A communication method and related device

Abstract

The embodiment of the application provides a communication method, in which a first device sends a motion parameter to a second device after obtaining the motion parameter of the first device, and the motion parameter is used for coherent processing of an echo signal corresponding to a sensing signal. That is, the motion parameter of the first device is exchanged between the first device and the second device. Compared with a manner in which the second device estimates the motion parameter of the first device, the reporting manner of the first device can improve the accuracy of the second device in obtaining the motion parameter of the first device, and thus can improve the sensing effect and the coherent processing effect.

Description

Technical Field

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

[0002] In recent years, wireless sensing technology has attracted widespread attention from the academic community. The main function of a wireless communication system is to facilitate information exchange between transceivers. Its basic principle involves the transmitter sending a specific waveform signal, which is then received by the receiver after passing through a wireless channel, and demodulated after signal processing. From the perspective of the entire physical process of transmission, reception, and transmission, radar and wireless communication are remarkably similar. Therefore, how to integrate wireless communication and sensing technologies (represented by radar) to simultaneously achieve communication and environmental awareness has become a current research hotspot.

[0003] In integrated communication and sensing systems, coherent combining of sensing echoes can improve the signal-to-noise ratio (SNR) or accuracy of sensing. The core principle of coherent combining is to maintain phase consistency among signals received by multiple time slices or antennas, thereby improving the SNR and sensing accuracy through coherent accumulation. The key to coherent combining is maintaining phase consistency to facilitate coherent accumulation. Signals with phase coherence will show a significant gain after superposition; signals with random phases, such as noise, will not show a significant gain after superposition, thus improving the sensing SNR or accuracy of the real target. However, in practical systems, the sensed target or the transmitting signal source itself may be in motion. This motion will cause dynamic changes in the phase of the sensing echo signal, affecting the sensing effect.

[0004] Currently, network devices estimate the motion state of terminal devices by analyzing received signals. For example, network devices estimate the speed of a terminal device by measuring Doppler shift. Alternatively, they may use positioning technology combined with historical location data to estimate the speed. However, these estimation methods are relatively inaccurate. Summary of the Invention

[0005] This application provides a communication method and related equipment. The first device and the second device interact with each other to exchange the motion parameters of the first device, which can improve the accuracy of the second device in obtaining the motion parameters of the first device, thereby improving the perception effect.

[0006] This application provides a communication method, which is executed by a communication device, or by a component (e.g., a processor, chip, or chip system) within the communication device, or by a logic module or software capable of implementing all or part of the functions of the communication device. The communication device can be a terminal device or a network device. For example, a component of the terminal device may include circuitry or a chip responsible for communication functions (such as a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip). In the first aspect and its possible implementations, the method is described using the communication device as the first device as an example. In this method, the first device acquires motion parameters, which are used for coherent processing of the echo signal corresponding to the sensing signal. The first device then sends the motion parameters to a second device.

[0007] Based on the above technical solution, after acquiring its own motion parameters, the first device sends the motion parameters to the second device. These motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal. In other words, the first device and the second device exchange the first device's motion parameters. Compared to the second device estimating the first device's motion parameters, the first device's reporting method can improve the accuracy of the second device acquiring the first device's motion parameters, thereby improving the sensing and coherent processing effects.

[0008] Optionally, in one possible implementation of the first aspect, before acquiring the motion parameters of the first device, the first device may also send capability information to the second device, the capability information being related to the motion parameters acquired by the first device.

[0009] In this possible implementation, the first device reports capability information to the second device, enabling the second device to determine the first device's ability to collect motion parameters based on the capability information. This provides prior information for subsequent perception calculations based on motion parameters, thereby improving the perception effect.

[0010] Optionally, in one possible implementation of the first aspect, before sending capability information to the second device, the first device may also receive first instruction information from the second device, the first instruction information being used to instruct the first device to report capability information.

[0011] In this possible implementation, the second device can schedule the capability information reported by the first device through the first instruction information, thereby improving the flexibility of the second device in scheduling the capability information reported by the first device.

[0012] Optionally, in one possible implementation of the first aspect, before acquiring the motion parameters of the first device, the first device may also receive second instruction information from the second device, the second instruction information being used to instruct the first device to report the motion parameters.

[0013] In this possible implementation, the second device can schedule the motion parameters reported by the first device through the second instruction information, thereby improving the flexibility of the second device in scheduling the motion parameters reported by the first device.

[0014] Optionally, in one possible implementation of the first aspect, the first device may also receive configuration information sent by the second device, the configuration information being used to configure the reporting type of motion parameters; specifically, the first device may send motion parameters to the second device based on the reporting type.

[0015] In this possible implementation, the first device can determine the reporting type of motion parameters through the configuration information sent by the second device, and then report the motion parameters according to the configuration information to improve the accuracy of scheduling.

[0016] Optionally, in one possible implementation of the first aspect, the aforementioned motion parameters include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, and attitude.

[0017] In this possible implementation, there are multiple possibilities for motion parameters to adapt to different perception scenarios.

[0018] The second aspect of this application provides a communication method, which is executed by a communication device, or by a component (e.g., a processor, chip, or chip system) within the communication device, or by a logic module or software capable of implementing all or part of the functions of the communication device. The communication device can be a terminal device or a network device. For example, a component of the terminal device may include circuitry or a chip responsible for communication functions (such as a modem chip, also known as a baseband chip, or a system-on-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip). In the second aspect and its possible implementations, the method is described using the communication device as the second device as an example. In this method, the second device receives motion parameters sent by the first device, and these motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal. The second device performs sensing measurements based on the motion parameters.

[0019] Based on the above technical solution, after acquiring the motion parameters of the first device, the second device can perform sensing and measurement based on the motion parameters. That is, the first device and the second device exchange the motion parameters of the first device. Compared with the method of the second device estimating the motion parameters of the first device, the method of the first device reporting can improve the accuracy of the second device in acquiring the motion parameters of the first device, thereby improving the sensing effect and coherent processing effect.

[0020] Optionally, in one possible implementation of the second aspect, before receiving the motion parameters sent by the first device, the second device may also receive capability information sent by multiple devices, the capability information being related to the motion parameters acquired by the multiple devices.

[0021] In this possible implementation, the second device can receive capability information reported by multiple devices, enabling the second device to determine the first device's ability to collect motion parameters based on the capability information. This provides prior information for subsequent perception calculations based on motion parameters, thereby improving the perception effect.

[0022] Optionally, in one possible implementation of the second aspect, the second device described above may also send first indication information to multiple devices, the first indication information being used to instruct the multiple devices to report capability information.

[0023] In this possible implementation, the second device can schedule multiple devices to report capability information through the first instruction information, thereby improving the second device's flexibility in scheduling the capability information reported by multiple devices.

[0024] Optionally, in one possible implementation of the second aspect, the second device may further determine the first device from among the multiple devices based on the capability information of the multiple devices; and send second instruction information to the first device, the second instruction information being used to instruct the first device to report motion parameters.

[0025] In this possible implementation, the second device can schedule the motion parameters reported by the first device through the second instruction information, thereby improving the flexibility of the second device in scheduling the motion parameters reported by the first device.

[0026] Alternatively, in one possible implementation of the second aspect, the second device described above may also maintain a first list based on capability information, the first list being used to record first devices that meet the requirements for coherent synthesis.

[0027] In this possible implementation, the second device can dynamically maintain a list of first devices that report motion parameters, so that no other first devices that do not meet the requirements need to report motion parameters, thus saving signaling resources.

[0028] Optionally, in one possible implementation of the second aspect, the second device may also send configuration information to the first device, the configuration information being used to configure the reporting type of motion parameters.

[0029] In this possible implementation, the second device can send configuration information to the first device, enabling the first device to clearly define the reporting type of motion parameters, thereby reporting motion parameters according to the configuration information and improving the accuracy of scheduling.

[0030] Optionally, in one possible implementation of the second aspect, the aforementioned motion parameters include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, and attitude.

[0031] In this possible implementation, there are multiple possibilities for motion parameters to adapt to different perception scenarios.

[0032] A third aspect of this application provides a communication device, which is a terminal device or a network device, or a component (e.g., a processor, circuit, chip, or chip system) within a terminal device or network device, or a logic module or software capable of implementing all or part of the functions of a terminal device / network device, or it can be implemented through a combination of software and hardware. Taking the communication device as a first device as an example, the first device includes a transceiver unit and a processing unit.

[0033] The processing unit is used to acquire the motion parameters of the first device, and the motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal.

[0034] The transceiver unit is used to send motion parameters to the second device.

[0035] Optionally, in one possible implementation of the third aspect, the aforementioned transceiver unit is further configured to send capability information to the second device, the capability information being related to the motion parameters acquired by the first device.

[0036] Optionally, in one possible implementation of the third aspect, the aforementioned transceiver unit is further configured to receive first indication information from the second device, the first indication information being used to instruct the first device to report capability information.

[0037] Optionally, in one possible implementation of the third aspect, the aforementioned transceiver unit is further configured to receive second indication information from the second device, the second indication information being used to instruct the first device to report motion parameters.

[0038] Optionally, in one possible implementation of the third aspect, the aforementioned transceiver unit is further configured to receive configuration information sent by the second device, the configuration information being used to configure the reporting type of motion parameters; specifically, the transceiver unit is configured to send motion parameters to the second device based on the reporting type.

