Improved angle of arrival (AoA) determination

Abstract

The present disclosure relates to methods, communication devices and terminal devices for improved AoA determination. A method for AoA determination at a communication device comprises performing a first measurement on a first carrier; determining a first number of first candidate AoAs of an object based on at least the first measurement; determining whether to perform a second measurement on a second carrier different from the first carrier based on at least whether more than one first candidate AoA is determined for the object; performing the second measurement on the second carrier in response to determining to perform the second measurement on the second carrier; and determining an AoA of the object from the first number of first candidate AoAs based on at least the first measurement and the second measurement.

Description

Technical Field

[0001] This disclosure relates to the field of telecommunications, and more particularly to methods, communication equipment, and terminal equipment for improving angle of arrival (AoA) determination. Background Technology

[0002] Fifth-generation enhanced (5G-A) and sixth-generation (6G) mobile communication systems are expected to support new services such as autonomous driving and extended reality (XR), which will require both strong communication and sensing capabilities. For a long time, wireless sensing, including positioning, speed detection, attitude recognition, and object detection, has developed as a separate technology alongside mobile communication. In 5G-A and 6G mobile communication systems, higher bandwidth, full-duplex, and massive MIMO technologies are likely to be indispensable. Therefore, the frequency bands and antennas used in wireless communication systems are becoming similar to those used in radar, making Jointly Integrated Communication and Sensing (JCAS) technology feasible and promising.

[0003] JCAS transmission is widely recognized as an effective way to address the coexistence of communication and radar in the foreseeable future. JCAS transmission enables effective collaboration between communication and radar sensing functions and has shown great potential to simultaneously improve both communication and radar sensing performance. Summary of the Invention

[0004] JCAS technology can accurately measure the time of flight (ToF) of signals between sensing transceivers, thereby deriving distance estimates with sub-meter accuracy. By capturing input signals at multiple antennas / antenna elements of one or more sensing receivers, the phase difference of the radio signal when it arrives at these antennas / antenna elements can be measured. These phase differences are caused by the time delay that exists when the signal arrives at spatially separated antennas / antenna elements. Therefore, the angle of arrival (AoA) of the signal when it arrives at the receiver is estimated using the phase difference of the signal arrival, allowing object location based solely on the relative angle and distance information relative to a JCAS-enabled radio node.

[0005] However, due to the phase winding characteristic, the phase always falls on Within this range, the measured phase difference may be ambiguous. When the distance between antenna elements is greater than... Time (of which, (This refers to the wavelength of the radio signal), which can cause ambiguity in AoA estimation. This means that the same measured phase difference... It may correspond to two or more different AoA, that is , In this situation, the receiver cannot rely solely on the measured phase difference. Determine the true AoA value.

[0006] Currently, this AoA ambiguity can be resolved in two ways: reducing the distance between the receiving antenna / antenna element to less than or equal to... Alternatively, measurements from multiple sensing nodes can be combined. However, the former approach may result in a significant reduction in sensing coverage, and the communication coverage will also be reduced because communication and sensing share the same antennas / antenna elements; the latter approach requires the deployment of sensing nodes at a much higher density, leading to a significant increase in cost and increased inter-cell interference.

[0007] To address or at least partially alleviate one or more of the problems described above, some embodiments of this disclosure are provided.

[0008] According to a first aspect of this disclosure, a method for AoA determination at a communication device is provided. The method includes: performing a first measurement on a first carrier; determining a first candidate AoA for an object based at least on the first measurement, the number of first candidate AoA being a first quantity; determining whether to perform a second measurement on a second carrier different from the first carrier, based at least on whether more than one first candidate AoA has been determined for the object; performing the second measurement on the second carrier in response to determining that the second measurement should be performed on the second carrier; and determining the AoA of the object from the first quantity of first candidate AoA based at least on the first and second measurements. Furthermore, further embodiments of the first aspect will be provided in the following detailed description.

[0009] According to a second aspect of this disclosure, a communication device is provided. The communication device includes: a processor; and a memory storing instructions that, when executed by the processor, cause the communication device to: perform a first measurement on a first carrier; determine, based at least on the first measurement, a first candidate AoA for an object, the number of first candidate AoA being a first quantity; determine, based at least on whether more than one first candidate AoA has been determined for the object, whether to perform a second measurement on a second carrier different from the first carrier; perform the second measurement on the second carrier in response to determining that the second measurement should be performed on the second carrier; and determine the AoA of the object from the first quantity of first candidate AoA, based at least on the first and second measurements. In some embodiments, when executed by the processor, the instructions also cause the communication device to perform any of the methods of the first aspect.

[0010] According to a third aspect of this disclosure, a method for AoA determination at a terminal device is provided. The method includes: receiving from a network node a message indicating at least one of the following: a first configuration for object awareness on a first carrier, and a second configuration for object awareness on a second carrier. In some embodiments, the method further includes at least one of the following: transmitting a first sensing signal on the first carrier, at least based on the first configuration; and transmitting a second sensing signal on the second carrier, at least based on the second configuration, in response to detecting a triggering event. Furthermore, further embodiments of the third aspect will be provided in the detailed description below.

[0011] According to a fourth aspect of this disclosure, a terminal device is provided. The terminal device includes: a processor; and a memory storing instructions that, when executed by the processor, cause the terminal device to: receive from a network node a message indicating at least one of the following: a first configuration for object awareness on a first carrier, and a second configuration for object awareness on a second carrier. In some embodiments, when executed by the processor, the instructions also cause the terminal device to: transmit a first sensing signal on the first carrier, at least based on the first configuration; and transmit a second sensing signal on the second carrier, at least based on the second configuration, in response to detecting a trigger event. In some embodiments, when executed by the processor, the instructions also cause the terminal device to perform any method of the third aspect.

