, base station A sends a sensing signal and performs sensing measurement by receiving the echo of the sensing signal.

[0084] (2) Inter-base station air interface sensing: Base station B receives the sensing signal sent by base station A and performs sensing measurements.

[0085] (3) Uplink air interface sensing: Base station A receives the sensing signal sent by terminal A and performs sensing measurement.

[0086] (4) Downlink air interface sensing: Terminal B receives sensing signals sent by base station B and performs sensing measurements.

[0087] (5) Terminal self-transmitting and receiving sensing: Terminal A sends a sensing signal and performs sensing measurement by receiving the echo of the sensing signal.

[0088] (6) Sidelink sensing between terminals: Terminal B receives the sensing signal sent by Terminal A and performs sensing measurements.

[0089] It is worth noting that, Figure 2 Each sensing method in the example uses a sensing signal sending node and a sensing signal receiving node. In actual systems, one or more different sensing methods can be selected according to different sensing use cases and sensing requirements, and each sensing method can have one or more sending nodes and receiving nodes. Figure 2 The perception targets in this example are people and vehicles, and it is assumed that neither people nor vehicles carry or have signal receiving / transmitting equipment installed. In reality, the perception targets will be much richer.

[0090] 2. 5G Wireless Sensing Performance Requirements

[0091] Related technologies propose wireless sensing service performance requirements, including parameters such as positioning estimation accuracy, velocity estimation accuracy, confidence level, sensing resolution, missed detection probability, false alarm probability, maximum sensing service latency, and refresh rate. Furthermore, the scenarios are categorized into target detection and tracking, environmental monitoring, and motion monitoring, and quantitative sensing service performance requirements for each scenario are provided through the performance requirements for 5G wireless sensing.

[0092] 3. Definitions

[0093] Explanation 1: Perception Function Node

[0094] The sensing node includes at least one of the following functions:

[0095] (1) Receive a sensing service request and determine the required sensing measurement quantity based on the sensing service request.

[0096] (2) Receive the sensing measurement results (also known as sensing measurement data, i.e. the value of the sensing measurement quantity) and generate the sensing results (third-level measurement quantity).

[0097] (3) Send the perception results and respond to the perception service request.

[0098] (4) Control of perceived service quality (QoS), that is, to control the perception-related nodes in order to meet the perceived service QoS requirements.

[0099] (5) Identify sensing signal transmitting or receiving nodes or sensing auxiliary nodes. Sensing signal transmitting or receiving nodes in a mobile communication system include network equipment (such as base stations) and user equipment (UE) (such as mobile phones). Among them, sensing auxiliary nodes refer to information used to provide sensing assistance, such as sensing information from other sensors, geographical location information, etc., to improve the performance of wireless sensing.

[0100] (6) Determine the sensing link or sensing method, wherein the sensing link may include Uu link (base station transmit / UE receive or base station receive / UE transmit), side link (UE transmit and receive), echo link (base station transmits and receives, UE transmits and receives), and base station transmit and receive link (base station transmits and receives); the sensing method may include base station transmits and UE receives, UE transmits and base station receives, base station transmits and receives, UE transmits and receives, base station transmits and receives, and UE transmits and receives.

[0101] (7) Determine the sensing signal. Potential sensing signals include reference signals and data signals, where the reference signal can be a communication reference signal or a sensing-specific reference signal.

[0102] (8) Determine the time-frequency resources used for sensing. Potential sensing resources include unused time-frequency resources in communication (such as guard bands), shared time-frequency resources already used in communication (such as reference signals or data signals), and time-frequency resources dedicated to sensing. Further, the configuration of the sensing signal needs to be determined. Potential configurations include time, frequency, and spatial resource information of the sensing signal. If it is determined that the node for sensing time-frequency resources is not the transmitting node for the sensing signal, then the sensing signal configuration is sent to the transmitting node for the sensing signal.

[0103] (9) Determine the configuration of the sensing measurement quantity. Potential configurations include the indication of the sensing signals to be measured, the number or time of the sensing signals to be measured, and the indication of reporting the measurement results (i.e., sensing measurement data). If the node for configuring the sensing measurement quantity is not the receiving and measuring node of the sensing signals, then send the sensing measurement quantity configuration to the sensing signal receiving node.

[0104] (10) Determine and configure the transmission channels for reporting sensing measurement results, including establishing, modifying or releasing transmission channels.

[0105] (11) Determining the AMF: After the network side determines the sensing function node based on the geographical range of the requested sensing service and the geographical range of the sensing service provided by the sensing function node, the sensing function node needs to determine the AMF in at least one of the following situations: 1) When the UE is a sensing signal transmitting node, sensing signal receiving node, or sensing auxiliary node, and the sensing target is a certain UE, the sensing function node selects the AMF based on the geographical area to be sensed, and according to the Tracking Area Identity (TAI) of the AMF requested from the NRF, and / or AMF ID / location, etc.; 2) When the sensing data needs to be transmitted through the AMF (e.g., defined as a Non-Access Stratum (NAS) message or the NAS layer as the transmission bearer protocol layer for sensing data), the sensing function node selects the AMF based on the geographical location information of the sensing node to be transmitted (e.g., Tracking Area (TA) etc.), and according to the TAI of the AMF requested from the NRF, and / or AMF ID / location, etc.; 3) When the sensing target is a 3GPP UE, the sensing function node selects the AMF based on the UE identifier (e.g., AMF UENGAP). AMF is determined by factors such as ID.

[0106] Explanation 2: Sensing and Measurement Related Configuration Information

[0107] The sensing and measurement related configuration information includes at least one of the following: sensing and measurement object configuration information / sensing signal configuration information, sensing and measurement quantity configuration, sensing and measurement report configuration, and sensing data transmission configuration.

[0108] Wireless sensing involves measuring received signals and then processing the measurement results to obtain the desired sensing outcome. Therefore, the configuration of the sensing signals can also be referred to as the configuration of the sensing measurement object, including at least one of the following:

[0109] Waveforms, such as OFDM, Single-carrier Frequency-Division Multiple Access (SC-FDMA), OTFS, Frequency Modulated Continuous Wave (FMCW), pulse signals, etc.

[0110] Subcarrier spacing: For example, the subcarrier spacing of an OFDM system is 30 kHz;

[0111] Guard interval: The time interval between the end of signal transmission and the latest echo signal of that signal being received; this parameter is proportional to the maximum sensing distance; for example, it can be expressed as 2d. max / c is calculated to obtain d maxThis refers to the maximum sensing distance (related to sensing requirements), for example, for spontaneously generated and received sensing signals, d max It represents the maximum distance from the sensing signal transceiver point to the signal transmitter point; in some cases, the OFDM signal cyclic prefix CP can serve as the minimum guard interval.

[0112] Bandwidth: This parameter is inversely proportional to the distance resolution and can be obtained by c / (2Δd), where Δd is the distance resolution (related to perception requirements); and c is the speed of light.

[0113] Burst duration: This parameter is inversely proportional to the rate resolution (related to sensing requirements). It represents the time span of the sensed signal and is primarily used to calculate the Doppler frequency offset. This parameter can be obtained by c / (2f c Δv) is calculated; where Δv is the velocity resolution; f c It is the carrier frequency of the sensed signal;

[0114] Time domain interval: This parameter can be obtained by c / (2f) c v range ) is calculated; where, v range It is the maximum speed minus the minimum speed (related to sensing requirements); this parameter is the time interval between two adjacent sensing signals;

[0115] The transmission power of the sensing signal is measured, for example, by taking a value every 2dBm from -20dBm to 23dBm;

[0116] Information about the transmitting ports of the sensing signals, including the quantity and port number;

[0117] Signal format, such as Sounding Reference Signal (SRS), Demodulation Reference Signal (DMRS), Positioning Reference Signal (PRS), or other predefined signals, as well as related sequence format information;

[0118] Signal direction; for example, sensing the direction of signals (such as base station transmitting and UE receiving, base station receiving and UE transmitting, base station transmitting and receiving independently, base station transmitting and receiving between base stations, UE transmitting and receiving independently, and UE transmitting and receiving between UEs).

[0119] Beam information of the sensed signal;

[0120] Time resources, such as the time slot index or symbol index of the time slot where the sensing signal is located; among them, time resources are divided into two types: one is one-time time resources, such as one symbol sending an omnidirectional first signal; the other is non-one-time time resources, such as multiple sets of periodic time resources or discontinuous time resources (which may include start and end times), each set of periodic time resources sends a sensing signal in the same direction, and the beam direction on different sets of periodic time resources is different.

[0121] Frequency resources include the center frequency, bandwidth, resource block (RB), or subcarrier of the sensing signal. When node A transmits information from node B, the center frequency is the center frequency of node B. If node B supports multiple cells, then the list of center frequencies includes the center frequencies corresponding to multiple cells. For methods similar to Sidelink communication in NR, the sensing measurement object is a pool of transmission resources used for Sidelink communication in NR on a single carrier frequency.

[0122] Quasi-location (QCL) relationships, for example, a sensing signal includes multiple resources, each resource is associated with a Synchronization Signal Block (SSB) QCL, and the QCL includes Type A, B, C or D;

[0123] The sensing measurement parameters are configured to instruct the sensing measurement node to measure at least one of the following sensing measurement parameters:

[0124] The first level of measurement (received signal or raw channel information) includes: the complex result of the received signal / channel response, amplitude / phase, I-channel / Q-channel and its operation results (operations include addition, subtraction, multiplication, division, matrix addition, subtraction, multiplication, matrix transpose, trigonometric operations, square root operations, and power operations, as well as threshold detection results and maximum / minimum value extraction results of the above operation results; operations also include Fast Fourier Transform (FFT) / Inverse Fast Fourier Transform (IFFT), Discrete Fourier Transform (DFT) / Inverse Discrete Fourier Transform (IDFT), 2D-FFT, 3D-FFT, matched filtering, autocorrelation operation, wavelet transform and digital filtering, as well as threshold detection results and maximum / minimum value extraction results of the above operation results).

[0125] The second level of measurement (basic measurement) includes: time delay, Doppler, angle, signal strength, and their multidimensional combination representation;

[0126] The third level of measurement (also known as perception results) includes: target presence, distance, speed, angle / orientation, RCS, acceleration, position, trajectory, movement, facial expression, breathing rate, heart rate, imaging results, weather, air quality, material and composition, etc.