[0039] Optionally, in one possible implementation of the third aspect, the aforementioned motion parameters include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, and attitude.

[0040] The fourth aspect of this application provides a communication device, which is a terminal device or a network device, or a component (e.g., a processor, circuit, chip, or chip system) of a terminal device or network device, or a logic module or software capable of implementing all or part of the functions of a terminal device / network device, or it can be implemented through a combination of software and hardware. Taking a second device as an example, the second device includes a transceiver unit and a processing unit.

[0041] The transceiver unit is used to receive motion parameters sent by the first device. The motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal.

[0042] The processing unit is used for sensing and measuring based on motion parameters.

[0043] Optionally, in one possible implementation of the fourth aspect, the aforementioned transceiver unit is further configured to receive capability information sent by multiple devices, the capability information being related to motion parameters acquired by the multiple devices.

[0044] Optionally, in one possible implementation of the fourth aspect, the processing unit described above is further configured to send first indication information to multiple devices, the first indication information being used to instruct the multiple devices to report capability information.

[0045] Optionally, in one possible implementation of the fourth aspect, the processing unit described above is further configured to determine the first device from the multiple devices based on the capability information of the multiple devices; the transceiver unit is further configured to send second indication information to the first device, the second indication information being used to instruct the first device to report motion parameters.

[0046] Optionally, in one possible implementation of the fourth aspect, the aforementioned processing unit is further configured to maintain a first list based on capability information, the first list being used to record devices that meet the requirements for coherent synthesis.

[0047] Optionally, in one possible implementation of the fourth aspect, the aforementioned transceiver unit is further configured to send configuration information to the first device, the configuration information being used to configure the reporting type of motion parameters.

[0048] Optionally, in one possible implementation of the fourth aspect, the aforementioned motion parameters include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, and attitude.

[0049] The fifth aspect of this application provides a communication device, including at least one processor, and a method for the at least one processor to implement any possible implementation of the first or second aspect described above.

[0050] In one possible design, the communication device may also include a memory. The memory can be external to the communication device or built into it.

[0051] In one possible design, the communication device may also include interface circuitry, in which the processor communicates with other devices or components via the interface circuitry.

[0052] The aforementioned communication equipment may be a terminal, or a communication module in a terminal, or a chip in a terminal that is responsible for communication functions, such as a modem chip (also known as a baseband chip), or a system-on-a-chip (SoC) containing a modem module, or a chip or a system-in-package (SIP) chip.

[0053] The sixth aspect of this application provides a communication device including at least one logic circuit and at least one input / output interface; the logic circuit is used to perform a method as described in any possible implementation of the first or second aspect above.

[0054] The seventh aspect of this application provides a communication system, which includes a first device that is any possible implementation of the third aspect above and a second device that is any possible implementation of the fourth aspect above.

[0055] The eighth aspect of this application provides a computer-readable storage medium for storing one or more computer-executable instructions, which, when executed by a processor, perform a method as described in any possible implementation of either the first or second aspect above.

[0056] The ninth aspect of this application provides a computer program product (or computer program) in which, when the computer program in the computer program product is executed by the processor, the processor executes any possible implementation of either the first or second aspect described above.

[0057] The tenth aspect of this application provides a chip or chip system including at least one processor for supporting a method of implementing any possible implementation of the first or second aspect described above in a communication device.

[0058] In one possible design, the chip system may further include at least one memory for storing program instructions and data necessary for the communication device. The chip system may be composed of chips or may include chips and other discrete components. Optionally, the chip system may also include interface circuitry that provides program instructions and / or data to at least one processor.

[0059] The technical effects of any of the design methods in aspects three through ten can be found in the technical effects of different design methods in aspects one or two above, and will not be repeated here. Attached Figure Description

[0060] Figure 1 This is a schematic diagram of the communication system involved in this application;

[0061] Figure 2 Here are some schematic diagrams of the perception scenarios involved in this application;

[0062] Figure 3 A flowchart illustrating a communication method provided in this application;

[0063] Figure 4 Example diagrams of motion parameters provided in this application;

[0064] Figure 5 Another flowchart illustrating a communication method provided in this application;

[0065] Figures 6 to 9 Several structural schematic diagrams of the communication device provided in this application. Detailed Implementation

[0066] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0067] First, the communication systems that may be involved in the embodiments of this application will be described.

[0068] The technical solution of this application can be applied to cellular communication systems related to the 3rd Generation Partnership Project (3GPP). For example, 4th generation (4G) communication systems, 5G communication systems, and communication systems beyond the 5th generation. For example, future communication systems. For example, 4th generation communication systems may include Long Term Evolution (LTE) communication systems. 5th generation communication systems may include New Radio (NR) communication systems. The technical solutions of this application can also be applied to wireless fidelity (WiFi) systems, standalone (SA) scenarios, dual connectivity (DC), macro-micro scenarios composed of base stations of different forms (e.g., scenarios where wide-coverage base stations and small-coverage base stations coexist), device-to-device (D2D), vehicle-to-everything (V2X) communication systems, non-terrestrial networks (NTN), integrated access and backhaul (IAB) communication scenarios, reconfigurable intelligent surface (RIS) communication scenarios, etc., and are not specifically limited here.

[0069] For example, please refer to Figure 1 This is a schematic diagram of the architecture of the communication system 1000 used in an embodiment of this application. Figure 1 As shown, the communication system includes a radio access network (RAN) 100 and a core network 200. Optionally, the communication system 1000 may also include an Internet 300. The RAN 100 includes at least one RAN node (e.g., ...). Figure 1 110a and 110b, collectively referred to as 110, may also include at least one terminal device (such as...). Figure 1 RAN100, denoted as RAN100, comprises RAN nodes 120a-120j, collectively referred to as RAN120. RAN100 may also include other RAN nodes, such as wireless relay equipment and / or wireless backhaul equipment. Figure 1(Not shown in the image). Terminal device 120 is wirelessly connected to RAN node 110, and RAN node 110 is wirelessly or wired connected to core network 200. The core network equipment in core network 200 and RAN node 110 in RAN 100 can be independent physical devices, or they can be the same physical device integrating the logical functions of core network equipment and RAN nodes. Terminal devices and RAN nodes can be interconnected via wired or wireless means.

[0070] RAN100 can be an evolved universal terrestrial radio access (E-UTRA) system, an NR system, or a future radio access system as defined in 3GPP. RAN100 can also include two or more of the above-mentioned different radio access systems. RAN100 can also be an open RAN (O-RAN).

[0071] RAN nodes, also known as radio access network devices, RAN entities, or access nodes, are used to help terminal devices access communication systems wirelessly. Furthermore, RAN nodes can also be called network devices, which are apparatuses deployed in a radio access network to provide wireless communication and / or sensing functions for terminal devices. Network devices can include various forms of macro base stations, micro base stations (also known as small cells), relay stations, access points, etc. The names of network devices may differ in systems employing different radio access technologies. It is understood that all or part of the functions of the access network devices in this application can also be implemented through software functions running on hardware, or through virtualization functions instantiated on a platform (e.g., a cloud platform). The embodiments of this application do not limit the specific technologies or specific device forms used in the radio access network devices.

[0072] In one application scenario, a RAN node can be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation NodeB (gNB) in a 5G mobile communication system, or a base station in a future mobile communication system. A RAN node can also be a macro base station (such as...). Figure 1 110a in the text), can also be a micro base station or an indoor station (such as... Figure 1The RAN node (110b) can also be a relay node or donor node, or a wireless controller in a Cloud Radio Access Network (CRAN) scenario. Of course, in future communication systems, RAN nodes may also be wearable devices or vehicle-mounted devices, etc.

[0073] In another application scenario, multiple RAN nodes can collaborate to help terminal devices achieve wireless access, with different RAN nodes implementing different functions of the base station. For example, a RAN node can be a CU, DU, or radio unit (RU). The CU performs the functions of the base station's Radio Resource Control (RRC) and Packet Data Convergence Protocol (PDCP), and can also perform the functions of the Service Data Adaptation Protocol (SDAP). The DU performs the functions of the base station's Radio Link Control (RLC) and MAC layers, and can also perform some or all of the physical layer (PHY) functions (e.g., high-PHY, H-PHY). For specific descriptions of these protocol layers, refer to the relevant 3GPP technical specifications. The RU can be used to implement radio frequency signal transmission and reception functions or some physical layer functions (e.g., low-PHY, L-PHY). The CU and DU can be two independent RAN nodes or integrated into the same RAN node, such as within a baseband unit (BBU). RUs can be included in radio frequency equipment, such as remote radio units (RRUs) or active antenna units (AAUs). CUs can be further divided into two types of RAN nodes: CU-control plane (CP) and CU-user plane (UP).

[0074] In different systems, RAN nodes may have different names. For example, in an O-RAN system, a CU can be called an open CU (O-CU), a DU can be called an open DU (O-DU), and an RU can be called an open RU (O-RU). The RAN nodes in the embodiments of this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. For example, a RAN node can be a server loaded with the corresponding software modules. The embodiments of this application do not limit the specific technology or device form used in the RAN nodes.