[0012] According to a fifth aspect of this disclosure, a computer program comprising instructions is provided. When executed by at least one processor, these instructions cause the at least one processor to perform any method of either the first or third aspect.

[0013] According to a sixth aspect of this disclosure, a carrier comprising the computer program of the fifth aspect is provided. In some embodiments, the carrier is one of an electronic signal, an optical signal, a radio signal, or a computer-readable storage medium.

[0014] According to a seventh aspect of this disclosure, a telecommunications network is provided. The telecommunications network includes: a communication device, the communication device comprising: a processor; and a memory storing instructions that, when executed by the processor, cause the communication device to: perform a first measurement on a first carrier; determine, at least based on the first measurement, a first candidate AoA for an object, the number of first candidate AoA being a first quantity; determine, at least based on whether more than one first candidate AoA has been determined for the object, whether to perform a second measurement on a second carrier different from the first carrier; in response to determining that a second measurement should be performed on the second carrier, perform the second measurement on the second carrier; and determine the AoA of the object from the first quantity of first candidate AoA, at least based on the first measurement and the second measurement.

[0015] In some embodiments, the telecommunications network further includes: a terminal device comprising: a processor; and a memory storing instructions that, when executed by the processor, cause the terminal device to: receive from a communication device a message indicating at least one of the following: a first configuration for object awareness on a first carrier, and a second configuration for object awareness on a second carrier. In some embodiments, when executed by the processor, the instructions also cause the terminal device to: transmit a first sensing signal on the first carrier, at least based on the first configuration; and transmit a second sensing signal on the second carrier, at least based on the second configuration, in response to detecting a triggering event.

[0016] In some embodiments, instructions stored in the memory of the communication device, when executed by the processor of the communication device, further cause the communication device to perform any of the methods of the first aspect. In some embodiments, instructions stored in the memory of the terminal device, when executed by the processor of the terminal device, further cause the terminal device to perform any of the methods of the third aspect.

[0017] Through some embodiments of this disclosure, AoA ambiguity can be resolved without affecting / limiting coverage and resources can be efficiently utilized in multi-carrier data fusion. Attached Figure Description

[0018] Figure 1 This is a schematic diagram illustrating an exemplary network to which improved AoA determination can be applied according to embodiments of the present disclosure.

[0019] Figure 2 This is a schematic diagram illustrating an exemplary antenna array to which improved AoA determination can be applied according to embodiments of the present disclosure.

[0020] Figure 3 This is a schematic diagram illustrating an exemplary method for resolving AoA fuzziness and its limitations.

[0021] Figure 4 This is a schematic diagram illustrating an exemplary sensing resource allocation according to an embodiment of the present disclosure.

[0022] Figure 5 This is a schematic diagram illustrating an exemplary process for improving AoA determination based on dynamic resource allocation according to an embodiment of the present disclosure.

[0023] Figure 6 This is a schematic diagram illustrating an exemplary process for improving AoA determination based on static / semi-static resource allocation according to embodiments of the present disclosure.

[0024] Figure 7This is a schematic diagram illustrating an exemplary process for improving AoA determination using sensing nodes and terminal devices according to embodiments of the present disclosure.

[0025] Figure 8 This is a schematic diagram illustrating an exemplary simulation of improved AoA determination according to an embodiment of the present disclosure.

[0026] Figure 9 This is a flowchart illustrating an exemplary method for AoA determination at a communication device according to an embodiment of this disclosure.

[0027] Figure 10 This is a flowchart illustrating an exemplary method for AoA determination at a terminal device according to an embodiment of this disclosure.

[0028] Figure 11 An embodiment of an arrangement that may be used in a communication device and / or a terminal device according to an embodiment of this disclosure is illustrated schematically. Detailed Implementation

[0029] The present disclosure will now be described with reference to embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are for illustrative purposes only and are not intended to limit the scope of the disclosure. Furthermore, descriptions of known structures and techniques are omitted below to avoid unnecessarily obscuring the concepts of the present disclosure.

[0030] Those skilled in the art will understand that the term "exemplary" as used herein means "illustrative" or "serves as an example" and is not intended to imply that a particular embodiment is superior to another or that a particular feature is essential. Similarly, unless the context clearly indicates otherwise, the terms "first," "second," "third," "fourth," and similar terms are used only to distinguish one instance of an item or feature from another and do not indicate a particular order or arrangement. Furthermore, the term "step" as used herein is intended to be synonymous with "operation" or "action." Unless the context or the details of the described operations clearly indicate otherwise, any description of a sequence of steps herein does not imply that these operations must be performed in a particular order, or even that there must be any order of execution.

[0031] Unless otherwise expressly stated, or as should be understood in the context of its use, conditional expressions such as “can,” “may,” “can,” and “for example” as used herein are generally intended to convey that some embodiments include certain features, elements, and / or states, while other embodiments do not. Therefore, such conditional expressions generally do not imply that one or more embodiments require these features, elements, and / or states in any way, nor do they imply that one or more embodiments necessarily include logic for determining whether such features, elements, and / or states are included or implemented in any particular embodiment, whether or not the author has entered or prompted it. Furthermore, the term “or” is used in an inclusive sense (rather than an exclusive sense), and thus, for example, when used to connect a series of elements, the term “or” means one, some, or all of the elements in that series. In addition, the term “each” as used herein, besides having its usual meaning, may also refer to any subset of the set of elements to which the term applies.

[0032] The term “based on” should be understood as “at least partially based on”. The terms “one embodiment” and “embodiment” should be understood as “at least one embodiment”. The term “another embodiment” should be understood as “at least one other embodiment”. Other explicit or implicit definitions may also be included below. Furthermore, unless otherwise expressly stated, expressions such as “at least one of X, Y, and Z” should generally be understood in the context in which they are used as meaning that an item, term, etc., can be X, Y, or Z, or a combination thereof.