[0127] The perception measurement report configuration includes at least one of the following:

[0128] (1) The access type indication used for report transmission can be either 3GPP access or non-3GPP access. Further, 3GPP access can be indicated as 4G (LTE), 5G (NR), 6G, etc., while non-3GPP can be indicated as WLAN, Bluetooth, and wired networks, etc. If multiple types are used, a list can be used to indicate their priority. For example, if the access type indication for report transmission is 5G or 4G, it means that 5G will be used preferentially for transmitting the report.

[0129] (2) Reporting Standards: The standards that trigger the sensing and measurement nodes to send measurement reports can be periodic, event-triggered, or indicated. Events include, but are not limited to, the following:

[0130] The quality of the sensed signal detected by the receiver must meet at least one of the following threshold requirements: signal-to-noise ratio (SNR), reference signal received power (RSRP), received signal strength indication (RSSI), and signal-to-clutter ratio threshold. If the threshold is met, then the sensed measurement quantity and report in the sensed measurement item configuration will be measured.

[0131] The sensing measurement results obtained by the receiving end do not meet the sensing requirements, that is, the sensing performance index corresponding to the calculated sensing measurement results meets the requirement of not being lower than the preset threshold, such as the sensing SNR (a potential definition is the ratio between the effective signal power of the signal propagation path corresponding to the sensing target and the noise power, or it can be defined as the ratio between the effective signal power of the signal propagation path corresponding to the sensing target and the sum of the noise power and the signal power of the signal propagation path corresponding to the non-sensing target).

[0132] If the receiving end correctly demodulates the data (e.g., the cyclic redundancy check (CRC) passes), and sensing is performed based on the communication data, the sensing parameters are estimated by first demodulating the data. If the communication demodulation is incorrect, the sensing measurement results will be affected and become unreliable.

[0133] If the mandatory sensing measurement items meet the requirements, such as the time delay, Doppler effect, and GPS location information at the time of measurement for the sensing signal, the RSRP and Reference Signal Received Quality (RSRQ) are optional. Therefore, a report is only submitted when all the mandatory sensing measurement items are available.

[0134] (3) Report format: The report includes the maximum number of cells supported by Node B under RAT, the maximum number of measurements per cell, etc.

[0135] Explanation 3: Perceived data

[0136] Sensing data refers to the measurement results obtained after measuring sensing quantities through sensing measurement reports, etc. One potential classification method is to divide sensing measurements into the following four categories (this focuses on illustrating the measurement quantities; it could also be divided into three categories or no classification at all; the four categories are for illustrative purposes only). Based on the relationship between sensing measurements and sensing services, the third and fourth level measurements described below are often also referred to as sensing results. Second-level measurements and / or first-level measurements are referred to as sensing measurement data.

[0137] The first level of measurement (received signal / raw channel information) includes: the complex result of the received signal / channel response, amplitude / phase, I-channel / Q-channel and its operation results (operations include addition, subtraction, multiplication, division, matrix addition, subtraction, multiplication, matrix transpose, trigonometric operations, square root operations, and power operations, as well as threshold detection results and maximum / minimum value extraction results of the above operation results; operations also include Fast Fourier Transform (FFT) / Inverse Fast Fourier Transform (IFFT), Discrete Fourier Transform (DFT) / Inverse Discrete Fourier Transform (IDFT), 2D-FFT, 3D-FFT, matched filtering, autocorrelation operation, wavelet transform and digital filtering, as well as threshold detection results and maximum / minimum value extraction results of the above operation results).

[0138] The second level of measurement (basic measurement) includes: time delay, Doppler, angle, signal strength, and their multidimensional combination representation;

[0139] The third level of measurement (basic attributes / states) includes: distance, velocity, angle / orientation, radar cross section (RCS), and acceleration;

[0140] The fourth level of measurement (advanced attributes / states) includes: spatial location, target presence, trajectory, action, expression, vital signs, quantity, imaging results, weather, air quality, shape, material, and composition.

[0141] The following description, in conjunction with the accompanying drawings, details the sensing processing methods, apparatus, and related equipment provided in this application through some embodiments and application scenarios.

[0142] See Figure 3 , Figure 3 This is a flowchart of a perception processing method provided in an embodiment of this application, such as... Figure 3 As shown, the perception processing method includes the following steps:

[0143] Step 11: The first node performs the first operation;

[0144] The execution of the first operation includes at least one of the following:

[0145] Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter;

[0146] Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters;

[0147] The perception performance parameters are related to the perception area level.

[0148] The first node can be a Sensing Function (SF) node or Network Open Function (NEF) node in the core network equipment; or a base station; or a terminal; or other network nodes; etc. This embodiment does not limit the first node.

[0149] The second node can be a base station, a terminal, or other network node, etc. This embodiment does not limit the second node.

[0150] In one implementation, the first node can receive a sensing request from a third node. The third node can be a sensing service requester, such as a terminal, application function, or other network node.

[0151] The first region can be the sensing region where the sensing service requester requests the sensing result. When at least one first region includes multiple first regions, these multiple first regions can correspond to different sensing region levels. For example, the multiple first regions can include first region 1, first region 2, and first region 3; the sensing region level of first region 1 is sensing region level 1, the sensing region level of first region 2 is sensing region level 2, and the sensing region level of first region 3 is sensing region level 3.

[0152] In one implementation, the sensing performance parameters of different sensing area levels are different, or the sensing performance parameters of different sensing area levels are partially or completely the same, but the values ​​of the sensing performance parameters may be different.

[0153] The second region can be a sensing region configured by the first node for the second node. When at least one second region includes multiple second regions, these multiple second regions can correspond to different sensing region levels. For example, the multiple second regions can include second region 1, second region 2, and second region 3; the sensing region level of second region 1 is sensing region level 1, the sensing region level of second region 2 is sensing region level 2, and the sensing region level of second region 3 is sensing region level 3.

[0154] It should be noted that the at least one second region may be a part of the at least one first region; or, the at least one second region may be at least one first region, that is, the second region is the same as the first region; or, the at least one second region has the same airspace range as the at least one first region, and the at least one second region may be a region after the airspace range corresponding to the at least one first region has been re-divided.

[0155] In one implementation, the first node receives a sensing request, and the first node can send sensing configuration information to the second node based on the sensing request.

[0156] In one implementation, the first node receives a sensing request, selects a fourth node, and the fourth node sends sensing configuration information to the second node. For example, the NEF receives a sensing request sent by an application function, then selects a suitable Sensing Function (SF) node, and the SF node sends sensing configuration information to the second node.

[0157] In one implementation, the fifth node receives a sensing request, the fifth node selects a first node, and the first node sends sensing configuration information to the second node; and so on. This embodiment does not limit this.

[0158] Among them, the environmental dynamic factors can be one or more dynamic factors defined by referring to at least one of the meteorological environment, electromagnetic environment or obstacle environment, etc., and are used to adapt the sensing performance parameters to the environment.

[0159] In one embodiment, the sensing performance parameter includes at least one of the following: the maximum number of flying objects or drones sensed within a preset airspace range.

[0160] In one embodiment, the sensing performance parameters further include at least one of the following: accuracy of positioning estimate, accuracy of velocity estimate, confidence level, sensing resolution, missed detection probability, false alarm probability, maximum sensing service latency, and refresh rate.

[0161] It should be noted that the perception area level can be characterized by perception area level parameters. Since different areas have different performance requirements for perception services, their corresponding requirements for perception resources may also differ. Therefore, one example is to use the perception area level to map the performance requirements or perception resource requirements of different perception areas to various performance parameters and values ​​in the performance requirements of 5G wireless sensing; another example is to use the perception area level to add different perception performance parameters to meet the performance requirements or perception resource requirements of that perception area.

[0162] In one implementation, the sensing performance requirements corresponding to a sensing request are exemplified below. The performance requirements of 5G wireless sensing, including positioning estimation accuracy, velocity estimation accuracy, confidence level, sensing resolution, missed detection probability, false alarm probability, maximum sensing service latency, or refresh rate, represent the performance requirements for a specific sensing area level. When a sensing service or its corresponding sensing request involves more than one sensing area level, the sensing performance requirements for that service are statistical values ​​or jointly calculated from the sensing performance parameters of multiple sensing area levels. For example, the percentage of missed detection probability is a statistical value of the missed detection probabilities corresponding to multiple sensing area levels.

[0163] In one implementation, the first node receives a sensing request, which includes at least one of the following: sensing area level, maximum number of flying objects to be sensed within a preset airspace (e.g., the number of flying objects that can be sensed simultaneously within a unit space), and environmental dynamic factors.

[0164] In one implementation, the second node (base station or UE) receives the sensing configuration information sent by the first node and performs sensing signal transmission or reception.

[0165] In this embodiment, a first node performs a first operation, which includes at least one of the following: receiving a perception request carrying first information, the first information including at least one of the following for at least a first region: perception region level, environmental dynamic factor, and perception performance parameter; and sending perception configuration information to a second node, the perception configuration information including at least one of the following for at least a second region: perception region level and perception performance parameter; wherein the perception performance parameter is associated with the perception region level. Through the aforementioned first information and / or perception configuration information, perception becomes spatially relevant, enhancing the perception method for UAV scenarios and thereby improving the perception performance of UAV scenarios.

[0166] Optionally, the perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace;

[0167] And / or,

[0168] The sensing performance parameters are associated with environmental dynamic factors.

[0169] The preset airspace range can be a pre-defined or agreed-upon airspace range, such as a unit airspace. The maximum number of flying objects or drones sensed within the preset airspace range can also be described as the maximum number of flying objects or drones identified, classified, and / or tracked within the preset airspace range.

[0170] In one implementation, the maximum number of flying objects or drones that can be sensed within a preset airspace range can be understood or replaced as the maximum number of flying objects or drones that can be sensed simultaneously within a preset airspace range.

[0171] For example, perception performance parameters may include the number of flying objects (such as drones) that can be simultaneously sensed (or described as identified, and / or classified, and / or tracked) within a unit of airspace.

[0172] In one implementation, the maximum number of flying objects or drones sensed within a preset airspace can be defined by the sensing density in terms of the three-dimensional space facing the drone.