[0075] A terminal device is a device with wireless transceiver capabilities, capable of sending signals to or receiving signals from RAN nodes. Terminal devices can also be called user equipment (UE), mobile stations, mobile terminal devices, etc. They can be widely used in various scenarios, such as wireless fidelity (WiFi) systems, device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-type communication (MTC), the Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, autonomous driving, telemedicine, smart grids, smart furniture, smart offices, smart wearables, intelligent transportation, and smart cities. Terminal devices can be mobile phones, tablets, computers with wireless transceiver capabilities, wearable devices, vehicles, airplanes, ships, robots, robotic arms, smart home devices, etc. The embodiments of this application do not limit the specific technologies or device forms used in the terminal devices.

[0076] For example, a terminal device is a wearable device. Wearable devices, also known as wearable smart devices or smart wearable devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not just hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are feature-rich, large in size, and can achieve complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as those that focus on only one type of application function and need to be used in conjunction with other devices such as smartphones, such as various smart bracelets, smart helmets, and smart jewelry.

[0077] For ease of description, Figure 1 The illustrated communication system is described using a base station as an example of an access network device. It is understood that when the communication system includes an IAB network, the base station can be an IAB node. It should be noted that in the embodiments of this application, the base station and the access network device can be interchanged.

[0078] Base stations and terminal equipment can be fixed or mobile. They can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can be deployed on aircraft, balloons, and satellites. The embodiments of this application do not limit the application scenarios of the base stations and terminal equipment.

[0079] The roles of base stations and terminal devices can be relative, for example, Figure 1 The helicopter or drone 120i can be configured as a mobile base station. For terminal devices 120j that access the wireless access network 100 via 120i, terminal device 120i is a base station; however, for base station 110a, 120i is a terminal device, meaning that 110a and 120i communicate via a wireless air interface protocol. Of course, 110a and 120i can also communicate via a base station-to-base station interface protocol; in this case, 120i is also a base station relative to 110a. Therefore, both base stations and terminal devices can be collectively referred to as communication equipment. Figure 1 The 110a and 110b in the text can be referred to as communication devices with base station functions. Figure 1 The 120a-120j in the text can be referred to as communication equipment with terminal device functions.

[0080] Communication between base stations and terminal devices, between base stations, and between terminal devices can be conducted using licensed spectrum, unlicensed spectrum, or both simultaneously. Communication can be conducted using spectrum below 6 GHz, spectrum above 6 GHz, or both simultaneously. The embodiments of this application do not limit the spectrum resources used for wireless communication.

[0081] In the embodiments of this application, the functions of the base station can be executed by modules (such as chips) within the base station, or by a control subsystem that includes base station functions. This control subsystem, including base station functions, can be a control center in the aforementioned application scenarios such as smart grids, industrial control, intelligent transportation, and smart cities. Similarly, the functions of the terminal device can be executed by modules (such as chips or modems) within the terminal device, or by a device that includes terminal device functions.

[0082] In this application, the base station sends downlink signals or downlink information to the terminal, with the downlink information carried on the downlink channel; the terminal sends uplink signals or uplink information to the base station, with the uplink information carried on the uplink channel. In order to communicate with the base station, the terminal needs to establish a radio connection on a cell controlled by the base station. The cell with which the terminal has established a radio connection is called the terminal's serving cell.

[0083] As can be understood, RAN100, as previously described, includes at least one RAN node (e.g., Figure 1 110a and 110b, collectively referred to as 110, may also include at least one terminal device (such as...). Figure 1 120a-120j in the series are collectively referred to as 120).

[0084] In one possible implementation, the communication system includes a RAN node 110 and multiple terminal devices. In this case, a single RAN node can transmit data or control signaling to one or more terminal devices.

[0085] In another possible implementation, the communication system includes multiple RAN nodes 110 and a terminal device 120. In this case, the multiple RAN nodes can also transmit data or control signaling to a single terminal device simultaneously.

[0086] The communication systems and service scenarios described in the embodiments of this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new service scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0087] It is understandable that the above Figure 1 This is merely an example diagram of the structural framework of a communication system that may be involved in the embodiments of this application. In other embodiments, there may be other structural frameworks, which are not limited here.

[0088] With the development of communication technology, future communication systems may provide sensing services in addition to communication services. This type of network can be understood as an ISAC network. As an example, taking access network devices and / or terminal devices as sensing devices, sensing signals may be transmitted between access network devices and terminal devices, between terminal devices, and between access network devices. The following section uses a vehicle as an example to illustrate the combination of... Figure 2 Several scenarios are described exemplarily.

[0089] like Figure 2 As shown, the sensing signal can have the following seven scenarios:

[0090] Scenario 1: The access network device (e.g., BS) acts as the transmitter and controller, and the terminal device (e.g., UE) acts as the receiver. The signal transmitted by the access network device passes through the target object and is received by the terminal device. After receiving the signal, the terminal device performs signal processing at the processing node to obtain the perception result.

[0091] Scenario 2: The terminal device acts as the transmitter, and the access network device acts as the receiver and control end. The signal transmitted by the terminal device is received by the access network device after passing through the target object. After receiving the signal, the access network device performs signal processing at the processing node to obtain the sensing result.

[0092] Scenario 3: Access network device #1 acts as the transmitter and control end, and access network device #2 acts as the receiver. The signal transmitted by access network device #1 is received by access network device #2 after passing through the target object. After receiving the signal, access network device #2 performs signal processing at the processing node to obtain the sensing result.

[0093] Scenario 4: Terminal device #1 acts as the transmitter and control end, and terminal device #2 acts as the receiver. The signal transmitted by terminal device #1 is received by terminal device #2 after passing through the target object. After receiving the signal, terminal device #2 performs signal processing at the processing node to obtain the perception result.

[0094] Scenario 5: Access network device #1 acts as the transmitter, access network device #2 acts as the receiver, and access network device #3 acts as the control terminal. The signal transmitted by access network device #1 is received by access network device #2 after passing through the target object. After receiving the signal, access network device #2 performs signal processing at the processing node to obtain the sensing result.

[0095] Scenario 6: The access network device acts as the transmitter, receiver, and control unit. The signal transmitted by the access network device passes through the target object and is received by the access network device. After receiving the signal, the access network device performs signal processing at the processing node to obtain the sensing results, which include information such as distance, speed, angle, and intensity.

[0096] Scenario 7: The terminal device acts as the transmitter, receiver, and control unit. The signal transmitted by the terminal device passes through the target object and is received by the terminal device. After receiving the signal, the terminal device processes the signal at the processing node to obtain the perception result.

[0097] The target objects in the above scenarios may include one or more of the following: vehicles, pedestrians, bicycles, or drones, etc., without specific limitations here. The "effect" of the transmitted signal in the above scenarios may include one or more of the following: reflection, diffraction, or scattering, etc., without specific limitations here. The perception results in the above scenarios may include one or more of the following: the distance to the target object, the speed of the target object, the angle related to the target object (e.g., the angle of arrival or departure of the transmitted signal), or the strength of the received signal, etc.

[0098] Optional, Figure 2 The target objects in the various scenes shown can be either active or passive objects; this is not a limitation here. Furthermore, Figure 2 The number of access network devices, terminal devices, and target objects in each scenario can be one or more, and there is no specific limitation here. Furthermore, the control terminal can also possess sensing capabilities. Alternatively, the control node can be a core network device, such as an access and mobility function (AMF), or a location management function (LMF), sensing management function (SMF), location server (LS), distribution system (DS), etc.

[0099] In this embodiment of the application, the terminal device may be the aforementioned Figures 1 to 2 The terminal equipment and network equipment mentioned above can be the aforementioned Figures 1 to 2 RAN nodes or core network, etc.

[0100] Secondly, some terms in the embodiments of this application are explained to facilitate understanding by those skilled in the art.

[0101] 1. Configuration and Pre-configuration: This application uses both configuration and pre-configuration. Configuration refers to the network device / server sending configuration information or parameter values ​​to the terminal via messages or signaling, so that the terminal can determine communication parameters or transmission resources based on these values ​​or information. Pre-configuration is similar to configuration; it can be parameter information or parameter values ​​pre-negotiated between the network device / server and the terminal device, parameter information or parameter values ​​specified by standard protocols for use by the base station / network device or terminal device, or parameter information or parameter values ​​pre-stored in the base station / server or terminal device. This application does not limit this.

[0102] Furthermore, these values ​​and parameters can be changed or updated.

[0103] 2. In this application, "instruction" may include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information to indicate A, it can be understood that the instruction information carries A, directly indicates A, or indirectly indicates A.

[0104] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementation, there are many ways to instruct the information to be instructed. For example, it can be implemented through direct instruction, such as through the information to be instructed itself or its index. It can also be implemented indirectly by instructing other information, where there is a relationship between the other information and the information to be instructed. Alternatively, only a part of the information to be instructed can be indicated, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent.

[0105] The information to be instructed can be sent as a whole or divided into multiple sub-information messages, and the sending period and / or timing of these sub-information messages can be the same or different. This application does not limit the specific sending method. The sending period and / or timing of these sub-information messages can be predefined, for example, according to a protocol, or configured by the transmitting device by sending configuration information to the receiving device. This configuration information can include, for example, but not limited to, one or a combination of at least two of radio resource control (RRC) signaling, medium access control (MAC) layer signaling, and physical layer signaling. MAC layer signaling includes, for example, MAC layer control elements (CE); physical layer signaling includes, for example, downlink control information (DCI), uplink control information (UCI), sidelink control information (SCI), etc.