[0033] The terminology used herein is for describing particular embodiments only and is not intended to limit the exemplary embodiments. Unless the context clearly indicates otherwise, the singular forms “a,” “an,” and “the” used herein are also intended to include the plural forms. It should also be understood that the terms “comprising,” “including,” “having,” “possessing,” “containing,” and / or “comprises” as used herein indicate the presence of the stated features, elements, and / or components, but do not exclude the presence or addition of one or more other features, elements, components, and / or combinations thereof. It should also be understood that unless explicitly stated otherwise to the contrary, the terms “connected,” “connected to,” “linked to,” etc., as used herein, indicate only an electrical or communication connection between two elements, and that these two elements may be directly or indirectly connected.

[0034] Of course, this disclosure may be implemented in other specific ways than those described herein without departing from its scope and essential characteristics. One or more specific processes discussed below can be performed in any electronic device including one or more appropriately configured processing circuits. In some embodiments, these processing circuits may be embodied in one or more application-specific integrated circuits (ASICs). In some embodiments, these processing circuits may include one or more microprocessors, microcontrollers, and / or digital signal processors programmed by appropriate software and / or firmware to perform one or more of the operations described above or variations thereof. In some embodiments, these processing circuits may include custom hardware for performing one or more of the functions described above. Therefore, in all respects, this embodiment should be considered illustrative rather than restrictive.

[0035] Although various embodiments of the present disclosure will be shown in the accompanying drawings and described in the detailed description below, it should be understood that the present disclosure is not limited to the disclosed embodiments, but that various rearrangements, modifications and substitutions are possible without departing from the present disclosure as set forth and defined by the claims.

[0036] Furthermore, although some embodiments of this disclosure are described below in the context of 5G NR, this disclosure is not limited thereto. In fact, the inventive concept of this disclosure can be applied to any suitable communication architecture, such as Global System for Mobile Communications (GSM) / General Packet Radio Service (GPRS), Enhanced Data Rate Evolution of GSM (EDGE), Code Division Multiple Access (CDMA), Wideband CDMA (WCDMA), Time Division Synchronous CDMA (TD-SCDMA), CDMA2000, Global Microwave Access Interoperability (WiMAX), Wi-Fi, LTE, Enhanced LTE-A, 5G NR, or 6G mobile system standards, etc. Therefore, those skilled in the art will readily understand that the terms used herein can also refer to equivalent terms in any other infrastructure. For example, the term "terminal device" as used herein can refer to UE, mobile device, mobile terminal, mobile station, user equipment, user terminal, wireless device, wireless terminal, or any other equivalent. For example, the term "network node" as used in this document can refer to a Transmitter / Receive Point (TRP), base station, base transceiver station, access point, hotspot, NodeB, evolved NodeB (eNB), gNB, network element, satellite, aircraft, or any other equivalent. As another example, the term "communication equipment" can refer to terminal equipment, network node, or any other equivalent.

[0037] Figure 1 This is a schematic diagram illustrating an exemplary telecommunications network 10 to which improved AoA determination can be applied according to embodiments of this disclosure. Figure 1 As shown, network 10 may include one or more RAN nodes 110-1 to 110-3 (collectively referred to as RAN nodes 110). Each RAN node 110 can provide services within one or more cells / coverage areas associated with it. For example, cells 105-1 to 105-3 may be provided by RAN node 110-1, cells 105-4 to 105-6 may be provided by RAN node 110-2, and cell 105-7 may be provided by RAN node 110-3. In this way, RAN node 110 can provide one or more services to one or more UEs within cells 105-1 to 105-7 (collectively referred to as cell 105), such as voice call service, video call service, short message service (SMS), data download service, streaming media service, location service, etc.

[0038] In addition, network 10 may also include a core network (CN) and / or one or more operation, management, and maintenance (OAM) nodes. The CN may include one or more CN nodes, such as Access and Mobility Management Functions (AMF), Session Management Functions (SMF), User Plane Functions (UPF), etc. RAN node 110 may communicate directly or indirectly with the CN and / or OAM nodes to provide these services.

[0039] In some embodiments, RAN node 110 can be aware of one or more objects 100 (e.g., drones (UAVs)) within its coverage area. Figure 1 As shown, object 100 is moving through cell 105, and one or more of RAN nodes 110 can be selected to sense object 100.

[0040] In some embodiments, single-station or dual-station / multi-station sensing techniques can be used to sense object 100. For example, when using single-station sensing, a single sensing node (e.g., RAN node 110-1) can transmit a sensing signal to object 100 and receive the echo signal reflected by object 100. The distance between RAN node 110-1 and object 100 can be calculated by calculating the time difference between transmitting the sensing signal and receiving the echo signal. As another example, when using dual-station or multi-station sensing, a transmitting (TX) sensing node (e.g., RAN node 110-1) can transmit a sensing signal to object 100, and one or more receiving (RX) sensing nodes (e.g., RAN node 110-2 and / or RAN node 110-3) can receive the echo signal reflected by object 100. Similar to single-station sensing, the distance between object 100 and the sensing nodes can be calculated.

[0041] Furthermore, as mentioned above, the phase difference at the time of signal arrival can be used to estimate AoA, thereby allowing the location of objects based solely on the relative angle and distance information relative to a JCAS-supporting radio node.