[0173] In one implementation, the association between the perceived performance parameters and the environmental dynamic factors means that there is a corresponding relationship between the perceived performance parameters and the environmental dynamic factors. For example, the first region includes multiple sets of perceived performance parameters, each set corresponding to one environmental dynamic factor. That is, a certain set of perceived performance parameters represents the perceived performance parameters under the environment indicated by the corresponding environmental dynamic factor. For instance, the first region 1 includes three sets of perceived performance parameters, each of which corresponds to a different environmental dynamic factor.

[0174] The environmental dynamic factors can be one or more dynamic factors defined by referencing at least one of the following: meteorological environment, electromagnetic environment, or obstacle environment. These factors are used to adapt sensing performance parameters to the environment. For example, the confidence level or sensing coverage distance can be adjusted using these dynamic factors to better match the actual sensing performance. An example of a dynamic factor corresponding to a meteorological environment is shown in Table 2.

[0175] Table 2 Dynamic Factors of Meteorological Environment

[0176]

[0177] In this embodiment, the perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace. This allows for the expansion of perception performance parameters for drone scenarios, enabling more accurate interaction with the wireless perception performance requirements of drone-related scenarios. It facilitates the selection of more suitable nodes for perception, making the perception service requirements of drone-related scenarios more aligned with the selection or allocation of wireless network nodes. This is more conducive to meeting the scenario's needs with the lowest possible overhead, thereby improving the perception performance of drone scenarios.

[0178] In this embodiment, the perception performance parameters are associated with environmental dynamic factors, enabling environmental adaptation of the perception performance parameters and achieving more accurate interaction with the wireless perception performance requirements of UAV-related scenarios, thereby improving the perception performance of UAV scenarios.

[0179] Optionally, the perception area level is determined based on at least one of the following:

[0180] The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

[0181] The sensing area level parameter includes at least one of the following:

[0182] In one implementation, the perception area level can be determined based on the UAV's flight phase. For example... Figure 4 As shown, the perception area levels can be divided according to the UAV's flight phase. One example is to consider five levels: takeoff and landing points, holding points, arrival and departure points, air routes, and route intersections. Another example is to consider the perception performance of different areas and divide them into two levels: the takeoff and landing area (including takeoff and landing points, holding points, and arrival and departure points) and the air route area (including air routes and route intersections). It should be noted that takeoff and landing points should be represented by a horizontal circle with a diameter larger than the maximum cross-sectional area of ​​the air route protection zone. When multiple takeoff and landing points share a single arrival and departure air route, an equivalent takeoff and landing point should be used to represent all takeoff and landing points. The equivalent takeoff and landing point is located at the center of the set of all takeoff and landing points.

[0183] In one implementation, the sensing area level can be determined based on sensing service requirements. For example... Figure 5 As shown, regions can be divided according to their importance. Based on the perception region level, different levels of regions require different perception services.

[0184] For example, with Figure 5For example, in area a (such as high-risk locations like airports and city centers), or at this perception area level, the requirement for perception services is to detect and classify all non-compliant objects. Specific examples include identifying and classifying any drones, other flying objects, and birds that are not transmitting their RemoteID or transponder signals. Optionally, if perception area levels are further subdivided in area a, optimization can be further achieved by considering specific locations; for example, the probability of missing detection is lower when the aforementioned non-compliant objects move to areas such as rooftops.

[0185] In zone b, or at this perception zone level, the requirement for perception services is to detect non-compliant objects without requiring classification. Specific examples include the ability to detect any drone, other flying objects, and birds that are not transmitting their RemoteID or transponder signals, without needing to distinguish between categories.

[0186] In Zone C, or at this perception zone level, the need for perception services is for the detection of compliant drones. A specific example is the detection or verification of unmanned aerial vehicles (UAVs) transmitting their Remote IDs or response signals, which can include detection or verification in controlled airspace or beyond visual line of sight (BVLOS). In this zone, the ISAC system may serve as a supplementary / backup system to ensure safety. Perception services in this zone are primarily used in conjunction with other drone flight control systems for the tracking and verification of compliant drones.

[0187] In one implementation, the perception area level can be determined based on route safety indicators. For a route area, according to the route safety calculation method in civil aviation industry standards (one example is shown in Table 3), the operational environment reliability assignment method, the operational technology reliability assignment method, and / or, the route public acceptability assignment suggestion, etc., corresponding route safety scores F1, operational environment reliability scores F2, operational technology reliability scores F3, and route public acceptability scores F4 are obtained. Then, the perception area level is determined based on at least one of these methods. Alternatively, the comprehensive parameter F of N influencing factors can be obtained using the following formula for perception area level determination:

[0188]

[0189] Where F n a represents the score of the nth influencing factor. n This represents the weight corresponding to the score of the nth influencing factor.

[0190] Table 3. Calculation Method for Airline Safety

[0191]

[0192] In one implementation, the sensing area level can be determined based on the characteristics of the sensing coverage area. The characteristics of the sensing coverage area may include at least one of the following: the number of base stations covering the sensing coverage area, and whether the coverage areas of multiple base stations covering the sensing coverage area overlap. The sensing area level can be divided according to the characteristics of the sensing coverage area, for example, a single base station coverage area, or a coverage area of ​​more than M base stations, or an overlapping area covered by more than N base stations. The main consideration in dividing the sensing coverage area based on its characteristics is that resource coordination is relatively easy when only a single base station is involved, while in overlapping areas with multiple base stations, coordination may require more than one base station, especially when there are overlapping areas between different base stations, requiring more inter-base station interaction or air interface resources to meet the sensing requirements.

[0193] In one implementation, the perception area level can be determined based on resource information of the perception service. For example, the perception area level corresponding to the perception service can be divided by the resource allocation method and / or the amount of resources allocated to the perception service. Potential resource allocation methods include at least one of dynamic sharing of communication and perception resources, reservation of perception resources, dedicated perception equipment and resources, and primary / backup perception equipment and resources. An example of the amount of resources allocated is that the perception area level can also be divided based on the upper limit of available perception resources under each resource allocation method. For example, perception area level 1 corresponds to dynamic sharing of communication and perception resources; perception area level 2 corresponds to reservation of perception resources, where the amount of reserved resources can be predefined or dynamically adjusted; perception area level 3 corresponds to dedicated perception equipment and resources, an example of which is to meet perception needs in a perception area (such as an airport) through dedicated perception function nodes, base stations, or UEs; perception area level 4 corresponds to primary and backup perception and resources, an example of which is to meet perception needs in a perception area (such as an industrial park) through dedicated primary perception equipment, backup perception equipment, and their corresponding resources.

[0194] It should be noted that the perception area level can also be defined by parameters based on two or more of the following: the drone flight stage, perception service requirements, route safety indicators, characteristics of the perception coverage area, and resource information of the perception service.

[0195] In this implementation, the perception area level is divided by at least one of the following: UAV flight phase, perception service requirements, route safety indicators, characteristics of the perception coverage area, and perception service resource information. This expands the perception performance parameters of the UAV scenario, enabling more accurate interaction with the wireless perception performance requirements of the UAV-related scenario. It facilitates the selection of more suitable nodes for perception, making the perception service requirements of the UAV-related scenario more compatible with the selection or allocation of wireless network nodes. This is more conducive to meeting the scenario requirements with the lowest possible overhead and can improve the perception performance of the UAV scenario.

[0196] Optionally, the maximum number of drones sensed within the preset airspace is determined based on at least one of the following:

[0197] The zero-altitude plane and / or altitude reference plane within the flight path area; distance requirements for the horizontal and vertical space protection zones of the UAV.

[0198] In one implementation, an example of defining a preset airspace range (e.g., a unit airspace) oriented towards the flight path area is as follows: Figure 6 As shown, the zero-altitude plane refers to the horizontal plane containing the lowest point of the land surface within the designated route area (i.e., the route area); the altitude reference plane is the horizontal plane containing the highest point of the land surface within the designated route area. One definition of the vertical range is based on the zero-altitude plane and / or the altitude reference plane, for example, [40m above the zero-altitude plane, 120m above the altitude reference plane]. Another definition of the vertical range converts the zero-altitude plane and / or the altitude reference plane into altitude, and the vertical range is uniformly expressed using altitude.

[0199] In one implementation, the maximum number of drones sensed within a preset airspace range (such as a unit airspace) must meet the distance requirements of the drone's horizontal and vertical space protection zones (including requirements for drone flight accuracy and drone flight intervals).

[0200] According to the requirements for UAV flight accuracy in civil aviation industry standards, such as Figure 7 and Figure 8 As shown, the horizontal yaw tolerance X and vertical yaw tolerance Z of the UAV flight team are determined. The horizontal protection zone of the flight path is 2X, and the vertical protection zone is 2Z. The width of the outer side of the flight path during turns can be increased by X / 2, while the width of the inner side remains unchanged, and the height of the vertical protection zone remains unchanged.

[0201] Based on the flight interval requirements of UAVs, and considering the flight speed v (e.g., maximum average speed of 100 km / h), reliability, and other performance parameters of different UAVs, the takeoff interval t between UAVs on the same flight path is defined. Then, the distance between UAVs on the same flight path is approximately v*t.

[0202] One example is that in satellite positioning and navigation mode, if the flight path accuracy of the UAV can be controlled within ±10m horizontally and ±5m vertically, then the horizontal protection zone half-width 2X is 20m and the vertical protection zone half-width 2Z is ​​10m.

[0203] Within a given sensing space, the maximum number of UAVs that can be sensed within a preset airspace range (e.g., UAV density per unit airspace) that meets the distance requirements of the horizontal and vertical space protection zones of UAVs can be obtained within a three-dimensional space of R1*R2*R3 (i.e., the airspace range determined according to the zero altitude plane and / or altitude reference plane within the flight path area).

[0204] Optionally, the method further includes:

[0205] The first node receives the perception capability information sent by the second node;

[0206] The perception capability information includes at least one of the following:

[0207] Indicates whether airspace awareness information is supported;

[0208] The second node supports the following perception area levels;

[0209] The sensing range supported by the second node;

[0210] The perception performance parameters of the second node are related to environmental dynamic factors.

[0211] The perception capability information can also be described as perception-related information.

[0212] The perception range can refer to the range of three-dimensional space.

[0213] In one implementation, when the second node is a base station, the sensing capability information includes at least one of the following:

[0214] Supported perception area levels: Generally speaking, if a higher perception area level can be supported, then a lower perception area level can also be supported.

[0215] Supported range of perceived stereoscopic space, such as the horizontal and vertical range;

[0216] The perception performance parameters of the second node.