[0106] 3. In the embodiments of this application, "sending / reporting" and "receiving" indicate the direction of signal transmission. In this application, entity A sends / reports information to entity B, either directly to B or indirectly through other entities. Similarly, entity B receives information from entity A, either directly or indirectly through other entities. Entities A and B can be radio access network (RAN) nodes or terminals, or modules within RAN nodes or terminals. The sending / reporting and receiving of information can be information interaction between RAN nodes and terminals, such as information interaction between a base station and a terminal; it can also be information interaction between two RAN nodes, such as information interaction between a CU and a DU; or it can be information interaction between different modules within a device, such as information interaction between a terminal chip and other modules of the terminal, or information interaction between a base station chip and other modules of the base station. "Send / report" can also be understood as the "output" of the chip interface, such as the baseband chip outputting information to the radio frequency chip, and "receive" can also be understood as the "input" of the chip interface; for example, "send / report" can also be understood as the baseband part inside the device outputting information to the radio frequency part, and "receive" can also be understood as the radio frequency part inside the device receiving the output information from the baseband part.

[0107] 4. The terms "system" and "network" in the embodiments of this application can be used interchangeably. "At least one" means one or more, and "more than one" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, or B exists alone, where A and B can be singular or plural. The character " / " generally indicates that the related objects before and after are in an "or" relationship. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, "at least one of A, B and C" includes A, B, C, AB, AC, BC or ABC. And, unless otherwise specified, the ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are used to distinguish multiple objects and are not used to limit the order, sequence, priority or importance of multiple objects.

[0108] 5. In this application, the terms "exemplarily," "for example," etc., are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of the term "example" is intended to present concepts in a concrete manner. In the embodiments of this application, "of," "corresponding, relevant," and "corresponding" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent unless their distinction is emphasized.

[0109] 6. Integrated Sensing and Communication (ISAC)

[0110] Communication and sensing integration can also be simply referred to as communication and sensing integration or communication and sensing. ISAC can be simply understood as the fusion of communication and sensing.

[0111] Among them, integrated communication and sensing technology will utilize wireless communication signals to achieve sensing functions such as target detection, positioning, identification, and imaging, thereby acquiring and reconstructing surrounding environmental information and propelling future communication networks into a digital twin era that merges the physical and digital worlds. The International Telecommunication Union (ITU) report on future technology trends points out that integrated communication and sensing technology will become one of the most promising key technology directions for next-generation mobile communication systems.

[0112] 7. Perception

[0113] Wireless sensing, also known as electromagnetic sensing, refers to the process of emitting electromagnetic energy into space and then calculating information about objects by receiving the reflected electromagnetic waves. This includes parameters such as position, direction, height, speed, size, and trajectory, as well as detecting the object's internal and external shape and structure. By exploring the transmission, echo, reflection, and scattering of radio waves, we can perceive and better understand the physical world. As an electromagnetic wave sensing technology, wireless sensing technology, due to its penetrability and security, can serve as an important alternative technology for security inspection, concealed object detection, environmental reconstruction, and monitoring.

[0114] Alternatively, perception can also be called detection, which refers to detecting parameters of a target in the physical environment, such as the target's position and velocity. It can be understood as a radar detection system detecting a target by emitting electromagnetic waves and analyzing the echo signals reflected from the object.

[0115] Sensing can be further categorized into several types: single-base sensing, dual-base sensing, and multi-base sensing. Single-base sensing can also be called monostation sensing, dual-base sensing can also be called bistation sensing, and multi-base sensing can also be called multistation sensing.

[0116] Single-site sensing refers to a system where the transmitting device for the sensing signal and the receiving device for the echo signal are the same device. In other words, in single-site sensing, the transmitting device must both transmit the sensing signal and receive the echo signal reflected from the surface of the sensing target. Therefore, this single-site sensing can also be called a self-transmitting and self-receiving mode, without any restrictions.

[0117] Dual-station sensing refers to a system where the transmitting device for the sensing signal and the receiving device for the echo signal are two different devices. In other words, sensing station A transmits a sensing signal, and the echo signal reflected from the surface of the sensing target is received by sensing station B. Therefore, this dual-station sensing can also be called the A-transmit, B-receive mode. It should be noted that the echo signal is obtained after the sensing signal has passed through the sensing target (e.g., reflection, diffraction, or scattering), therefore, this echo signal can still be called the sensing signal.

[0118] Multi-station sensing refers to the joint operation of multiple devices in transmitting and receiving sensing signals. Specifically, multi-station sensing can be further divided into single-transmitter-multiple-receiver, multiple-transmitter-single-receiver, and multiple-transmitter-multiple-receiver scenarios. For example, in one possible scenario, sensing station A transmits a sensing signal, which, after passing through a sensing target, generates an echo signal, which is received by sensing stations B1 and B2. In another possible scenario, sensing stations A1 and A2 transmit sensing signals simultaneously or sequentially, which, after passing through a target, generate an echo signal, which is received by sensing station B. Yet another possible scenario, sensing stations A1 and A2 transmit sensing signals simultaneously or sequentially, which, after passing through a target, generate an echo signal, which is received by sensing stations B1 and B2. A special case is where multi-station sensing is achieved through multiple single-station sensing operations. For example, in a system, sensing station A performs single-station sensing, and sensing station B also performs single-station sensing; the final sensing results are then fused. Multi-station sensing can take many forms, and this application does not limit it.

[0119] The perception scenarios involved in this application can be as described above. Figure 2 As shown, the specifics will not be elaborated here.

[0120] 8. Sensing signals

[0121] Signals used to sense (or detect) a target (or object). Sensing signals are also called detection signals, linear frequency modulated signals, radar signals, radar sensing signals, radar detection signals, environmental sensing signals, etc. Sensing signals can be pulse signals or signals from wireless communication systems. For example, a sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, predefined sequence, etc. Pseudo-random sequences include any of the following sequences: longest linear feedback shift register sequence (m-sequence), Gold sequence, etc. Predefined sequences can be, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK), quadrature amplitude modulation (QAM), etc.

[0122] 9. Objectives

[0123] The target can be referred to as a target object, a sensed target, a detected target, a sensed object, a sensed object, or a sensed device, etc., and this application does not limit the scope of the embodiments. Target: can be any tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices.

[0124] 10. Communication signals

[0125] Communication signals are signals transmitted between communication devices for communication purposes, such as signals transmitted between network devices and terminal devices. Communication signals can be, for example, signals carried on the physical downlink shared channel (PDSCH).

[0126] 11. Communication perception fusion signal

[0127] Communication-sensing fusion signal, also known as syn-sensing fusion signal, syn-sensing signal, or syn-sensing integrated signal, is a signal used for both communication and sensing. When used for communication, it can be understood that the signal carries the communication data or communication reference signal sequence that needs to be transmitted between communication devices.

[0128] 12. Echo signal

[0129] An echo signal is the signal generated when a sensed signal is reflected by a target. The time delay of the echo signal relative to the sensed signal reflects the distance of the target relative to the transmitter. The Doppler shift of the echo signal relative to the sensed signal reflects the velocity of the target.

[0130] 13. Coherence processing time

[0131] Coherent processing time refers to a period of time much longer than the transmission time of a single sensing signal. During the coherent processing time, the transmitting end repeatedly transmits sensing signals multiple times in the same or multiple beam directions, and the receiving end receives the echo signals of the sensing signals. The receiving end then coherently accumulates the echo signals from the same beam received within this time period to achieve sensing ranging and velocity measurement. Coherent accumulation can generally be achieved by performing matched filtering and Fourier transform on all echo signals within this time period.

[0132] In addition, the coherent processing involved in this application may include coherent merging, compensation or correction as described below, and is not limited here.

[0133] 14. Coherent Merging

[0134] Coherent merging refers to maintaining phase consistency among signals received from multiple times or multiple sensors. By superimposing the signals, the signal-to-noise ratio (SNR), resolution, and target detection capability can be improved.

[0135] In integrated communication and sensing systems, coherent combining of sensing echoes can improve sensing SNR or accuracy. The core principle of coherent combining is to maintain phase consistency among signals received by multiple time slices or multiple antennas, and improve the signal-to-noise ratio (SNR) and sensing accuracy through coherent accumulation.

[0136] For example, suppose the sensing system receives echo signals at N times, and the signal at each time is represented as:

[0137]

[0138] Where A represents the echo signal amplitude, θ n Let x(t) represent the phase of the signal received in the nth iteration, and let x(t) represent the transmitted signal. n (t) represents noise.

[0139] The signal after coherent merging is:

[0140]

[0141] If the signal phases are perfectly aligned (i.e., θ) n If θ = 0), then all signals are coherently superimposed, and the combined gain is maximized.

[0142]

[0143] The SNR gain is:

[0144] SNR combined =N·SNR single ;

[0145] Gain boost (in dB):

[0146] SNR gain =10log 10 N(dB).

[0147] The core of coherent merging is to maintain the phase consistency of signals in order to perform coherent accumulation. Signals with phase coherence will be significantly amplified after superposition; signals with random phase, such as noise, will not show significant gain after superposition, thus improving the perceived signal-to-noise ratio or accuracy of the real target.