[0042] An antenna array can be used to determine the AoA with respect to the received sensed signal. Figure 2 This is a schematic diagram illustrating such an exemplary antenna array. (As shown...) Figure 2 As shown, there can be a distance between two adjacent antennas (or antenna elements) in such an array. (For example, Figure 2 (The distance between Ch1 and Ch2 shown). The received signal will have a phase difference when it reaches these antennas. .if It is the difference in the path length of the signals received by the two antennas, and If the wavelength of the signal is represented, then the following formula holds:

[0043] (1)

[0044] If the distance between the transmitter and the receiving antenna array Compared to the distance between two adjacent receiving antennas Very large, that is Therefore, we can assume that the incident signals at the receiving antenna are approximately parallel. In this case, the AoA of all antennas... They are all the same, and can be based on Figure 2 Calculate the triangular relationship shown:

[0045] (2)

[0046] Based on equations (1) and (2), the following equation can be derived:

[0047] (3)

[0048] It is clear from equation (3) that the measured phase difference can be used to determine the phase difference. Calculate AoA .

[0049] Phase difference blur

[0050] As mentioned above, due to the phase winding characteristic, the measured phase always falls within... Within this range, the measured phase difference may be ambiguous. When the distance between antenna elements is greater than... Time (of which, (This refers to the wavelength of the radio signal), which can cause ambiguity in AoA estimation. This means that the same measured phase difference... It may correspond to two or more different AoA, that is , In this situation, the receiver cannot rely solely on the measured phase difference. Determine the true AoA value.

[0051] For example, based on equation (3), for two different AoA and and the corresponding phase difference and The following equations hold true:

[0052]

[0053]

[0054] And when (in When the phases are tangled, this means that due to phase tangling, their measurements are identical, and therefore these measured phase differences cannot be distinguished from each other.

[0055] For example, assuming a 64TRX massive MIMO receiver is used, the elevation range of the AoA is... , This represents the actual signal AoA, and .

[0056] Therefore, due to phase winding, multiple different AoA, i.e. , , , They may have the same measured phase difference:

[0057]

[0058] From the receiver's perspective, when At that time, the phase difference was measured. to They cannot be distinguished, but the corresponding AoA values ​​are different, for example , In this situation, the receiver cannot determine the true AoA value solely based on the measured phase difference.

[0059] To solve the aforementioned AoA ambiguity problem, one of the following two methods is typically used.

[0060] Antenna design-based methods

[0061] If the distance between the receiving antenna / antenna element is less than or equal to Then there will be no ambiguity issues.

[0062] However, with a fixed number of antennas, antenna designs without AoA ambiguity require smaller antenna spacing, leading to reduced antenna gain. In other words, this can have a significant negative impact on JCAS coverage, for example:

[0063] • The sensing coverage area is reduced.

[0064] • Because communication and sensing share the same antenna, the coverage of traditional communication is affected.

[0065] In other words, considering that coverage is one of the most important key performance indicators (KPIs) of a wireless system, reducing the distance between antennas is clearly not a good choice, or at least a suboptimal one.

[0066] Multi-site approach

[0067] Another approach is to fuse AoA measurements from multiple sensing nodes. Since the true AoA and its associated fuzzy AoA differ for each sensing node, some fuzziness can be resolved by cross-validating measurement data from different sensing nodes.

[0068] However, this method also has its limitations, especially in single-station sensing. Specifically, in order to cross-validate measurement data of the same object, these sensing nodes should be able to sense the object simultaneously. This requires the existence of overlapping areas where these sensing nodes provide services / perform sensing, such as... Figure 3 As shown in (a).

[0069] Figure 3 This is a schematic diagram illustrating an exemplary method for resolving AoA ambiguity and its limitations. For example... Figure 3 As shown in the upper part (a), fuzziness resolution is only possible in overlapping areas where multiple sensing nodes (e.g., sensing node 110-1 and sensing node 110-2) provide services / perform sensing. Therefore, in order to provide ubiquitous sensing services, sensing nodes should be close enough to each other, which in turn increases infrastructure / operational costs and affects sensing coverage from a network perspective.

[0070] like Figure 3 As shown in the lower part (b), even when the distance between sensing nodes is short, buildings can still hinder the ability to dissolve ambiguity, especially in urban areas.

[0071] Therefore, the aforementioned fuzziness resolution method limits the range of perception coverage.

[0072] To address or at least partially alleviate one or more of the problems described above, some embodiments of this disclosure are provided.

[0073] In some embodiments, a novel multi-carrier data fusion mechanism can be triggered for AoA fuzziness resolution.

[0074] In some embodiments, different sensing resources with different sensing purposes can be allocated to different carriers. For example, one carrier (as the primary sensing carrier) can handle routine sensing activities, while one or more other carriers (as secondary sensing carriers) can handle AoA ambiguity issues.

[0075] In some embodiments, the operator (or an artificial intelligence (AI) application in service management and orchestration (SMO)) can select a carrier suitable for sensing based on the communication load.

[0076] In some embodiments, AoA measurement results from multiple carriers (cells) can be fused at a single sensing node to resolve the AoA ambiguity problem.

[0077] In some embodiments, an operator may deploy multiple sensing carriers at a single node.

[0078] In some embodiments, a carrier (referred to as the primary sensing carrier) may be designated for continuous sensing operations. For example, a carrier with relatively low communication load may be selected as the primary sensing carrier for regular sensing operations, thereby reducing the impact on radio resources available for communication.

[0079] In some embodiments, the primary sensing carrier can be allocated air interface resources for sensing. To meet detection delay requirements, dense or sparse, periodic or aperiodic radio resources can be configured independently of communication for sensing purposes.

[0080] In some embodiments, a secondary sensing carrier can be configured to resolve the AoA ambiguity problem. The following will refer to... Figure 4 Two possible schemes for allocating sensing resources for secondary sensing carriers are presented as examples. Figure 4 This is a schematic diagram illustrating an exemplary sensing resource allocation according to an embodiment of the present disclosure.