[0217] In one implementation, when the second node is a terminal, the sensing capability information includes at least one of the following:

[0218] Information indicating whether airspace sensing is supported can be categorized in two ways. One example is whether sensing is supported within a vertical range of [A,B], such as airspace below 300 meters or 600 meters. Another example is whether airspace range defined by a standard is supported.

[0219] Supported perception area levels: Generally speaking, if a higher perception area level can be supported, then a lower perception area level can also be supported.

[0220] The supported perceptual stereoscopic spatial range, since the UE may be mobile, can be represented by the range of the UE's position and the horizontal and vertical directions;

[0221] The perception performance parameters of the second node.

[0222] The correlation between the perception performance parameters of the second node and environmental dynamic factors can refer to the achievable range of the perception performance parameters after the second node is affected by one or more environmental dynamic factors. It is understood that the environmental dynamic factors correlated with the perception performance parameters of the second node may not be included in the first information; that is, the environmental dynamic factors correlated with the perception performance parameters of the second node may be independent of the first information.

[0223] In one implementation, the first node can receive sensing capability information sent by multiple second nodes.

[0224] In one implementation, a first node receives perception capability information sent by a second node; the first node then sends perception configuration information to the second node. This allows the first node to consider the second node's perception capabilities when sending perception configuration information, enabling the first node to configure perception configuration information for the second node that is compatible with the second node's perception capabilities.

[0225] In one implementation, a first node receives perception capability information sent by a second node; the first node receives a perception request; and the first node sends perception configuration information to the second node. For example, the first node can send perception configuration information adapted to the second node's perception capability information based on the perception request. Thus, triggered by the perception request, the first node can consider the second node's perception capabilities when sending perception configuration information to the second node, enabling the first node to configure perception configuration information adapted to the second node's perception capabilities. It should be noted that this embodiment does not limit the execution order of the steps of the first node receiving the perception capability information sent by the second node and the step of the first node receiving the perception request.

[0226] In this embodiment, the first node receives the perception capability information sent by the second node. The first node can select a suitable node as the perception node by considering the perception capability information of the second node. By expanding the perception capability information of the drone scene, a more accurate interaction of perception capability of drone-related scenes can be achieved, making it easier for the first node to select a more suitable node for perception.

[0227] Optionally, the method further includes:

[0228] The first node determines the perception area level corresponding to the perception range of the second node based on the location of the second node.

[0229] In this embodiment, the first node can obtain the location information of the second node, which represents the location of the second node. This embodiment does not limit the method by which the first node obtains the location information of the second node. For example, the first node can pre-store the location information of the second node; or, the second node can report its location information to the first node; or, the first node can obtain the location information of the second node through other devices; and so on.

[0230] It should be noted that the perception range of the second node may include at least one second region. The first node may determine the perception region level of the at least one second region based on the perception request. For example, the at least one second region may be part or all of the at least one first region; or, the first node may automatically classify the perception region level of the at least one second region.

[0231] In one implementation, the second node may include a terminal. If the terminal may move within the sensing time interval, the first node may send terminal positioning-related configuration information. For example, the first node sends positioning configuration information to a cell capable of locating the terminal, obtains uplink positioning measurement reports from the configured cell, and then updates the sensing node or processes sensing data based on the terminal's configuration information. Alternatively, the first node sends positioning configuration information (such as Position Reference Signal (PRS) information) to the terminal, and the terminal performs downlink positioning measurements based on the configuration information, sending its location or a downlink positioning measurement report. Another example is that the first node configures the terminal to report satellite positioning information.

[0232] In one implementation, the second node may include a base station, and the first node may acquire the location information of the base station and determine the sensing area level corresponding to the sensing range of the base station based on the location of the base station.

[0233] In this embodiment, the first node determines the perception area level corresponding to the perception range of the second node based on the location of the second node, which facilitates the adaptation of the perception configuration for the second node and can improve the perception performance of the drone scene.

[0234] Optionally, the method further includes:

[0235] The first node determines the perception service requirements based on the first rule;

[0236] The first rule includes at least one of the following:

[0237] When the perception area level is the first preset level, the perception service requirement is: to detect flying objects and classify them.

[0238] When the perception area level is the second preset level, the perception service requirement is: to detect flying objects;

[0239] The sensing service requirement when the sensing area level is the third preset level is: detecting drones;

[0240] The flying objects include drones.

[0241] In one implementation, when the perception area level is a first preset level, the perception request carries at least one of the following:

[0242] First preset level;

[0243] The maximum number of perceived flight object types;

[0244] The number of drones that can be detected and tracked simultaneously within a preset airspace;

[0245] The number of flying objects that can be detected and identified simultaneously within a preset airspace; one example is the total number of cooperative drones and other flying objects, and another example is the total number of other flying objects excluding the aforementioned cooperative drones that need to be detected and tracked;

[0246] Environmental dynamic factors; if an environmental dynamic factor is related to more than one performance metric, one example is to define the performance metric corresponding to that environmental dynamic factor based on the protocol. For example, an environmental dynamic factor affects the confidence level, that is, the environmental dynamic factor is multiplied by the confidence level to obtain the final confidence level. Another example is that environmental factor 1 affects the confidence level and positioning estimation accuracy; environmental factor 2 affects the velocity estimation accuracy and false alarm probability. Another example is to dynamically indicate the environmental dynamic factor unit in the perception request message.

[0247] The positioning estimation accuracy, velocity estimation accuracy, confidence level, perception resolution, false alarm probability, maximum perception service latency, and refresh rate are at least one of the following:

[0248] In one implementation, when the perception area level is a second preset level, the perception request carries at least one of the following:

[0249] Second preset level;

[0250] The number of drones that can be detected simultaneously within a preset airspace.

[0251] The number of flying objects that can be detected simultaneously within a preset airspace range. One example is the total number of cooperative drones and other flying objects. Another example is the total number of other flying objects excluding the cooperative drones that need to be detected and tracked.

[0252] Environmental dynamics;

[0253] The positioning estimation accuracy, velocity estimation accuracy, confidence level, perception resolution, false alarm probability, maximum perception service latency, and refresh rate are at least one of the following:

[0254] In one implementation, when the perception area level is a third preset level, the perception request carries at least one of the following:

[0255] Third preset level;

[0256] The number of compliant drones that can be detected simultaneously within a preset airspace;

[0257] Environmental dynamics;

[0258] The positioning estimation accuracy, velocity estimation accuracy, confidence level, perception resolution, false alarm probability, maximum perception service latency, and refresh rate are at least one of the following:

[0259] In one implementation, a first node receives a sensing request; the first node determines the sensing service requirement corresponding to the sensing request based on a first rule. For example, after determining the sensing service requirement, the first node may select a second node as the sensing node based on the sensing service requirement and send sensing configuration information to the second node; alternatively, the first node may send the sensing service requirement to other nodes.

[0260] In this implementation, the first node determines the perception service requirements based on the first rule, thereby obtaining the perception service requirements through the perception area level, realizing more accurate interaction with the wireless perception performance requirements of UAV-related scenarios, and being able to select more suitable nodes for perception.

[0261] Optionally, when the perception area level is the first preset level, the perception performance parameters include: the maximum number of perceived flight object types.

[0262] Among them, flying objects can be considered as sensing targets, and the maximum number of sensing flying object types can be replaced by the maximum number of sensing target types.

[0263] It should be noted that, since the first preset level requires not only identifying flying objects but also classifying them, the number of target types to be identified and classified is a crucial parameter for wireless sensing. Optionally, it may also include target type information up to the maximum number of target types. For UAV-related scenarios, potential target types, depending on the sensing area level, include cooperative UAVs, non-cooperative UAVs, other flying objects (such as other manually piloted hot air balloons or aircraft), or birds that have not transmitted their Remote ID (or transponder signal). Cooperative UAVs can refer to UAVs capable of signal transmission and reception, such as those sending UAV IDs, sending or receiving sensing signals, sending or receiving sensing data, or sending or receiving other necessary information (such as flight control information). The sensed objects are classified based on their potential characteristics, such as speed, acceleration, and typical RCS.

[0264] In this embodiment, when the perception area level is the first preset level, the perception performance parameters include: the maximum number of perceived flight object types. By specifying the maximum number of perceived flight object types, the perception performance parameters for the UAV scenario can be expanded, enabling more accurate interaction with the wireless perception performance requirements of UAV-related scenarios and facilitating the selection of more suitable nodes for perception.

[0265] The relevant technologies do not provide perception methods for different scenarios in order to meet the performance requirements of the scenario with the lowest possible overhead.

[0266] The relevant technologies provide sensing performance parameters for 5G and quantitative requirements for different scenarios. As a crucial scenario for integrated sensing, the performance indicators for drones are currently insufficient to meet the needs of actual deployment applications and may lead to high resource overhead for 5G or 6G wireless sensing.

[0267] To more accurately reflect the wireless sensing performance requirements of drone-related scenarios, more comprehensive performance parameters and quantitative values ​​are needed to characterize their performance demands on 5G / 6G sensing services. Secondly, based on the wireless sensing performance requirements of drone-related scenarios, how can 5G / 6G networks meet the corresponding performance requirements with lower resource overhead?

[0268] This application proposes a perception method for unmanned aerial vehicle (UAV) scenarios, particularly for small, lightweight unmanned aerial vehicles in urban environments, such as those used for logistics or sightseeing. To better characterize the performance requirements of UAV scenarios for 5G or 6G wireless sensing services, at least one of the following should be included in addition to existing performance parameters: perception area level parameters; the maximum number of flying objects or UAVs to be sensed within a preset airspace; and environmental dynamic factors.

[0269] The following examples will provide further explanation:

[0270] Example 1:

[0271] This example describes a sensing method where a base station acts as a sensing node. A sensing node can refer to a node that performs sensing operations.

[0272] In this example, the first node is assumed to be a sensing function node (see Explanation 1), and the second node is a base station or radio access network node acting as a sensing node. The third node is the sensing service requester, which can be a UE, application function, or other network nodes (such as Operations Management System (OAM), base station, NEF, AMF, etc.). A sensing mode of self-transmission and self-reception between one or more base stations (e.g., gNB single-site (monostatic)) or A-transmit B-receive (gNB dual-site (bistatic)) is used to meet the UAV's sensing needs. By more accurately interacting with the wireless sensing performance requirements of the UAV-related scenario, a more suitable base station is selected for sensing, thereby meeting the scenario requirements with the lowest possible overhead.