[0148] 15. Distance resolution

[0149] Distance resolution: When two targets are located at the same angle and speed relative to the base station, but at different distances relative to the base station, the minimum distance difference that the base station can perceive and distinguish between them is called distance resolution.

[0150] 16. Speed ​​resolution

[0151] Velocity resolution: When two targets are located at the same angle and distance relative to a base station, but have different velocities relative to the base station, the minimum velocity difference that the base station can perceive and distinguish between them is called velocity resolution.

[0152] 17. Angular resolution

[0153] Angular resolution: When two targets are at the same distance and speed relative to a base station, but at different angles relative to the base station, the smallest angular difference that the base station can perceive and distinguish between them is called angular resolution.

[0154] 18. Maximum unambiguous speed

[0155] Maximum unambiguous speed: The maximum speed at which a target can be detected by the perception system.

[0156] 19. Constant false alarm rate detection

[0157] Constant False Alarm Rate (CFAR) detection is an important method in radar signal processing used to detect target signals in the presence of noise and interference. CFAR achieves a constant false alarm rate by dynamically adjusting the detection threshold, enabling the radar to maintain relatively stable detection performance under different noise levels.

[0158] 20. False Alarm Rate

[0159] False alarm rate: The probability that a system falsely detects a target when there is no real target.

[0160] As described above, the core of coherent superposition is maintaining the phase consistency of the signals to facilitate coherent accumulation. Signals with phase coherence will show a significant gain after superposition; signals with random phases, such as noise, will not show a significant gain after superposition, thus failing to improve the signal-to-noise ratio or accuracy of the perceived target. However, in real-world systems, the sensed target or the transmitting signal source itself may be in motion. This motion causes dynamic changes in the phase of the sensed echo signal. Without compensation, these phase changes can lead to signal misalignment, affecting the superposition effect. For example, what was originally a peak-to-peak superposition may become a peak-to-trough superposition due to motion, resulting in no benefit from coherent superposition.

[0161] For example, suppose the target moves within the measurement interval, and the phase of the echo signal changes between adjacent moments. Assuming the phase change between two adjacent measurements is Δθ, the phase of the nth reception can be expressed as:

[0162] θ n =θ0+(n-1)Δθ;

[0163] The signal after coherent merging is:

[0164]

[0165] At this point, the coherent gain factor is calculated using the formula for the complex exponential summation of an arithmetic sequence:

[0166]

[0167] The gain is approximately expressed as:

[0168]

[0169] Therefore, the SNR gain during motion is:

[0170]

[0171] It can be seen that when the target is stationary or moving at a low speed, Δθ≈0, then G≈N, at which point the coherent merging gain is at its maximum, reaching the ideal gain of 10log. 10 NdB.

[0172] When the target velocity is large, Δθ increases, G decreases, the coherent merging gain decreases, and SNR decreases.

[0173] When Δθ approaches When the gain is an integer multiple of the signal, the gain decreases significantly, and a cancellation effect may even occur, causing the signal combining gain to approach zero.

[0174] Therefore, it is necessary to accurately obtain the motion state (velocity, acceleration, etc.) of the sensed target or the signal source itself, and perform relevant compensation based on the motion state to ensure the correctness of coherent merging.

[0175] Currently, network devices estimate the motion state of terminal devices by analyzing received signals. For example, network devices estimate the speed of terminal devices by measuring Doppler shift. Alternatively, they estimate speed by combining positioning technology with historical location data. However, these methods are relatively inaccurate.

[0176] To address the aforementioned technical problems, embodiments of this application provide a communication method and related equipment. After acquiring its own motion parameters, the first device sends these motion parameters to a second device. These motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal. That is, the first device and the second device exchange the motion parameters of the first device. Compared to the second device estimating the motion parameters of the first device, the method of the first device reporting these parameters can improve the accuracy of the second device acquiring the motion parameters of the first device, thereby improving the coherent processing effect.

[0177] The above describes several communication system architectures and conceptual frameworks provided in the embodiments of this application. The following is a detailed description of the communication methods provided in the embodiments of this application.

[0178] Please see Figure 3 This application provides a flowchart of a communication method, which may include steps 301 to 303. Steps 301 to 303 may be executed by a communication device, or by some components of the communication device (such as a processor, circuit, chip, or chip system), or by a logic module or software that can implement all or part of the functions of the communication device.

[0179] The communication device in this application embodiment includes a first device and / or a second device. The first device can be one of the aforementioned... Figure 1 or Figure 2 The terminal equipment or network equipment (e.g., access network equipment and / or core network equipment) in the network, similarly, the second equipment can also be the aforementioned. Figure 1 or Figure 2 Terminal devices or network devices (e.g., access network devices and / or core network devices) in the network.

[0180] For example, the interaction between the first device and the second device can be an interaction between a terminal device and a network device, an interaction between network devices, or an interaction between terminal devices, etc., and the specifics are not limited here.

[0181] Furthermore, the processing performed by a single execution entity in steps 301 to 303 can also be divided into processing by multiple execution entities, which can be logically and / or physically separated. For example, when the communication device is an access network device, the processing performed by the communication device can be divided into processing by at least one network element such as CU, DU, or RU. This method can be applied to the aforementioned... Figure 1 or Figure 2 In any of the system architectures shown, the specifics are not limited here.

[0182] Due to the long intervals between the steps, steps 301 to 303 will be briefly described here first, and then described in detail later. Step 301: The first device acquires its own motion parameters. Step 302: The first device sends its motion parameters to the second device. Step 303: The second device performs sensing measurements based on the motion parameters.

[0183] Step 301: The first device acquires the motion parameters of the first device.

[0184] In this embodiment, the first device can acquire motion parameters in various ways, such as through its own sensors, through user input, through receiving data from other devices, or other methods, etc., which are not limited here.

[0185] The motion parameters are used for coherent processing of the echo signals corresponding to the sensed signals. A description of coherent processing can be found in the explanations of the terminology mentioned earlier, and will not be repeated here.

[0186] The motion parameters in the embodiments of this application include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, attitude, motion trajectory, etc., which are not specifically limited here. These motion parameters can also be referred to as motion state, motion information, multidimensional motion parameters, multidimensional motion state, multidimensional motion information, etc., which are not specifically limited here.

[0187] Several examples of motion parameters are described in Table 1:

[0188] Table 1

[0189]

[0190] It is understood that the motion parameters and units in Table 1 are merely examples, and other possibilities may exist in other embodiments, which are not limited here. For example, the roll angle can also be called the roll angle, and the yaw angle can also be called the yaw angle.

[0191] To facilitate understanding of attitude angles or orientation, let's take a vehicle as the primary device as an example, combined with... Figure 4 The attitudes in Table 1 are explained below. The reference coordinate system includes the X-axis, Y-axis, and Z-axis. The Y-axis is the vehicle's lateral symmetry axis (or can be understood as the vehicle's front-to-back direction), the X-axis is the axis perpendicular to the Y-axis in the vehicle's plane (or can be understood as the vehicle's left-to-right direction), and the Z-axis is the axis perpendicular to the vehicle's plane (or can be understood as the vehicle's vertical direction). Yaw rate (Yaw) refers to the vehicle's yaw about the vertical axis (Z-axis), and the magnitude of this yaw represents the vehicle's stability. Pitch rate (Pitch) refers to the vehicle's yaw about the Y-axis. Roll rate (Roll) refers to the vehicle's yaw about the X-axis.

[0192] For example, the following description uses the example of a first device collecting motion parameters through its own sensors.

[0193] The physical composition of the sensor here can be one or more physical sensors. For example, each of the one or more physical sensors can measure one or more of the following: azimuth angle, pitch angle, and radial velocity. Alternatively, one or more of the following can be derived from the measurement data of the one or more physical sensors. There is no limitation here.

[0194] The sensor of the first device can measure surrounding targets (such as targets stationary or moving relative to the reference frame, obstacles, buildings, etc.) to obtain measurement data of the surrounding targets. For example, taking radar as an example, the measurement data may include one or more of the following: the target's distance relative to the sensor, the target's azimuth angle relative to the sensor, the target's elevation angle relative to the sensor, the target's radial velocity relative to the sensor, and the cross-sectional area of ​​the target.

[0195] It is understandable that different motion parameters may correspond to different sensors. That is, different motion parameters are collected through different sensors.

[0196] For example, the sensors in the first device include an accelerometer capable of generating acceleration values ​​for measuring acceleration along the axes of the coordinate system. As another example, the sensors in the first device include an angular velocity sensor (or gyroscope) capable of generating angular velocity values ​​for measuring angular velocity along the axes of the coordinate system. Of course, the first device may also include an inertial sensor (also known as an inertial measurement unit, IMU), which can integrate an accelerometer and an angular velocity sensor. Alternatively, the angular velocity sensor can be a type of inertial sensor, or a part of an inertial sensor. In embodiments where the inertial sensor integrates an accelerometer and an angular velocity sensor, the inertial sensor can be a sensor capable of performing both the functions of an accelerometer and an angular velocity sensor.

[0197] It should be noted that the sensors mentioned above are merely examples. In other embodiments, the sensors of the first device may include radar sensors, such as millimeter-wave radar or lidar. Alternatively, the sensors of the first device may include sonar or ultrasonic sensors. Alternatively, the sensors of the first device may include vision sensors or imaging sensors, such as cameras or video cameras, or imaging radars such as lidar, synthetic aperture radar, etc. Alternatively, the sensors of the first device may include direction-finding sensors with frequency shift measurement capabilities, which obtain radial velocity information by measuring the frequency shift of the received signal relative to a known frequency.