[0081] like Figure 4 As shown in the upper part (a), the sensing resources on the secondary sensing carrier can be configured statically or semi-statically. This means that the sensing signal on the secondary sensing carrier is a periodic signal. For example, a sensing signal with a period longer than the sensing signal period of the primary sensing carrier can be configured for the secondary sensing carrier. Since the secondary carrier focuses on AoA ambiguity resolution, fewer sensing air interface resources can be allocated, but this may result in higher detection latency.

[0082] like Figure 4As shown in the lower part (b), sensing resources on the secondary sensing carrier can be dynamically configured if needed. This means that sensing resources on the secondary sensing carrier are configured based on demand, for example, only when requested by the primary carrier. In some embodiments, to avoid interference between sensing nodes, the primary sensing carrier may (optionally) notify neighboring nodes to perform interference avoidance.

[0083] In some embodiments, a secondary sensing carrier can measure the AoA in order to perform data fusion and resolve AoA ambiguity. During data fusion and processing, measurements from both the secondary and primary sensing carriers can be considered, as will be described in detail below.

[0084] Using some embodiments of this disclosure, AoA ambiguity can be resolved without affecting / limiting coverage and resources can be efficiently utilized in multi-carrier data fusion.

[0085] In some embodiments, one of the focuses of this disclosure is to improve gNB-based sensing, such as gNB-based single-site sensing, gNB-based dual-site or multi-site sensing, or UE-gNB / gNB-UE dual-site or multi-site sensing. In some embodiments applying UE-gNB-based dual-site sensing modes, additional 3GPP signaling is required. For example, a sensing receiver (e.g., gNB) may request a sensing transmitter (e.g., UE) to transmit sensing signals on a secondary sensing carrier.

[0086] The following describes in detail some embodiments based on the gNB single-site sensing mode. However, this disclosure is not limited thereto. In other embodiments, gNB dual-site / multi-site sensing may also be employed, and / or UE / UE-gNB / gNB-UE single-site / dual-site / multi-site sensing may also be employed.

[0087] gNB-based sensing

[0088] Figure 5 This is a schematic diagram illustrating an exemplary process for improving AoA determination based on dynamic resource allocation according to embodiments of the present disclosure. Figure 6 This is a schematic diagram illustrating an exemplary process for improving AoA determination based on static / semi-static resource allocation according to embodiments of the present disclosure.

[0089] Dynamic resource allocation message stream

[0090] like Figure 5As shown, the process can begin at step S505, in which operator 500 can set up multiple sensing-capable carriers at a single node (e.g., sensing node 110). For example, operator 500 can select a carrier with lower communication load as the primary sensing carrier for routine sensing operations based on an estimate / measurement of the communication load of each carrier.

[0091] For example, two carriers (e.g., primary sensing carrier 510 and secondary sensing carrier 520) can be configured or set at a single node (e.g., sensing node 110), with one carrier located at 3.5 GHz and the other at 4.9 GHz. Considering the nature of the propagation characteristics, it is generally assumed, without loss of generality, that the average coverage of the 4.9 GHz carrier may be smaller, and therefore its load may also be lower. In this case, the 4.9 GHz carrier can be selected as the primary carrier 510 for sensing.

[0092] In some embodiments, operator 500 may use methods existing in the art (e.g., load balancing algorithms) to change the communication load. In this case, a primary sensing carrier may be selected based on the balanced load.

[0093] In step S510, a sensing configuration can be assigned to the main sensing carrier 510 for continuous sensing operations.

[0094] In step S515, other carriers can be selected as secondary sensing carriers 520 for aperiodic sensing operations. Furthermore, sensing configurations can be assigned to the secondary sensing carriers 520.

[0095] In step S520, the primary sensing carrier 510 may perform a repetitive sensing task. In some embodiments, if no object is detected in step S525, or if an object is detected but there is no AoA ambiguity ("No"), a period of time may be waited before triggering the next round of sensing. If the primary sensing carrier 510 successfully detects an object in step S525 but there is AoA ambiguity ("Yes"), the secondary carrier 520 may be triggered to resolve the ambiguity. For example, the primary sensing carrier 510 may indicate some parameters related to the object to the secondary sensing carrier 520 in step S530. The purpose is to ensure that measurements on both sensing carriers are performed for the same target when multiple targets exist within the sensing area. In some embodiments, possible parameters may include at least one of the following:

[0096] - The ID of the object detected by perception;

[0097] - There is an ambiguous range of AoA;

[0098] - Perceptual parameters related to the object (e.g., Doppler shift, time delay, position, etc.).

[0099] In some embodiments, the primary sensing carrier 510 may optionally notify neighboring nodes to perform interference avoidance in step S530a.

[0100] In step S535, the secondary sensing carrier 520 may perform sensing. In some embodiments, the sensing result may be combined with the sensing result from the primary sensing carrier 510 to resolve AoA ambiguity. This will be described in detail below.

[0101] In step S540, the secondary sensing carrier 520 may return the sensing results to the primary sensing carrier 510 when necessary.

[0102] Static resource allocation message stream

[0103] like Figure 6 As shown, the process can begin from step S605. Figure 6 The steps shown are similar to Figure 5 The steps shown are basically similar, differing only in the static / semi-static resource allocation of the secondary sensing carrier and the operations based thereon. Specifically, steps S615 and S635 differ from those shown in the original text. Figure 5 Steps S515 and S535 are shown.

[0104] In step S615, operator 500 designates secondary sensing carrier 520 in a similar manner to that shown in step S515, but with a different sensing configuration. Figure 6 The sensing configuration of the secondary sensing carrier shown can allocate static / semi-static (e.g., periodic) resources on the secondary sensing carrier 520 for AoA fuzzy resolution. Therefore, the secondary sensing carrier 520 can perform repetitive sensing tasks.