[0273] like Figure 9 As shown, this example includes the following process:

[0274] Step (0): Optionally, the second node (base station) sends sensing-related information to the first node (sensing function node). The sensing-related information includes at least one of the following:

[0275] The base station supports a certain level of sensing area. Generally speaking, if it can support a higher level of sensing area, then it can also support a lower level of sensing area.

[0276] The base station supports sensing of a three-dimensional spatial range, such as the horizontal and vertical ranges;

[0277] When considering environmental dynamics, the achievable range of at least one of the following performance parameters of the base station after being affected by one or more environmental dynamics factors, such as the number of flying objects that can be simultaneously sensed (or described as identified, and / or classified, and / or tracked) per unit airspace, accuracy of positioning estimate, accuracy of velocity estimate, confidence level, sensing resolution, missed detection probability, false alarm probability, maximum sensing service latency, and refresh rate.

[0278] Step (1): The first node receives a perception request, which is sent by the third node. The third node may be a UE, an application function, or other network nodes (such as the Operation Management System (OAM), a base station, NEF, AMF, etc.). The perception request includes at least one of the following:

[0279] Sensing area level parameter, which is used to represent the level information of the sensing target area;

[0280] The number of drones that can be detected simultaneously within a unit of airspace;

[0281] Environmental dynamics;

[0282] The perception service type or perception type can be, for example, a moving target and a static target, where the drone-related scenario is a moving target type; or, for example, a perception service type is a service required for drone-related scenarios, such as flying object identification and classification, drone intrusion detection, or drone detection and tracking.

[0283] In addition, the perception request may also include the location information of the area corresponding to each perception area level parameter.

[0284] Optionally, the sensing request may further include at least one of the following: accuracy of positioning estimate, accuracy of velocity estimate, confidence level, sensing resolution, missed detection probability, false alarm probability, maximum sensing service latency, and refresh rate.

[0285] One example of the aforementioned perception request is: dividing the perception region into multiple perception sub-regions using a perception region and a perception region level parameter. For example, based on the aforementioned... Figure 5The sensing area is the entire rectangular region, which can be represented, for example, by the three-dimensional coordinates of its lower left corner, as well as its length, width, and vertical spatial range. This rectangular sensing area is then divided into sensing area levels 1 (area a), 2 (area b), and 3 (area c). For example, area a is a sensing area with a center point coordinate of (x, y, z), a horizontal radius of r, and a vertical spatial range of [Z1, Z2]. Area b is an annular area with a center point coordinate of (x, y, z), a horizontal radius of [r1, r2], and a vertical spatial range of [Z1, Z2]. The area outside of areas a and b within the rectangle is area c, which is a sensing area of ​​level 3. Sensing requests can provide other parameter information for each sensing area level through the sensing area level list.

[0286] The list of perception zone levels is shown below:

[0287] (A) Perception Area Level 1:

[0288] (A1) Maximum number of perceived target types: Since Level 1 sensing area requires not only identifying flying objects but also classifying them, the number of perceived target types that need to be identified and classified is an important parameter for wireless sensing. Optionally, it may also include information on the perceived target types under this maximum number of perceived target types. For UAV-related scenarios, depending on the sensing area level, potential perceived target types include cooperative UAVs, non-cooperative UAVs, other flying objects (such as other manually piloted hot air balloons or aircraft), or birds that have not transmitted their Remote ID (or transponder signal). Cooperative UAVs can refer to UAVs capable of signal transmission and reception, such as UAVs that send UAV IDs, send or receive sensing signals, send or receive sensing data, and send or receive other necessary information (such as flight control information). The perceived objects are classified according to their possible characteristics, such as motion speed, motion acceleration, and typical RCS.

[0289] (A2) The number of drones that can be detected and tracked simultaneously within a unit of airspace.

[0290] (A3) The number of flying objects that can be detected and identified simultaneously within a unit of airspace. One example is the total number of cooperative drones and other flying objects. Another example is the total number of other flying objects excluding the cooperative drones that need to be detected and tracked.

[0291] (A4) Environmental dynamic factors: If an environmental dynamic factor is related to more than one performance metric, one example is to define the performance metric corresponding to that environmental dynamic factor based on the protocol. For example, an environmental dynamic factor affects the confidence level; that is, the environmental dynamic factor is multiplied by the confidence level to obtain the final confidence level. Another example is that environmental factor 1 affects the confidence level and positioning estimation accuracy; environmental factor 2 affects the speed estimation accuracy and false alarm probability. Another example is to dynamically indicate the environmental dynamic factor unit in the perception request message.

[0292] (A5) At least one of the following: accuracy of positioning estimate, accuracy of velocity estimate, confidence level, sensing resolution, missed detection probability, false alarm probability, maximum sensing service latency, and refresh rate.

[0293] (B) Perception Area Level 2:

[0294] (B1) The number of drones that can be detected simultaneously within a unit of airspace.

[0295] (B2) The number of flying objects that can be detected simultaneously within a unit of airspace. One example is the total number of cooperative drones and other flying objects. Another example is the total number of other flying objects excluding the cooperative drones that need to be detected and tracked.

[0296] (B3) Environmental dynamic factors: If an environmental dynamic factor is related to more than one performance index, one example is that the performance index corresponding to the environmental dynamic factor is defined based on the protocol. For example, the environmental dynamic factor affects the confidence score, that is, the environmental dynamic factor is multiplied by the confidence score to obtain the final confidence score. Another example is that environmental factor 1 affects the confidence score and the positioning estimation accuracy; environmental factor 2 affects the velocity estimation accuracy and the false alarm probability.

[0297] (B4) At least one of the following: accuracy of positioning estimate, accuracy of velocity estimate, confidence level, sensing resolution, missed detection probability, false alarm probability, maximum sensing service latency, and refresh rate.

[0298] (C) Perception Area Level 3:

[0299] (C1) The number of compliant drones that can be detected simultaneously within a unit of airspace.

[0300] (C2) Environmental dynamic factors: If an environmental dynamic factor is related to more than one performance index, one example is that the performance index corresponding to the environmental dynamic factor is defined based on the protocol. For example, the environmental dynamic factor affects the confidence score, that is, the environmental dynamic factor is multiplied by the confidence score to obtain the final confidence score. Another example is that environmental factor 1 affects the confidence score and the positioning estimation accuracy; environmental factor 2 affects the velocity estimation accuracy and the false alarm probability.

[0301] (C3) At least one of the following: accuracy of positioning estimate, accuracy of velocity estimate, confidence level, sensing resolution, missed detection probability, false alarm probability, maximum sensing service latency, and refresh rate.

[0302] Step (2): The first node selects a suitable base station as a sensing node based on the received sensing request information and / or sensing-related information sent by the base station, and maps the sensing area to the selected base station.

[0303] For example, the first node sends sensing configuration information to the second node. The sensing configuration information includes a sensing mode, a sensing area level, and / or sensing performance parameters at that sensing area level. The sensing configuration information may also include location information (e.g., coordinates) for different sensing areas. The sensing mode can be a self-transmitting and self-receiving mode by the base station, and / or a mode where base station A transmits or receives sensing signals from base station B. The sensing performance parameters at that sensing area level include at least one of the following: the number of flying objects to be simultaneously sensed per unit airspace, characteristic information of the sensed targets (e.g., distance range, velocity range, acceleration range, typical RCS, etc.), distance / delay estimation accuracy, Doppler / velocity estimation accuracy, angle estimation accuracy, confidence level, sensing resolution, false alarm probability, false alarm probability, or sensing measurement-related configuration information (see Explanation 2).

[0304] Step (3): The second node receives the sensing configuration information and performs sensing signal transmission and / or reception.

[0305] Step (4): If the second node receives and measures the sensing signal, then the second node sends a message to report the sensing data (see Explanation 3).

[0306] For drone scenarios, if the base station does not perform potential scattering point filtering (e.g., Constant False Alarm Rate Detector (CFAR), then an example of sensing data is Doppler, time delay, and time delay Doppler domain signal strength. If the base station performs potential scattering point filtering, then the sensing data can be the point cloud information of the obtained scattering points.

[0307] If the base station corresponds to more than one sensing area level, then one example is that the sensing data is reported with the sensing area level as the dimension of the sensing data, because the sensing measurement quantities corresponding to different sensing area levels may be different, and the amount of sensing data may also be different.

[0308] Step (5): The first node receives sensing data and / or calculates sensing results, and / or interacts with other network nodes to obtain sensing results. The first node sends a sensing response message to the third node, the sensing response message including sensing service information requested by the third node, or rejection information, or service unavailability information.

[0309] If the perceived response message indicates rejection or service unavailability, it may optionally include a reason for rejection or service unavailability. For example, available resources may not meet the demand, or perceived performance may not meet the demand.

[0310] Example 2:

[0311] This example describes a sensing method where the UE acts as a sensing node.

[0312] In this example, the first node is assumed to be a sensing function node (see Explanation 1) and / or a base station, and the second node is a UE acting as a sensing node. The third node is the sensing service requester, which can be a UE, an application function, or other network nodes (such as Operations Management System (OAM), base station, NEF, AMF, etc.). A sensing mode of self-transmission and self-reception (e.g., UE monostatic) or A-transmit-B-receive (UE bistatic) between one or more UEs is used to meet the sensing needs of the drone. By more accurately interacting with the wireless sensing performance requirements of the drone-related scenario, a more suitable UE is selected for sensing, thereby meeting the scenario requirements with the lowest possible overhead. It should be noted that the UE here can be a drone with 5G and / or 6G signal transmission and reception capabilities, or a terminal such as Customer Premise Equipment (CPE) deployed in a specific location, or a passenger's mobile phone or wearable device in an electric vertical take-off and landing (eVTOL) aircraft.

[0313] like Figure 10 As shown, this example includes the following process:

[0314] Step (0): Optionally, the second node (UE) sends sensing capability information to the first node (sensing function node and / or base station). The sensing capability information includes at least one of the following:

[0315] Whether airspace awareness is supported can be indicated in two ways: one is by indicating whether awareness is supported within a vertical range of [A,B], such as airspace below 300 meters or 600 meters; the other is by indicating whether airspace awareness is supported based on the airspace range defined by the standard.