[0198] Step 302: The first device sends motion parameters to the second device.

[0199] After acquiring the motion parameters, the first device sends the motion parameters to the second device. Correspondingly, the second device receives the motion parameters sent by the first device.

[0200] Optionally, the corresponding timestamps of the motion parameters can also be reported so that the second device can accurately predict the motion trajectory of the first device.

[0201] Step 303: The second device performs sensing and measurement based on motion parameters.

[0202] After receiving the motion parameters sent by the first device, the second device can use these motion parameters for sensing and measurement.

[0203] The sensing measurement in this application embodiment includes one or more of the following: transmitting sensing signals, transmitting echo signals, compensating for sensing signals, and compensating for the echo signals of sensing signals.

[0204] Optionally, the second device can perform coherent processing on the echo signal corresponding to the sensing signal based on the motion parameters. The terminology for coherent processing is described previously and will not be repeated here.

[0205] Alternatively, it can be understood that before the second device performs further sensing and calculations, it can use the motion parameters reported by the first device as prior information, and then compensate for the results of the sensing and calculations based on this prior information to improve sensing performance.

[0206] Alternatively, it can be understood that the second device performs coherent merging sensing based on the received motion parameters.

[0207] In this embodiment, the first device and the second device can maintain and interact with the motion parameters of the first device in real time. For the first device, which has its own motion measurement capabilities, the motion parameters are reported to the second device in real time. On the one hand, compared to the second device estimating the motion parameters of the first device, the reporting method by the first device can improve the accuracy of the second device in obtaining the motion parameters of the first device. On the other hand, the second device performs sensing signal compensation based on the motion parameters of the first device, which can not only improve sensing performance but also improve coherent processing effects.

[0208] Please see Figure 5 This application provides another flowchart illustrating a communication method, which may include steps 501 to 508. Steps 501 to 508 may be executed by a communication device, or by some components of the communication device (e.g., processor, circuit, chip, or chip system), or by a logic module or software capable of implementing all or part of the functions of the communication device. A description of the communication device can be found in [reference needed]. Figure 3 The description of the illustrated embodiment will not be repeated here.

[0209] Due to the long intervals between the steps, steps 501 to 508 are briefly described here first, and then described in detail later. Step 501: The second device sends a first instruction message to the first device. Step 502: The first device sends capability information to the second device. Step 503: The second device determines the first device from multiple devices based on the capability information. Step 504: The second device sends a second instruction message to the first device. Step 505: The second device sends configuration information to the first device. Step 506: The first device acquires the motion parameters of the first device. Step 507: The first device sends the motion parameters to the second device. Step 508: The second device performs sensing measurements based on the motion parameters.

[0210] Step 501: The second device sends the first instruction information to the first device.

[0211] The second device sends a first instruction message to the first device. Correspondingly, the first device receives the first instruction message sent by the second device. This first instruction message is used to instruct the first device to report capability information.

[0212] Optionally, the second device sends first indication information to multiple devices, including the first device. That is, the second device sends first indication information to multiple devices so that the multiple devices report their respective capability information.

[0213] Step 502: The first device sends capability information to the second device.

[0214] After receiving the first instruction information sent by the second device, the first device sends capability information to the second device. Correspondingly, the second device receives the capability information sent by the first device.

[0215] Optionally, after receiving the first indication information sent by the second device, the multiple devices respectively send capability information to the second device. Correspondingly, the second device receives the capability information sent by the multiple devices.

[0216] Optionally, the capability information includes at least one bit. For example, one bit may be used to indicate whether the capability to measure operating parameters is present. Or, two or more bits may be used to indicate the capability to measure specific motion parameters.

[0217] For example, capability information uses 1 bit to indicate whether the device has the capability to measure motion parameters. For instance, capability information of "1" indicates the ability to measure motion parameters, while capability information of "0" indicates the lack of this capability. Alternatively, capability information of "0" could indicate the ability to measure motion parameters, while capability information of "1" could indicate the lack of this capability.

[0218] For example, capability information uses 2 bits to indicate whether a device has the capability to measure specific motion parameters. For instance, capability information "00" indicates the capability to measure acceleration, capability information "01" indicates the capability to measure angle, capability information "10" indicates the capability to measure angular velocity, and capability information "11" indicates the capability to measure angular acceleration.

[0219] It is understood that the specific details of the above capability information are merely examples, and other situations may exist in other embodiments, which are not limited here.

[0220] Step 503: The second device determines the first device from multiple devices based on the capability information.

[0221] After receiving capability information from multiple devices, the second device identifies the first device from among them.

[0222] Alternatively, it can be understood that different devices among multiple devices may have different capability information. After receiving capability information from multiple devices, the second device determines the first device from among them based on the capability information. The capability information is related to the motion parameters acquired by the first device.

[0223] Optionally, the second device can maintain a capability list based on the capability information reported by multiple devices, and the capability list records the capability information of multiple devices.

[0224] Furthermore, the second device can maintain the first list based on the capability list, and the first list records the first devices that meet the requirements for coherent combining. Alternatively, the second device can determine the first device that meets the requirements for coherent combining based on the capability information of multiple devices collecting motion parameters.

[0225] In this context, "coherent combining meets the requirements" can be understood as either having a gain in the coherent combining process or the gain in the coherent combining process meeting a threshold. For example, a first device whose operating parameters, such as smooth motion, transportation, or linear motion, are predictable. Alternatively, it can be understood as a second device being initially selected by predicting the motion of the first device, provided that the motion parameters of the first device meet the expectations, or that the coherent combining process has a gain, or that the gain in the coherent combining process meets a threshold.

[0226] Step 504: The second device sends a second instruction message to the first device.

[0227] After the second device identifies the first device from among multiple devices, the second device sends a second instruction message to the first device. Correspondingly, the second device receives the second instruction message from the first device. This second instruction message is used to instruct the first device to report motion parameters.

[0228] Optionally, the second device sends a second instruction to the first device whose motion parameters are predictable.

[0229] Step 505: The second device sends configuration information to the first device.

[0230] The second device sends configuration information to the first device. Correspondingly, the first device receives the configuration information sent by the second device.

[0231] The configuration information in this application embodiment is used to configure one or more of the following: the reporting type of motion parameters, the motion parameters collected by the first device, the time and frequency resources used to report motion parameters, etc., and the specifics are not limited here.

[0232] The reporting type can include periodic reporting or one-time reporting. Furthermore, if the reporting type is periodic reporting, the configuration information can specify the period.

[0233] Step 506: The first device acquires the motion parameters of the first device.

[0234] Step 507: The first device sends motion parameters to the second device.

[0235] Step 508: The second device performs sensing measurements based on motion parameters.

[0236] Steps 506 to 508 in this embodiment are the same as those described above. Figure 3 Steps 301 to 303 in the illustrated embodiment are similar and will not be repeated here.

[0237] If step 505 exists, step 506 can specifically be: the first device obtains its motion parameters according to the configuration information. Step 507 can specifically be: the first device sends its motion parameters to the second device according to the configuration information.

[0238] Furthermore, the second device can also refresh the first list based on motion parameters. That is, it can send signaling to the first device that does not meet the coherent merging requirements, instructing the first device not to report motion parameters anymore, thereby saving signaling resources.

[0239] It should be noted that the method provided in this application embodiment can have multiple variations. For example, the method provided in this application embodiment may include steps 501, 502, and 506 to 508. Alternatively, the method provided in this application embodiment may include steps 501, 502, and 505 to 508. Another example is that the method provided in this application embodiment may include steps 501 to 504 and 506 to 508. Yet another example is that the method provided in this application embodiment may include steps 501 to 508, etc., and the specific implementation is not limited here.

[0240] Furthermore, the timing of the steps in this embodiment is not limited. For example, in the case where the method provided in this application embodiment includes step 505, step 505 may be before or after step 504, step 505 may be before or after step 502, etc., and the specific timing is not limited here.

[0241] In this embodiment, the first device and the second device can maintain and interact with the motion parameters of the first device in real time. For the first device, which has its own motion measurement capabilities, the motion parameters are reported to the second device in real time. On one hand, compared to the second device estimating the motion parameters of the first device, the first device's reporting method improves the accuracy of the second device in obtaining the motion parameters. On the other hand, the second device performs sensing signal compensation based on the motion parameters of the first device, which not only improves sensing performance but also enhances coherent processing. Furthermore, the second device can determine the first device from multiple devices based on their capability information, reducing the overhead caused by subsequent motion parameter reports from terminal devices that do not meet the capability information. Additionally, the second device can dynamically maintain a list of first devices that report motion parameters, thus eliminating the need for other first devices that do not meet the requirements to report motion parameters, thereby saving signaling resources.

[0242] The communication method in the embodiments of this application has been described above. The communication device in the embodiments of this application is described below. Please refer to [link / reference]. Figure 6 This application provides an embodiment of a communication device 600. This communication device 600 can implement the functions of the terminal device or network device in the above method embodiments, and therefore also achieves the beneficial effects of the above method embodiments. In this application embodiment, the communication device 600 can be a communication device, or it can be an integrated circuit or component inside the communication device, such as a chip. The communication device 600 includes a transceiver unit 601. Alternatively, the communication device 600 includes a transceiver unit 601 and a processing unit 602, wherein the transceiver unit 601 is used to perform operations related to transmission and reception of the terminal device or network device in the above method embodiments, and the processing unit 602 is used to perform other operations of the terminal device or network device in the above method embodiments besides transmission and reception operations.