[0105] In step S635, if the primary sensing carrier 510 successfully detects an object in step S625 but AoA ambiguity exists, and subsequently triggers the secondary sensing carrier 520 in step S630 to resolve the ambiguity, then the secondary sensing carrier 520 can perform object sensing on its next periodic resource previously configured in step S615, instead of performing object sensing on the resource indicated by the primary sensing carrier 510 in step S530. In some embodiments, the secondary sensing carrier can fuse or combine sensing data from both the primary and secondary sensing carriers and resolve AoA ambiguity.

[0106] Due to other steps and Figure 5 The steps shown are basically similar, and for the sake of brevity, their detailed descriptions are omitted.

[0107] Sensing based on gNB-UE

[0108] As mentioned above, refer to Figure 5 and Figure 6The described scheme is applicable not only to gNB single-site sensing but also to UE-gNB dual-site sensing. In some embodiments, the sensing actions (steps S520, S535, S620, and S635) may be more complex than those for gNB single-site sensing because these actions involve additional RRC signaling between the UE and the gNB.

[0109] Figure 7 This is a schematic diagram illustrating an exemplary process for improving AoA determination using a sensing node (e.g., gNB 700) and a terminal device (e.g., UE 710) according to embodiments of this disclosure. This exemplary process can be used to implement any of steps S520, S535, S620, and S635.

[0110] like Figure 7 As shown, the process can begin at step S710, in which a Radio Resource Control (RRC) request message can be sent from gNB 700 to UE 710 to provide awareness configuration.

[0111] In step S720, UE 710 may send an RRC response message to gNB 700 to confirm the configuration request, such as indicating that the awareness configuration has been successfully received and applied.

[0112] In step S730, the UE 710 may send a sensing signal “Ping” to the sensing target 720 (or the area to be sensed and in which the sensing target 720 is located) based on the received sensing configuration.

[0113] In step S740, gNB 700 can receive the “Echo” signal reflected by the sensing target 720.

[0114] In step S750, gNB 700 can perform measurements on the received “Echo” signal to determine the sensing results, such as distance, AoA, etc.

[0115] Although reference Figure 7 The process of UE-gNB dual-site sensing has been described, but this disclosure is not limited thereto. In some other embodiments, Figure 5 and Figure 6 The illustrated embodiments are also applicable to UE single-site sensing or gNB-UE dual-site / multi-site sensing.

[0116] Multi-carrier data fusion scheme

[0117] The following section will describe in detail an exemplary embodiment of how to resolve ambiguity in the AoA measurement data fusion scheme.

[0118] 1. AoA measurements can be performed, for example, in a manner similar to Figure 2It is executed as shown. Assume it is based on the measured phase difference. More than one candidate AoA was identified, i.e. The actual value is fuzzy value .

[0119] 2. The probability distribution of AoA can be generated using the estimated variance based on the GMM (Gaussian Mixture Module) model:

[0120] (4)

[0121] in, Given a measured phase difference The probability distribution of AoA for the primary sensing carrier under the given conditions. It is the number of candidate AoA on the primary sensing carrier. It is the first There are candidate AoA and belong , It is the variance of the estimation accuracy of the primary sensing carrier.

[0122] In some embodiments, This can depend on the SNR and / or the specific AoA estimation algorithm. In some embodiments, the SNR can be determined through simulation. The mapping relationship between them.

[0123] For secondary sensing carriers, the AoA probability distribution can be obtained in a similar manner, for example, through the following formula:

[0124] (5)

[0125] in, Given a measured phase difference The AoA probability distribution of the auxiliary sensing carrier under the condition of It is the number of candidate AoA on the secondary sensing carrier. It is the first There are candidate AoA and belong , It is the variance of the estimation accuracy of the auxiliary sensing carrier.

[0126] Figure 8 This is a schematic diagram illustrating an exemplary simulation for improving AoA determination according to an embodiment of the present disclosure.

[0127] For the primary sensing carrier, the following assumptions are made:

[0128] - The primary sensing carrier operates at 4.9 GHz, with a distance of... ;

[0129] - The actual AoA value is ;

[0130] - The estimated (candidate) AoA is , , and ;

[0131] The probability distribution obtained by transformation through equation (4) is as follows: Figure 8 As shown in (a).

[0132] For the secondary sensing carrier, the following assumptions are made:

[0133] - The secondary sensing carrier operates at 3.5 GHz, with a distance of ;

[0134] - Due to different frequencies (i.e., wavelengths) (Different), the estimated (candidate) AoA is and ;

[0135] The probability distribution of AoA obtained by transformation through equation (5) is as follows: Figure 8 As shown in (b).

[0136] 3. Data fusion in the domain of possibility

[0137] In some embodiments, measurements from two carriers can be combined in the probability domain, for example:

[0138]

[0139] in, It is a combination probability distribution. Given a measured phase difference In the case of a primary sensing carrier having more than one candidate AoA, the probability distribution is as follows: Given a measured phase difference The probability distribution of one or more candidate AoA under the condition of auxiliary sensing carrier.

[0140] For a distribution of possible combinations, please refer to [link / reference]. Figure 8 (c)

[0141] 4. The AoA with the highest probability can be selected as the estimated true value. For example... Figure 8 As shown in (c), it can be clearly seen that AoA It has the highest probability and is therefore identified as the true AoA value.

[0142] The above embodiments can resolve AoA ambiguity without affecting / limiting coverage and ensure efficient resource utilization in multi-carrier data fusion.