[0316] Supported perception area levels: Generally speaking, if a higher perception area level can be supported, then a lower perception area level can also be supported.

[0317] Support for the perceived three-dimensional spatial range, since the UE may be mobile, one example can be represented by the UE's position and the range in the horizontal and vertical directions;

[0318] When considering environmental dynamics, the achievable range of at least one of the following performance parameters of the UE after being affected by one or more environmental dynamics is: the number of flying objects that can be simultaneously sensed (or described as identified, and / or classified, and / or tracked) per unit airspace, the accuracy of positioning estimate, the accuracy of velocity estimate, the confidence level, the sensing resolution, the missed detection probability, the false alarm probability, the maximum sensing service latency, and the refresh rate.

[0319] Step (1): Same as step (1) in Example 1, and will not be repeated here.

[0320] An example of a perception area hierarchy is based on Figure 4 The perception request includes perception area level 1, which corresponds to the take-off and landing area, and perception area level 2, which corresponds to the flight path area.

[0321] Another example of a perception area level is indicated by a comprehensive parameter F based on route safety, characteristics of the perception coverage area, or the resource allocation method of perception services. For example, the perception area level in a perception service request can indicate the allocation method of perception resources.

[0322] Step (2): The first node selects a suitable UE as a sensing node based on the received sensing request information, UE capability information, UE location information and / or UE authorization information (such as user consent).

[0323] Based on the UE's location, the sensing area level corresponding to the UE's sensing range is determined. The first node sends sensing configuration information to the second node. The sensing configuration information includes the sensing mode, the sensing area level, and / or the sensing performance parameters under that sensing area level. The sensing configuration information may also include location information (e.g., coordinates) for different sensing areas. The sensing mode can be a UE self-transmitting and self-receiving mode, and / or a mode where UE A transmits or UE B receives sensing signals from the base station. The sensing performance parameters under that sensing area level include at least one of the following: the number of flying objects to be simultaneously sensed per unit airspace, the characteristic information of the sensed targets (e.g., distance range, velocity range, acceleration range, typical RCS, etc.), distance / delay estimation accuracy, Doppler / velocity estimation accuracy, angle estimation accuracy, confidence level, sensing resolution, missed detection probability, false alarm probability, or sensing measurement related configuration information (see Explanation 2).

[0324] Optionally, if the UE might move within the sensing time interval, the first node sends UE positioning-related configuration information. For example, the first node sends positioning configuration information to the cells capable of locating the UE, obtains uplink positioning measurement reports from the configured cells, and then updates the sensing nodes or processes sensing data based on the UE's configuration information. Alternatively, the first node sends positioning configuration information (such as Positioning Reference Signal (PRS) information) to the UE, and the UE performs downlink positioning measurements based on the configuration information, sending its location or a downlink positioning measurement report. Another example is configuring the UE to report its satellite positioning location information.

[0325] Step (3): The second node receives the sensing configuration information and performs sensing signal transmission and / or reception.

[0326] Step (4): If the second node receives and measures the sensing signal, then the second node sends a message to report the sensing data (see Explanation 3).

[0327] For drone scenarios, if the UE does not perform potential scattering point filtering (e.g., Constant False Alarm Rate Detector (CFAR), then an example of sensing data is Doppler, time delay, and time delay Doppler domain signal strength. If the UE performs potential scattering point filtering, then the sensing data can be the point cloud information of the obtained scattering points.

[0328] If the UE corresponds to more than one perception area level, one example is that the perception data is reported with the perception area level as the dimension of the perception data, because the perception measurement quantities corresponding to different perception area levels may be different, and the amount of perception data may also be different.

[0329] Step (5): Same as step (5) in Example 1, and will not be repeated here.

[0330] Example 3:

[0331] This example describes a sensing method where the base station and the UE act as sensing nodes.

[0332] The two examples mentioned above use a base station and a UE as sensing nodes, respectively. This example assumes that both the base station (in this case, the base station acts as a second node) and the UE are sensing nodes simultaneously. When both the base station and the UE are sensing nodes, one approach is to combine examples one and two, while this example provides an alternative method. In this example, the sensing function node provides information to assist the base station in selecting a suitable UE. The base station then determines whether to report the UE's sensing data based on the UE's sensing measurement reporting information, or to fuse the UE's sensing data before reporting it. By more accurately interacting with the wireless sensing performance requirements of the UAV-related scenario, a more suitable base station and UE are selected for sensing, thereby meeting the scenario requirements with the lowest possible overhead.

[0333] like Figure 11 As shown, this example includes the following process:

[0334] Step (0):

[0335] Step (0a): Same as step (0) in Example 1, and will not be repeated here.

[0336] Step (0b): Same as step (0) in Example 2, and will not be repeated here.

[0337] Step (1): Same as step (1) in Example 1, and will not be repeated here.

[0338] Step (2): The first node selects a suitable base station and UE as a sensing node based on the received sensing request information, base station sensing-related information, UE capability information, UE location information and / or UE authorization information (such as user consent).

[0339] Regarding UE selection, one approach is for the first node to select a base station as the sensing node and then select a UE whose serving cell is that base station as the sensing node. Another approach is for the first node to select a potentially suitable UE (e.g., based on UE authorization information) and then send the candidate UE information to the serving base station of that UE. Finally, the serving base station determines whether the candidate UE needs to send or receive sensing signals or report sensing data. The UE information in step (2) includes information on the UEs selected as sensing nodes and / or candidate UE information.

[0340] Based on the location of the base station or UE, the sensing area level corresponding to the sensing range of the base station or UE is determined. The first node sends sensing configuration information to the second node. The sensing configuration information includes the sensing mode, the sensing area level, and / or the sensing performance parameters under the sensing area level. The sensing configuration information may also include the location information (e.g., coordinates) of different sensing areas. The sensing mode can be referred to the description of the sensing mode above. The sensing performance parameters under the sensing area level include at least one of the following: the number of flying objects to be sensed simultaneously per unit airspace, the characteristic information of the sensed target (e.g., distance range, motion speed range, motion acceleration range, typical RCS, etc.), distance / delay estimation accuracy, Doppler / velocity estimation accuracy, angle estimation accuracy, confidence level, sensing resolution, missed detection probability, false alarm probability, or sensing measurement related configuration information (see Explanation 2).

[0341] Optionally, if the UE might move within the sensing time interval, the first node sends UE positioning-related configuration information. For example, the first node sends positioning configuration information to the cells capable of locating the UE, obtains uplink positioning measurement reports from the configured cells, and then updates the sensing nodes or processes sensing data based on the UE's configuration information. Alternatively, the first node sends positioning configuration information (such as Position Reference Signal (PRS) information) to the UE, and the UE performs downlink positioning measurements based on the configuration information, sending its location or a downlink positioning measurement report. Another example is that the first node configures the UE to report its satellite positioning location information.

[0342] Step (3): The second node receives the sensing configuration information and performs sensing signal transmission and / or reception.

[0343] Step (4): If the second node receives UE information in the perception configuration information, and the first node determines that the UE is a perception node, the second node sends perception measurement related configuration information to the UE.

[0344] Once the first node identifies the UE as a candidate sensing node, the second node determines whether a candidate UE is needed based on sensing configuration information and other information. If a candidate UE is needed, then the sensing measurement-related configuration information is sent to the UE.

[0345] Step (5): The UE receives the relevant configuration information for sensing measurement and performs sensing signal transmission and / or reception. If the UE performs sensing measurement, then the UE sends a message to report sensing data.

[0346] Step (6): The second node receives the perception data reported by the UE.

[0347] The second node determines whether to send the perceived data to the first functional node based on the quality of the UE's perceived data, such as whether the perceived signal-to-interference ratio meets a threshold. Alternatively, if the second node performs perception measurements, it determines whether the perceived data reported by the UE is needed based on the quality of its own perceived data. If needed, one approach is to report both the second node's and the UE's perceived data; another is for the second node to fuse the UE's reported perceived data before reporting it. One example of this fusion process is that the second node processes potential scattering point information (e.g., using Constant False Alarm Rate Detector (CFAR) to obtain point cloud information) based on its own perceived data and the perceived data of one or more UEs. Therefore, the UE perceived data included in the reported perceived data can be either the UE's reported perceived data or the perceived data processed by the second node.

[0348] Step (7): Same as step (5) in Example 1, and will not be repeated here.

[0349] This application provides an extension of perception performance parameters for drone scenarios, and offers various definitions and calculation methods for these extended parameters. By extending the perception performance parameters for drone scenarios, the interaction with the wireless perception performance requirements of drone-related scenarios can be more accurate, allowing for the selection of more suitable base stations and / or terminals for perception. This makes the perception service requirements of drone-related scenarios more closely matched with the selection of wireless network nodes or resource allocation, and is more conducive to meeting the needs of the drone scenario with the lowest possible overhead.

[0350] See Figure 12 , Figure 12 This is a flowchart of a perception processing method provided in an embodiment of this application, such as... Figure 12 As shown, the perception processing method includes the following steps:

[0351] Step 21: The second node receives the perception configuration information sent by the first node. The perception configuration information includes at least one of the following for at least one second region: perception region level, perception performance parameters;

[0352] The perception performance parameters are related to the perception area level.

[0353] Optionally, the perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace;

[0354] And / or,

[0355] The sensing performance parameters are associated with environmental dynamic factors.

[0356] Optionally, the perception area level is determined based on at least one of the following:

[0357] The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

[0358] Optionally, the method further includes:

[0359] The second node sends perception capability information to the first node;

[0360] The perception capability information includes at least one of the following:

[0361] Indicates whether airspace awareness information is supported;

[0362] The second node supports the following perception area levels;

[0363] The sensing range supported by the second node;

[0364] The perception performance parameters of the second node are related to environmental dynamic factors.

[0365] Optionally, the method further includes:

[0366] The second node determines the perception service requirements based on the first rule;

[0367] The first rule includes at least one of the following:

[0368] When the perception area level is the first preset level, the perception service requirement is: to detect flying objects and classify them.

[0369] When the perception area level is the second preset level, the perception service requirement is: to detect flying objects;

[0370] The sensing service requirement when the sensing area level is the third preset level is: detecting drones;

[0371] The flying objects include drones.

[0372] Optionally, if the sensing configuration information includes relevant information about the terminal, the method further includes:

[0373] The second node sends sensing and measurement configuration information to the terminal;

[0374] The second node receives the sensing data sent by the terminal;

[0375] The sensing measurement configuration information includes at least one of the following for at least one third region: sensing region level and sensing performance parameters.