[0243] In one possible implementation, the communication device 600 is as described above. Figures 1 to 5 The first device in the illustrated embodiment has the following functions for each unit:

[0244] The processing unit 602 is used to acquire the motion parameters of the first device, and the motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal;

[0245] The transceiver unit 601 is used to send motion parameters to the second device.

[0246] Optionally, the transceiver unit 601 is also used to send capability information to the second device, the capability information being related to the motion parameters acquired by the first device.

[0247] Optionally, the transceiver unit 601 is further configured to receive first indication information from the second device, the first indication information being used to instruct the first device to report capability information.

[0248] Optionally, the transceiver unit 601 is also configured to receive second indication information from the second device, the second indication information being used to instruct the first device to report motion parameters.

[0249] Optionally, the transceiver unit 601 is also used to receive configuration information sent by the second device, the configuration information being used to configure the reporting type of motion parameters; specifically, the transceiver unit 601 is used to send motion parameters to the second device based on the reporting type.

[0250] Optionally, the motion parameters include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, and attitude.

[0251] In this embodiment, the operations performed by each unit in the communication device are the same as those described above. Figures 1 to 5 The description of the first device in the illustrated embodiment is similar and will not be repeated here.

[0252] In this embodiment, after the processing unit 602 acquires its own motion parameters, the transceiver unit 601 sends the motion parameters to the second device. These motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal. That is, the first device and the second device exchange the motion parameters of the first device. Compared with the method of the second device estimating the motion parameters of the first device, the method of the first device reporting can improve the accuracy of the second device in acquiring the motion parameters of the first device, thereby improving the sensing effect and the coherent processing effect.

[0253] In another possible implementation, the communication device 600 is as described above. Figures 1 to 5 The second device in the illustrated embodiment has the following functions for each unit:

[0254] The transceiver unit 601 is used to receive motion parameters sent by the first device, and the motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal.

[0255] The processing unit 602 is used for sensing and measuring based on motion parameters.

[0256] Optionally, the transceiver unit 601 is also used to receive capability information sent by multiple devices, the capability information being related to motion parameters acquired by the multiple devices.

[0257] Optionally, the processing unit 602 is further configured to send first indication information to multiple devices, the first indication information being used to instruct the multiple devices to report capability information.

[0258] Optionally, the processing unit 602 is further configured to determine the first device from the multiple devices based on the capability information of the multiple devices; the transceiver unit 601 is further configured to send second instruction information to the first device, the second instruction information being used to instruct the first device to report motion parameters.

[0259] Optionally, the processing unit 602 is also configured to maintain a first list based on capability information, the first list being used to record devices that meet the requirements for coherent synthesis.

[0260] Optionally, the transceiver unit 601 is also used to send configuration information to the first device, the configuration information being used to configure the reporting type of motion parameters.

[0261] Optionally, the motion parameters include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, and attitude.

[0262] In this embodiment, the operations performed by each unit in the communication device are the same as those described above. Figures 1 to 5 The description of the second device in the illustrated embodiment is similar and will not be repeated here.

[0263] In this embodiment, after the transceiver unit 601 acquires the motion parameters of the first device, the processing unit 602 can perform sensing measurements based on the motion parameters. That is, the first device and the second device exchange the motion parameters of the first device. Compared with the method of the second device estimating the motion parameters of the first device, the method of the first device reporting can improve the accuracy of the second device in acquiring the motion parameters of the first device, thereby improving the sensing effect and coherent processing effect.

[0264] Please see Figure 7 This is another schematic structural diagram of the communication device 700 provided in this application. The communication device 700 includes a logic circuit 701 and an input / output interface 702. The communication device 700 can be a chip or an integrated circuit.

[0265] in, Figure 6 The transceiver unit 601 shown can be a communication interface, which can be... Figure 7 The input / output interface 702 may include an input interface and an output interface. Alternatively, the communication interface may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit. Figure 6 The processing unit 602 shown can be Figure 7 The logic circuit 701 in the middle.

[0266] The logic circuit 701 and the input / output interface 702 can also perform other steps executed by the network device or terminal device in any embodiment and achieve corresponding beneficial effects, which will not be elaborated here.

[0267] For example, when the communication device 700 is the first device, the input / output interface 702 can be used for one or more of the following: receiving first indication information, sending capability information, receiving second indication information, receiving configuration information, sending motion parameters, etc. The logic circuit 701 can be used for one or more of the following: acquiring motion parameters of the first device, etc.

[0268] For example, when the communication device 700 is the second device, the input / output interface 702 can be used for one or more of the following: sending first indication information, receiving capability information, sending second indication information, sending configuration information, receiving motion parameters, etc. The logic circuit 701 can be used for one or more of the following: determining the first device from multiple devices based on capability information, performing sensing measurements based on motion parameters, etc.

[0269] Optionally, the logic circuit 701 can be a processing device, the functions of which can be partially or entirely implemented in software.

[0270] Optionally, the processing apparatus may include a memory and a processor, wherein the memory is used to store a computer program, and the processor reads and executes the computer program stored in the memory to perform the corresponding processing and / or steps in any of the method embodiments.

[0271] Optionally, the processing device may consist of only a processor. A memory for storing computer programs is located outside the processing device, and the processor is connected to the memory via circuitry / wires to read and execute the computer programs stored in the memory. The memory and processor may be integrated together or physically independent of each other.

[0272] Optionally, the processing device may be one or more chips, or one or more integrated circuits. For example, the processing device may be one or more field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), system on-chips (SoCs), central processors (CPUs), network processors (NPs), digital signal processors (DSPs), microcontroller units (MCUs), programmable logic devices (PLDs), or other integrated chips, or any group of the above chips or processors.

[0273] Please see Figure 8 The communication device 800 mentioned in the above embodiments provided in this application can specifically be a communication device that serves as a network device or a terminal device in the above embodiments, or it can be a chip or functional module in a network device or a terminal device.

[0274] The present invention is a schematic diagram of a possible logical structure of the communication device 800, which may include, but is not limited to, at least one processor 801 and a communication port 802.

[0275] in, Figure 6 The transceiver unit 601 shown can be a communication interface, which can be... Figure 8 The communication port 802 in the chip may include an input interface and an output interface. Alternatively, the communication port 802 may also be a transceiver circuit, which may include an input interface circuit and an output interface circuit, or it may be the chip's input / output interface.

[0276] Further optionally, the device may also include at least one of a memory 803 and a bus. In embodiments of this application, the at least one processor 801 is used to control the operation of the communication device 800. The memory 803 is used to store device program code and / or data.

[0277] For example, when communication device 800 is the first device, communication port 802 can be used for one or more of the following: receiving first indication information, sending capability information, receiving second indication information, receiving configuration information, sending motion parameters, etc. At least one processor 801 can be used for one or more of the following: acquiring motion parameters of the first device, etc.

[0278] For example, when communication device 800 is the second device, communication port 802 can be used for one or more of the following: sending first indication information, receiving capability information, sending second indication information, sending configuration information, receiving motion parameters, etc. At least one processor 801 can be used for one or more of the following: determining the first device from multiple devices based on capability information, performing sensing measurements based on motion parameters, etc.

[0279] Furthermore, the processor 801 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. It can implement or execute the various exemplary logic blocks, modules, and circuits described in conjunction with the disclosure of this application. The processor can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, etc. Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0280] It is understandable that this application relates to Figure 8 The number of each component shown is not limited. For example, the number of processors 801, communication ports 802, and memory 803 can each be one or more, and the specific number is not limited here.

[0281] It should be noted that, Figure 8 The communication device 800 shown can be used to implement the steps implemented by the network device or terminal device in the aforementioned method embodiments, and achieve the corresponding technical effects. Figure 8 The specific implementation methods of the communication devices shown can all be referred to the descriptions in the foregoing method embodiments, and will not be repeated here.

[0282] Please see Figure 9 The above-described embodiments of the communication device 900 provided for the purposes of this application are structural schematic diagrams. Specifically, the communication device 900 can be a network device as described in the above embodiments. The structure of this communication device can be referenced from... Figure 9 The structure shown.

[0283] The communication device 900 includes at least one processor 911 and at least one network interface 914. Optionally, the communication device further includes at least one memory 912, at least one transceiver 913, and one or more antennas 915. The processor 911, memory 912, transceiver 913, and network interface 914 are connected, for example, via a bus. In this embodiment, the connection may include various interfaces, transmission lines, or buses, etc., and this embodiment is not limited thereto. The antenna 915 is connected to the transceiver 913. The network interface 914 enables the communication device to communicate with other communication devices through a communication link. For example, network interface 914 may include a network interface between the communication device and a core network device, such as an S1 interface. The network interface may also include a network interface between the communication device and other communication devices (e.g., other network devices or core network devices), such as an X2 or Xn interface.

[0284] in, Figure 6 The transceiver unit 601 shown can be a communication interface, which can be... Figure 9 The network interface 914 may include an input interface and an output interface. Alternatively, the network interface 914 may also be a transceiver circuit, which may include input interface circuitry and output interface circuitry.