[0143] Figure 9 This is a flowchart illustrating an exemplary method 900 for AoA determination at a communication device according to an embodiment of the present disclosure. Method 900 can be executed at a communication device (e.g., sensing node 110 or gNB 700). Method 900 may include steps S910, S920, S930, S940, and S950. However, the present disclosure is not limited thereto. In other embodiments, method 900 may include more steps, fewer steps, different steps, or any combination thereof. Furthermore, when multiple steps are involved, the steps of method 900 may be performed in an order different from that described herein. Additionally, in some embodiments, one step in method 900 may be split into multiple sub-steps and performed by different entities, and / or multiple steps in method 900 may be combined into a single step.

[0144] Method 900 may begin at step S910, in which the communication device may perform a first measurement on a first carrier.

[0145] In step S920, the communication device may determine the first candidate AoA of the object based at least on the first measurement, and the number of the first candidate AoA is the first quantity.

[0146] In step S930, the communication device may determine whether to perform a second measurement on a second carrier different from the first carrier, based at least on whether more than one first candidate AoA has been identified for the target.

[0147] In step S940, the communication device may perform a second measurement on the second carrier in response to determining that a second measurement is to be performed on the second carrier.

[0148] In step S950, the communication device may determine the AoA of an object from a first number of first candidate AoA based at least on the first measurement and the second measurement.

[0149] In some embodiments, the step of determining whether to perform a second measurement on a second carrier may include at least one of the following: determining to perform a second measurement on a second carrier in response to determining that more than one first candidate AoA has been determined for the object; and determining not to perform a second measurement on a second carrier in response to determining that only one first candidate AoA has been determined for the object or that no first candidate AoA has been determined. In some embodiments, the communication load of the first carrier may be lower than the communication load of at least one other carrier.

[0150] In some embodiments, a first resource capable of performing a first measurement on a first carrier may be configured for object sensing based at least on one or more sensing latency requirements. In some embodiments, the first resource may be a periodic resource having a first period. In some embodiments, a second resource capable of performing a second measurement on a second carrier may be configured semi-statically or dynamically.

[0151] In some embodiments, when the second resource is semi-statically configured, the second resource may be a periodic resource having a second period longer than the first period of the first resource. In some embodiments, when the second resource is dynamically configured, the second resource may be configured in response to determining that a second measurement is to be performed on the second carrier. In some embodiments, before and / or before the step of performing the first measurement, method 900 may further include: receiving from a network node a message indicating at least one of the following: a first configuration for object-aware operation on the first carrier, and a second configuration for object-aware operation on the second carrier.

[0152] In some embodiments, method 900 may further include at least one of the following: determining the first candidate AoA as the AoA of the object in response to determining that no other first candidate AoA exists besides the first candidate AoA; waiting for a period of time in response to determining that only one first candidate AoA exists or that no first candidate AoA exists; and triggering the next round of object perception in response to determining that only one first candidate AoA exists or that no first candidate AoA exists. In some embodiments, method 900 may further include: sending a message indicating that interference avoidance should be performed to one or more adjacent communication devices in response to determining that a second measurement should be performed on the second carrier.

[0153] In some embodiments, at least one of the first and second measurements may be performed on one or more sensed signals transmitted by the communication device itself or another communication device. In some embodiments, the other communication device may be a network node or a terminal device. In some embodiments, the first number of first candidate AoA may include at least one of temporary candidate AoA as defined by the following formula:

[0154]

[0155] in, It is a temporary candidate AoA. It is an integer. It is the measured phase difference of the first sensing signal. It is the wavelength of the first sensing signal. It refers to the spacing between antenna elements. It is an arcsine function.

[0156] In some embodiments, the step of determining a first number of first candidate AoA may include: calculating one or more temporary candidate AoA based at least on the measured phase difference of the first sensing signal. In some embodiments, the step of determining a first number of first candidate AoA may further include at least one of the following: determining one or more of the temporary candidate AoA as a first number of first candidate AoA based at least on the AoA determined for the object in the previous round of object sensing; and determining one or more temporary candidate AoA as a first number of first candidate AoA in response to an AoA not being determined for the object in the previous round of object sensing. In some embodiments, in response to determining that there is more than one first candidate AoA, method 900 may further include: determining a first AoA probability distribution according to a Gaussian mixture model (GMM) based at least on more than one first candidate AoA. In some embodiments, the first AoA probability distribution may be determined by the following formula:

[0157]

[0158] in, The measured phase difference is given a first sensing signal. The first AoA probability distribution under the given conditions It is the first number of the first candidate AoA. It is the first The first candidate AoA and belong , It is the variance of the estimation accuracy.

[0159] In some embodiments, the step of determining the AoA of an object from a first number of first candidate AoA may include: determining one or more second candidate AoA of the object based at least on a second measurement; and determining the AoA of the object based at least on the first number of first candidate AoA and one or more second candidate AoA. In some embodiments, the one or more second candidate AoA may include at least one of temporary candidate AoA defined by the following formula:

[0160]

[0161] in, It is a temporary candidate AoA. It is an integer. It is the measured phase difference of the second sensing signal. It is the wavelength of the second sensing signal. It refers to the spacing between antenna elements. It is an arcsine function.

[0162] In some embodiments, method 900 may further include: determining a second AoA probability distribution based on at least one or more second candidate AoA according to a GMM. In some embodiments, the second AoA probability distribution can be determined by the following formula:

[0163]

[0164] in, The measured phase difference is given a second sensing signal. The second AoA probability distribution under the given circumstances It is the number of second-candidate AoA. It is the first The second candidate AoA and belong , It is the variance of the estimation accuracy.