[0376] It should be noted that this embodiment is as a comparison with... Figure 3 The implementation method of the second node in the illustrated embodiment can be found in the following examples. Figure 3 The related descriptions of the embodiments shown are not repeated here to avoid repetition.

[0377] See Figure 13 , Figure 13 This is a flowchart of a perception processing method provided in an embodiment of this application, such as... Figure 13 As shown, the perception processing method includes the following steps:

[0378] Step 31: The third node sends a perception request to the first node. The perception request carries first information, which includes at least one of the following for at least one first region: perception region level, environmental dynamic factor, and perception performance parameter.

[0379] The perception performance parameters are related to the perception area level.

[0380] Optionally, the perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace;

[0381] And / or,

[0382] The sensing performance parameters are associated with environmental dynamic factors.

[0383] Optionally, the perception area level is determined based on at least one of the following:

[0384] The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

[0385] It should be noted that this embodiment is as a comparison with... Figure 3 The implementation method of the third node in the illustrated embodiment can be found in the following examples. Figure 3The related descriptions of the embodiments shown are not repeated here to avoid repetition.

[0386] The sensing processing method provided in this application can be executed by a sensing processing device. This application uses the example of a sensing processing device executing the sensing processing method to illustrate the sensing processing device provided in this application.

[0387] This application provides a sensing processing device. As an example, the sensing processing device may be a communication device or a component within a communication device, such as a chip. The communication device may be a terminal, a network-side device, or a server, etc. Exemplarily, the terminal may include, but is not limited to, the type of terminal 101 listed above, and the network-side device may include, but is not limited to, the type of network-side device 102 listed above. This application does not impose specific limitations.

[0388] The sensing processing device includes a receiving module, a transmitting module, and a processing module. These modules can be implemented in software or hardware. When implemented in hardware, the processing module can be implemented by a processor. For example, the processor can include general-purpose processors, special-purpose processors, etc., such as central processing units (CPUs), microprocessors, digital signal processors (DSPs), artificial intelligence (AI) processors, graphics processing units (GPUs), application-specific integrated circuits (ASICs), network processors (NPs), field-programmable gate arrays (FPGAs), or other programmable logic devices, gate circuits, transistors, discrete hardware components, etc. The receiving and transmitting modules can be implemented by a communication interface, which can include one or more of the following: transceivers, pins, circuits, buses, radio frequency units, etc.

[0389] For details, see Figure 14 When the sensing processing device is a first node or a component within the first node, the sensing processing device 200 includes:

[0390] Processing module 201 executes the first operation;

[0391] The execution of the first operation includes at least one of the following:

[0392] Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter;

[0393] Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters;

[0394] The perception performance parameters are related to the perception area level.

[0395] Optionally, the perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace;

[0396] And / or,

[0397] The sensing performance parameters are associated with environmental dynamic factors.

[0398] Optionally, the perception area level is determined based on at least one of the following:

[0399] The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

[0400] Optionally, the maximum number of drones sensed within the preset airspace is determined based on at least one of the following:

[0401] The zero-altitude plane and / or altitude reference plane within the flight path area; distance requirements for the horizontal and vertical space protection zones of the UAV.

[0402] Optionally, the receiving module of the device is used for:

[0403] Receive perception capability information sent by the second node;

[0404] The perception capability information includes at least one of the following:

[0405] Indicates whether airspace awareness information is supported;

[0406] The second node supports the following perception area levels;

[0407] The sensing range supported by the second node;

[0408] The perception performance parameters of the second node are related to environmental dynamic factors.

[0409] Optionally, the processing module is further configured to:

[0410] The perception area level corresponding to the perception range of the second node is determined based on the location of the second node.

[0411] Optionally, the processing module is further configured to:

[0412] Determine the need for sensing services based on the first rule;

[0413] The first rule includes at least one of the following:

[0414] When the perception area level is the first preset level, the perception service requirement is: to detect flying objects and classify them.

[0415] When the perception area level is the second preset level, the perception service requirement is: to detect flying objects;

[0416] The sensing service requirement when the sensing area level is the third preset level is: detecting drones;

[0417] The flying objects include drones.

[0418] Optionally, when the perception area level is the first preset level, the perception performance parameters include: the maximum number of perceived flight object types.

[0419] See Figure 15 When the sensing processing device is a second node or a component within a second node, the sensing processing device 300 includes:

[0420] The receiving module 301 is used to receive the perception configuration information sent by the first node. The perception configuration information includes at least one of the following for at least one second region: perception region level and perception performance parameters.

[0421] The perception performance parameters are related to the perception area level.

[0422] Optionally, the perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace;

[0423] And / or,

[0424] The sensing performance parameters are associated with environmental dynamic factors.

[0425] Optionally, the perception area level is determined based on at least one of the following:

[0426] The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

[0427] Optionally, the transmitting module of the device is used for:

[0428] Send perception capability information to the first node;

[0429] The perception capability information includes at least one of the following:

[0430] Indicates whether airspace awareness information is supported;

[0431] The second node supports the following perception area levels;

[0432] The sensing range supported by the second node;

[0433] The perception performance parameters of the second node are related to environmental dynamic factors.

[0434] Optionally, the processing module of the device is used for:

[0435] Determine the need for sensing services based on the first rule;

[0436] The first rule includes at least one of the following:

[0437] When the perception area level is the first preset level, the perception service requirement is: to detect flying objects and classify them.

[0438] When the perception area level is the second preset level, the perception service requirement is: to detect flying objects;

[0439] The sensing service requirement when the sensing area level is the third preset level is: detecting drones;

[0440] The flying objects include drones.

[0441] Optionally, when the sensing configuration information includes relevant information about the terminal, the sending module of the device is configured to: send the sensing measurement configuration information to the terminal;

[0442] The receiving module of the device is used to: receive sensing data sent by the terminal;

[0443] The sensing measurement configuration information includes at least one of the following for at least one third region: sensing region level and sensing performance parameters.

[0444] See Figure 16 When the sensing processing device is a third node or a component within a third node, the sensing processing device 400 includes:

[0445] Sending module 401 is used to send a sensing request to the first node. The sensing request carries first information, which includes at least one of the following for at least one first region: sensing region level, environmental dynamic factor, and sensing performance parameters.

[0446] The perception performance parameters are related to the perception area level.

[0447] Optionally, the perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace;

[0448] And / or,

[0449] The sensing performance parameters are associated with environmental dynamic factors.

[0450] Optionally, the perception area level is determined based on at least one of the following:

[0451] The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

[0452] The sensing processing device provided in this application embodiment can achieve... Figure 3 , Figure 12 and Figure 13 The various processes implemented in the method embodiments achieve the same technical effect, and will not be described again here to avoid repetition.

[0453] like Figure 17 As shown, this application embodiment also provides a communication device 500, including a processor 501 and a memory 502. The memory 502 stores a program or instructions that can run on the processor 501. For example, when the communication device 500 is a first node, when the program or instructions are executed by the processor 501, they implement the various steps of the perception processing method embodiment applied to the first node described above, and achieve the same technical effect. When the communication device 500 is a second node, when the program or instructions are executed by the processor 501, they implement the various steps of the perception processing method embodiment applied to the second node described above, and achieve the same technical effect. To avoid repetition, this will not be repeated here. When the communication device 500 is a third node, when the program or instructions are executed by the processor 501, they implement the various steps of the perception processing method embodiment applied to the third node described above, and achieve the same technical effect. To avoid repetition, this will not be repeated here.

[0454] This application embodiment also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement, for example... Figure 12 or Figure 13The steps in the method embodiment shown are illustrated. This terminal embodiment corresponds to the above-described terminal-side method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this terminal embodiment and achieve the same technical effect. The terminal can be... Figure 14 The sensor processing device shown. Specifically, Figure 18 A schematic diagram of the hardware structure of a terminal to implement an embodiment of this application.

[0455] The terminal 600 includes, but is not limited to, at least some of the following components: radio frequency unit 601, network module 602, audio output unit 603, input unit 604, sensor 605, display unit 606, user input unit 607, interface unit 608, memory 609, and processor 610.

[0456] Those skilled in the art will understand that the terminal 600 may also include a power supply (such as a battery) for supplying power to various components. The power supply may be logically connected to the processor 610 through a power management system, thereby enabling functions such as managing charging, discharging, and power consumption through the power management system. Figure 18 The terminal structure shown does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0457] It should be understood that, in this embodiment, the input unit 604 may include a graphics processor 6041 and a microphone 6042. The graphics processor 6041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 606 may include a display panel 6061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 607 includes at least one of a touch panel 6071 and other input devices 6072. The touch panel 6071 is also called a touch screen. The touch panel 6071 may include two parts: a touch detection device and a touch controller. Other input devices 6072 may include, but are not limited to, a physical keyboard, function keys (such as volume control buttons, power buttons, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.

[0458] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 601 can transmit it to the processor 610 for processing; in addition, the radio frequency unit 601 can send uplink data to the network-side device. Typically, the radio frequency unit 601 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0459] The memory 609 can be used to store software programs or instructions, as well as various data. The memory 609 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 609 may include volatile memory or non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous linked dynamic random access memory (Synchlink DRAM, SLDRAM), and direct memory bus RAM (DRRAM). The memory 609 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0460] Processor 610 may include one or more processing units; optionally, processor 610 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 610.

[0461] In the case where the terminal is the first node:

[0462] Processor 610 is used for:

[0463] Perform the first operation;

[0464] The execution of the first operation includes at least one of the following:

[0465] Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter;

[0466] Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters;

[0467] The perception performance parameters are related to the perception area level.

[0468] In the case where the terminal is the second node:

[0469] RF unit 601 is used for:

[0470] Receive perception configuration information sent by the first node, wherein the perception configuration information includes at least one of the following for at least one second region: perception region level, perception performance parameters;

[0471] The perception performance parameters are related to the perception area level.

[0472] In the case where the terminal is a third node:

[0473] RF unit 601 is used for:

[0474] A perception request is sent to the first node, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, and perception performance parameter;

[0475] The perception performance parameters are related to the perception area level.