[0285] The processor 911 is primarily used to process communication protocols and communication data, control the entire communication device, execute software programs, and process the data of the software programs, for example, to support the communication device in performing the actions described in the embodiments. The communication device may include a baseband processor and a central processing unit. The baseband processor is primarily used to process communication protocols and communication data, while the central processing unit is primarily used to control the entire communication device, execute software programs, and process the data of the software programs. Figure 9 The processor 911 can integrate the functions of a baseband processor and a central processing unit. Those skilled in the art will understand that the baseband processor and the central processing unit can also be independent processors interconnected via technologies such as buses. Those skilled in the art will understand that a communication device can include multiple baseband processors to adapt to different network standards, and multiple central processing units to enhance its processing capabilities. The various components of the communication device can be connected via various buses. The baseband processor can also be described as a baseband processing circuit or a baseband processing chip. The central processing unit can also be described as a central processing circuit or a central processing chip. The function of processing communication protocols and communication data can be built into the processor or stored in memory as a software program, with the processor executing the software program to implement the baseband processing function.

[0286] The memory is primarily used to store software programs and data. The memory 912 can exist independently or be connected to the processor 911. Optionally, the memory 912 can be integrated with the processor 911, for example, integrated into a single chip. The memory 912 can store program code that executes the technical solutions of the embodiments of this application, and its execution is controlled by the processor 911. The various types of computer program code being executed can also be considered as drivers for the processor 911.

[0287] Figure 9 Only one memory and one processor are shown. In actual communication devices, there may be multiple processors and multiple memories. Memory can also be called storage medium or storage device, etc. Memory can be a storage element on the same chip as the processor, i.e., an on-chip storage element, or it can be a separate storage element; this application does not limit this.

[0288] Transceiver 913 can be used to support the reception or transmission of radio frequency (RF) signals between communication devices and terminals. Transceiver 913 can be connected to antenna 915. Transceiver 913 includes a transmitter Tx and a receiver Rx. Specifically, one or more antennas 915 can receive RF signals. The receiver Rx of transceiver 913 is used to receive the RF signals from the antennas, convert the RF signals into digital baseband signals or digital intermediate frequency (IF) signals, and provide the digital baseband signals or IF signals to processor 911 so that processor 911 can perform further processing on the digital baseband signals or IF signals, such as demodulation and decoding. In addition, the transmitter Tx in transceiver 913 is also used to receive modulated digital baseband signals or IF signals from processor 911, convert the modulated digital baseband signals or IF signals into RF signals, and transmit the RF signals through one or more antennas 915. Specifically, the receiver Rx can selectively perform one or more stages of downmixing and analog-to-digital conversion on the radio frequency signal to obtain a digital baseband signal or a digital intermediate frequency (IF) signal. The order of these downmixing and IF conversion processes is adjustable. The transmitter Tx can selectively perform one or more stages of upmixing and digital-to-analog conversion on the modulated digital baseband signal or digital IF signal to obtain a radio frequency signal. The order of these upmixing and IF conversion processes is also adjustable. The digital baseband signal and the digital IF signal can be collectively referred to as digital signals.

[0289] The transceiver 913 can also be called a transceiver unit, transceiver, transceiver device, etc. Optionally, the device in the transceiver unit that performs the receiving function can be regarded as the receiving unit, and the device in the transceiver unit that performs the transmitting function can be regarded as the transmitting unit. That is, the transceiver unit includes a receiving unit and a transmitting unit. The receiving unit can also be called a receiver, input port, receiving circuit, etc., and the transmitting unit can be called a transmitter, transmitter, or transmitting circuit, etc.

[0290] It should be noted that, Figure 9 The communication device 900 shown can be used to implement the steps implemented by the network device in the aforementioned method embodiments, and to achieve the corresponding technical effects of the network device. Figure 9 The specific implementation of the communication device 900 shown can be referred to the description in the foregoing method embodiments, and will not be repeated here.

[0291] When the aforementioned communication device is a chip applied to a terminal, the terminal chip implements the functions of the terminal in the above method embodiments. The terminal chip receives information from other modules (such as an RF module or antenna) in the terminal, information sent to the terminal by the base station; or, the terminal chip sends information to other modules (such as an RF module or antenna) in the terminal, information sent to the base station by the terminal. For example, in the case of a terminal, sending information can be understood as the process of the terminal's chip outputting information.

[0292] When the aforementioned communication device is a module applied to a base station, the base station module implements the functions of the base station in the above method embodiments. The base station module receives information from other modules (such as radio frequency modules or antennas) in the base station, information sent by the terminal to the base station; or, the base station module sends information to other modules (such as radio frequency modules or antennas) in the base station, information sent by the base station to the terminal. Here, the base station module can be the baseband chip of the base station, or a DU (Digital Unit) or other modules. The DU can be a DU under an Open Radio Access Network (O-RAN) architecture. For example, in the case of a base station, the base station sending information can be understood as the process of the base station's chip outputting information.

[0293] The method steps in the embodiments of this application can be implemented in hardware or in software instructions executable by a processor. The software instructions can consist of corresponding software modules, which can be stored in random access memory, flash memory, read-only memory, programmable read-only memory, erasable programmable read-only memory, electrically erasable programmable read-only memory, registers, hard disks, portable hard disks, CD-ROMs, or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. The storage medium can also be a component of the processor. The processor and storage medium can reside in an ASIC. Alternatively, the ASIC can reside in a base station or terminal. The processor and storage medium can also exist as discrete components in a base station or terminal.

[0294] In the above embodiments, implementation can be achieved entirely or partially through software, hardware, firmware, or any combination thereof. When implemented using software, it can be implemented entirely or partially in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instructions are loaded and executed on a computer, the processes or functions described in the embodiments of this application are performed entirely or partially. The computer can be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, or other programmable device. The computer program or instructions can be stored in a computer-readable storage medium or transferred from one computer-readable storage medium to another. For example, the computer program or instructions can be transferred from one website, computer, server, or data center to another website, computer, server, or data center via wired or wireless means. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that integrates one or more available media. The available medium can be a magnetic medium, such as a floppy disk, hard disk, or magnetic tape; it can also be an optical medium, such as a digital video optical disc; or it can be a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both types of storage media.

[0295] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

Claims

1. A communication method, characterized in that, The method is applied to a first device or a chip in the first device, the method comprising: The motion parameters of the first device are obtained, and the motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal; The motion parameters are sent to the second device.

2. The method according to claim 1, characterized in that, Before obtaining the motion parameters of the first device, the method further includes: The capability information is sent to the second device, and the capability information is related to the motion parameters acquired by the first device.

3. The method according to claim 2, characterized in that, Before sending capability information to the second device, the method further includes: The first indication information is received from the second device, which instructs the first device to report the capability information.

4. The method according to any one of claims 1 to 3, characterized in that, Before obtaining the motion parameters of the first device, the method further includes: The second device receives a second instruction message, which instructs the first device to report the motion parameters.

5. The method according to any one of claims 1 to 4, characterized in that, The method further includes: Receive configuration information sent by the second device, the configuration information being used to configure the reporting type of the motion parameters; Sending the motion parameters to the second device includes: The motion parameters are sent to the second device based on the reported type.

6. The method according to any one of claims 1 to 5, characterized in that, The motion parameters include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, and attitude.

7. A communication method, characterized in that, The method is applied to a second device or a chip in the second device, the method comprising: The motion parameters sent by the first device are received, and the motion parameters are used for coherent processing of the echo signal corresponding to the sensing signal. Sensing and measurement are performed based on the aforementioned motion parameters.

8. The method according to claim 7, characterized in that, Before receiving the motion parameters sent by the first device, the method further includes: The system receives capability information from multiple devices, and the capability information is related to motion parameters acquired by the multiple devices.

9. The method according to claim 8, characterized in that, The method further includes: The first device is determined from the plurality of devices based on the capability information of the plurality of devices; Send a second instruction message to the first device, the second instruction message being used to instruct the first device to report the motion parameters.

10. The method according to claim 9, characterized in that, The method further includes: A first list is maintained based on the capability information, and the first list is used to record the first devices that meet the requirements for coherent synthesis.

11. The method according to any one of claims 7 to 10, characterized in that, The method further includes: The configuration information is sent to the first device, and the configuration information is used to configure the reporting type of the motion parameters.

12. The method according to any one of claims 7 to 11, characterized in that, The motion parameters include one or more of the following: velocity, acceleration, attitude angle of the first device relative to the reference frame, angular velocity, angular acceleration, and attitude.

13. A communication device, characterized in that, Includes a module for performing the method as described in any one of claims 1 to 12.

14. A communication device, characterized in that, It includes at least one processor coupled to at least one memory; the at least one processor is used to perform the method as described in any one of claims 1 to 12.

15. A chip or chip system, characterized in that, The chip or chip system is used to perform the method as described in any one of claims 1 to 12.

16. A communication system, characterized in that, It includes at least one of a first device for performing the method of any one of claims 1 to 6 and a second device for performing the method of any one of claims 7 to 12.

17. A readable storage medium, characterized in that, The storage medium stores a computer program or instructions, which, when executed by a communication device, implement the method as described in any one of claims 1 to 12.

18. A computer program product, characterized in that, Includes instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1 to 12.

Images