[0476] It is understood that the implementation process of each implementation method mentioned in this embodiment can be referred to the method embodiment. Figure 12 or Figure 13 The relevant descriptions and the achievement of the same or corresponding technical effects will not be repeated here to avoid duplication.

[0477] This application embodiment also provides a network-side device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement, for example... Figure 3 , Figure 12 or Figure 13 The steps of the method embodiment shown are illustrated. This network-side device embodiment corresponds to the above-described network-side device method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this network-side device embodiment and can achieve the same technical effect.

[0478] Specifically, embodiments of this application also provide a network-side device, which can be... Figure 14 , Figure 15 or Figure 16 The sensor processing device shown. (As shown) Figure 19 As shown, the network-side device 700 includes: an antenna 701, a radio frequency (RF) device 702, a baseband device 703, a processor 704, and a memory 705. The antenna 701 is connected to the RF device 702. In the uplink direction, the RF device 702 receives information through the antenna 701 and transmits the received information to the baseband device 703 for processing. In the downlink direction, the baseband device 703 processes the information to be transmitted and sends it to the RF device 702. The RF device 702 processes the received information and transmits it through the antenna 701.

[0479] The method executed by the network-side device in the above embodiments can be implemented in the baseband device 703, which includes a baseband processor.

[0480] The baseband device 703 may, for example, include at least one baseband board on which multiple chips are disposed, such as... Figure 19 As shown, one of the chips is, for example, a baseband processor, which is connected to the memory 705 via a bus interface to call the program or instructions in the memory 705 to execute the network-side device operations shown in the above method embodiments.

[0481] The network-side device may also include a network interface 706, such as a Common Public Radio Interface (CPRI).

[0482] In the case where the network-side device is the first node:

[0483] Processor 704 is used for:

[0484] Perform the first operation;

[0485] The execution of the first operation includes at least one of the following:

[0486] Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter;

[0487] Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters;

[0488] The perception performance parameters are related to the perception area level.

[0489] In the case where the network-side device is the second node:

[0490] Radio frequency device 702 is used for:

[0491] Receive perception configuration information sent by the first node, wherein the perception configuration information includes at least one of the following for at least one second region: perception region level, perception performance parameters;

[0492] The perception performance parameters are related to the perception area level.

[0493] In the case where the network-side device is a third node:

[0494] Radio frequency device 702 is used for:

[0495] A perception request is sent to the first node, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, and perception performance parameter;

[0496] The perception performance parameters are related to the perception area level.

[0497] Furthermore, the network-side device 700 in this application embodiment also includes: a program or instructions stored in a memory 705 and executable on a processor 704, wherein the processor 704 calls the program or instructions in the memory 705 to execute. Figure 14 , Figure 15 or Figure 16 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0498] Specifically, embodiments of this application also provide a network-side device. For example... Figure 20 As shown, the network-side device 800 includes: a processor 801, a network interface 802, and a memory 803. This network-side device can be... Figure 14 , Figure 15 or Figure 16 The sensing processing device shown. The network interface 802 is, for example, a common public radio interface (CPRI).

[0499] In the case where the network-side device is the first node:

[0500] Processor 801 is used for:

[0501] Perform the first operation;

[0502] The execution of the first operation includes at least one of the following:

[0503] Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter;

[0504] Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters;

[0505] The perception performance parameters are related to the perception area level.

[0506] In the case where the network-side device is a third node:

[0507] Network interface 802 is used for:

[0508] A perception request is sent to the first node, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, and perception performance parameter;

[0509] The perception performance parameters are related to the perception area level.

[0510] Furthermore, the network-side device 800 in this embodiment of the application also includes: a program or instructions stored in a memory 803 and executable on a processor 801, wherein the processor 801 calls the program or instructions in the memory 803 to execute. Figure 14 , Figure 15 or Figure 16 The methods executed by each module shown achieve the same technical effect, and to avoid repetition, they will not be described in detail here.

[0511] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described perception processing method embodiments and achieve the same technical effect. To avoid repetition, they will not be described again here.

[0512] The processor mentioned above is either the processor in the terminal described in the above embodiments or the processor in the network-side device. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk. In some examples, the readable storage medium may be a non-transient readable storage medium.

[0513] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described perception processing method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0514] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0515] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described perception processing method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0516] This application also provides a wireless communication system, including a first node, a second node, and a third node. The first node can be used to execute the steps of the sensing processing method applied to the first node as described above, the second node can be used to execute the steps of the sensing processing method applied to the second node as described above, and the third node can be used to execute the steps of the sensing processing method applied to the third node as described above.

[0517] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0518] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.), and the computer software product includes several instructions to cause the terminal or network-side device to execute the methods described in the various embodiments of this application.

[0519] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

1. A sensing processing method, characterized in that, include: The first node executes the first operation; The execution of the first operation includes at least one of the following: Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter; Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters; The perception performance parameters are related to the perception area level.

2. The method according to claim 1, characterized in that, The perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace. And / or, The sensing performance parameters are associated with environmental dynamic factors.

3. The method according to claim 1 or 2, characterized in that, The level of the sensing area is determined based on at least one of the following: The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

4. The method according to claim 2, characterized in that, The maximum number of drones sensed within the preset airspace is determined based on at least one of the following: The zero-altitude plane and / or altitude reference plane within the flight path area; distance requirements for the horizontal and vertical space protection zones of the UAV.

5. The method according to any one of claims 1-4, characterized in that, The method further includes: The first node determines the perception area level corresponding to the perception range of the second node based on the location of the second node.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: The first node receives the perception capability information sent by the second node; The perception capability information includes at least one of the following: Indicates whether spatial awareness information is supported; The second node supports the following perception area levels; The sensing range supported by the second node; The perception performance parameters of the second node are related to environmental dynamic factors.

7. The method according to any one of claims 1-5, characterized in that, The method further includes: The first node determines the perception service requirements based on the first rule; The first rule includes at least one of the following: When the perception area level is the first preset level, the perception service requirement is: to detect flying objects and classify them. When the perception area level is the second preset level, the perception service requirement is: to detect flying objects; The sensing service requirement when the sensing area level is the third preset level is: detecting drones; The flying objects include drones.

8. The method according to claim 7, characterized in that, When the perception area level is the first preset level, the perception performance parameters include: the maximum number of perceived flight object types.

9. A sensing processing method, characterized in that, include: The second node receives the perception configuration information sent by the first node. The perception configuration information includes at least one of the following for at least one second region: perception region level, perception performance parameters; The perception performance parameters are related to the perception area level.

10. The method according to claim 9, characterized in that, The perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace. And / or, The sensing performance parameters are associated with environmental dynamic factors.

11. The method according to claim 9 or 10, characterized in that, The level of the sensing area is determined based on at least one of the following: The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

12. The method according to any one of claims 9-11, characterized in that, The method further includes: The second node sends perception capability information to the first node; The perception capability information includes at least one of the following: Indicates whether spatial awareness information is supported; The second node supports the following perception area levels; The sensing range supported by the second node; The perception performance parameters of the second node are related to environmental dynamic factors.

13. The method according to any one of claims 9-11, characterized in that, The method further includes: The second node determines the perception service requirements based on the first rule; The first rule includes at least one of the following: When the perception area level is the first preset level, the perception service requirement is: to detect flying objects and classify them. When the perception area level is the second preset level, the perception service requirement is: to detect flying objects; The sensing service requirement when the sensing area level is the third preset level is: detecting drones; The flying objects include drones.

14. The method according to any one of claims 9-13, characterized in that, When the perception configuration information includes information related to the terminal, the method further includes: The second node sends sensing and measurement configuration information to the terminal; The second node receives the sensing data sent by the terminal; The sensing measurement configuration information includes at least one of the following for at least one third region: sensing region level and sensing performance parameters.

15. A sensing processing method, characterized in that, include: The third node sends a perception request to the first node. The perception request carries first information, which includes at least one of the following for at least one first region: perception region level, environmental dynamic factor, and perception performance parameter. The perception performance parameters are related to the perception area level.

16. The method according to claim 15, characterized in that, The perception performance parameters include at least one of the following: the maximum number of flying objects perceived within a preset airspace, and the maximum number of drones perceived within a preset airspace. And / or, The sensing performance parameters are associated with environmental dynamic factors.

17. The method according to claim 15 or 16, characterized in that, The level of the sensing area is determined based on at least one of the following: The flight phase of the drone; perception service requirements; route safety indicators; characteristics of the perception coverage area; and resource information for perception services.

18. A sensing processing device, characterized in that, include: The processing module executes the first operation; The execution of the first operation includes at least one of the following: Receive a perception request, the perception request carrying first information, the first information including at least one of the following for at least one first region: perception region level, environmental dynamic factor, perception performance parameter; Send perception configuration information to the second node, the perception configuration information including at least one of the following for at least one second region: perception region level, perception performance parameters; The perception performance parameters are related to the perception area level.

19. The apparatus according to claim 18, characterized in that, The receiving module of the device is used for: Receive perception capability information sent by the second node; The perception capability information includes at least one of the following: Indicates whether spatial awareness information is supported; The second node supports the following perception area levels; The sensing range supported by the second node; The perception performance parameters of the second node are related to environmental dynamic factors.

20. A sensing processing device, characterized in that, include: The receiving module is used to receive the perception configuration information sent by the first node. The perception configuration information includes at least one of the following for at least one second region: perception region level and perception performance parameters. The perception performance parameters are related to the perception area level.

21. The apparatus according to claim 20, characterized in that, The transmitting module of the device is used for: Send perception capability information to the first node; The perception capability information includes at least one of the following: Indicates whether spatial awareness information is supported; The second node supports the level of perception area; The sensing range supported by the second node; The perception performance parameters of the second node are related to environmental dynamic factors.

22. A sensing processing device, characterized in that, include: The sending module is used to send a perception request to the first node. The perception request carries first information, which includes at least one of the following for at least one first region: perception region level, environmental dynamic factor, and perception performance parameter. The perception performance parameters are related to the perception area level.

23. A node, characterized in that, The method includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the perception processing method as described in any one of claims 1 to 8, or to implement the steps of the perception processing method as described in any one of claims 9 to 14, or to implement the steps of the perception processing method as described in any one of claims 15 to 17.

24. A readable storage medium, characterized in that, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the perception processing method as described in any one of claims 1 to 8, or implement the steps of the perception processing method as described in any one of claims 9 to 14, or implement the steps of the perception processing method as described in any one of claims 15 to 17.

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