[0165] In some embodiments, the AoA with the highest combination probability can be determined as the AoA of the object, and the highest combination probability is calculated by the following formula:

[0166]

[0167] in, It is a combination probability distribution. The measured phase difference is given a first sensing signal. In cases where there is more than one first candidate AoA, the probability distribution is as follows: The measured phase difference is given a second sensing signal. Given the probability distribution of one or more second candidate AoA.

[0168] In some embodiments, the communication device may include at least one of the following: a network node; and a terminal device.

[0169] Figure 10 This is a flowchart illustrating an exemplary method 1000 for AoA determination at a terminal device according to embodiments of the present disclosure. Method 1000 can be executed at a terminal device (e.g., UE 710). Method 1000 may include at least one of steps S1020 and S1030, as well as step S1010. However, the present disclosure is not limited thereto. In some other embodiments, method 1000 may include more steps, fewer steps, different steps, or any combination thereof. Furthermore, when multiple steps are involved, the steps of method 1000 may be performed in an order different from that described herein. Additionally, in some embodiments, one step in method 1000 may be split into multiple sub-steps and performed by different entities, and / or multiple steps in method 1000 may be combined into a single step.

[0170] Method 1000 may begin at step S1010, in which the terminal device may receive from the network node a message indicating at least one of the following: a first configuration for object awareness on a first carrier, and a second configuration for object awareness on a second carrier.

[0171] In some embodiments, method 1000 may further include at least one of steps S1020 and S1030.

[0172] In step S1020, the terminal device may transmit a first sensing signal on a first carrier, at least based on a first configuration.

[0173] In step S1030, in response to the detection of a trigger event, the terminal device may transmit a second sensing signal on a second carrier, at least based on a second configuration.

[0174] In some embodiments, the communication load of the first carrier may be lower than the communication load of at least one other carrier. In some embodiments, the first resource on the first carrier capable of transmitting the first sensing signal may be configured at least based on one or more sensing delay requirements. In some embodiments, the first resource may be a periodic resource having a first period. In some embodiments, the second resource on the second carrier capable of transmitting the second sensing signal may be configured semi-statically or dynamically.

[0175] In some embodiments, when the second resource is semi-statically configured, the second resource may be a periodic resource with a second period longer than the first period of the first resource. In some embodiments, when the second resource is dynamically configured, the second resource may be configured only when a second sensing signal is to be transmitted. In some embodiments, the triggering event may include at least one of the following: receiving a message from a network node indicating that a second sensing signal should be transmitted; and a periodic timer configured to transmit the second sensing signal.

[0176] Figure 11 An embodiment of arrangement 1100, which may be used in a communication device (e.g., sensing node 110 or gNB 700) and / or a terminal device (e.g., UE 710) according to embodiments of this disclosure, is illustrated schematically. Arrangement 1100 includes a processing unit 1106, such as having a digital signal processor (DSP) or a central processing unit (CPU). Processing unit 1106 may be a single unit or multiple units to perform different actions in the process described herein. Arrangement 1100 may also include an input unit 1102 for receiving signals from other entities and an output unit 1104 for providing signals to other entities. Input unit 1102 and output unit 1104 may be configured as integrated entities or separate entities.

[0177] Furthermore, arrangement 1100 may include at least one computer program product 1108 provided in the form of non-volatile or volatile memory, such as electrically erasable programmable read-only memory (EEPROM), flash memory, and / or hard disk drive. Computer program product 1108 includes computer program 1110, which includes code / computer-readable instructions that, when executed by processing unit 1106 in arrangement 1100, cause arrangement 1100 and / or communication devices and / or terminal devices including arrangement 1100 to perform, for example, the actions described above. Figures 4 to 10 The action described in the process or any other variation thereof.

[0178] Computer program 1110 can be configured as computer program code organized into computer program modules 1110A, 1110B, 1110C, 1110D, and 1110E. Therefore, in an exemplary embodiment, when arrangement 1100 is used in a communication device to perform AoA determination, the code in the computer program of arrangement 1100 includes: module 1110A, configured to perform a first measurement on a first carrier; module 1110B, configured to determine a first candidate AoA of an object based at least on the first measurement, the number of first candidate AoA being a first quantity; module 1110C, configured to determine whether to perform a second measurement on a second carrier different from the first carrier, based at least on whether more than one first candidate AoA has been determined for the object; module 1110D, configured to perform a second measurement on the second carrier in response to determining that a second measurement should be performed on the second carrier; and module 1110E, configured to determine the AoA of the object from the first quantity of first candidate AoA based at least on the first and second measurements.

[0179] Additionally or alternatively, computer program 1110 may be configured to organize computer program code into at least one of computer program modules 1110G and 1110H, and computer program module 1110F. Thus, in one exemplary embodiment, when arrangement 1100 is used in a terminal device for AoA determination, the code in the computer program of arrangement 1100 includes: module 1110F, configured to receive from a network node a message indicating at least one of the following: a first configuration for object awareness on a first carrier, and a second configuration for object awareness on a second carrier. In some embodiments, the code in the computer program of arrangement 1100 further includes at least one of the following: module 1110G, configured to transmit a first sensing signal on the first carrier at least based on the first configuration; and module 1110H, configured to transmit a second sensing signal on the second carrier at least based on the second configuration in response to detecting a trigger event.

[0180] These computer program modules are basically executable. Figures 4 to 10 The actions of the illustrated process are designed to simulate any one of the communication devices and / or terminal devices. In other words, when different computer program modules are executed in the processing unit 1106, they can correspond to different modules in any of the communication devices and / or terminal devices.

[0181] Despite the above combination Figure 11 In the disclosed embodiments, the code means are implemented as computer program modules that, when executed in the processing unit, cause the arrangement to perform the actions described above in conjunction with the accompanying drawings. However, in alternative embodiments, at least one of these code means may be implemented at least partially as hardware circuitry.

[0182] The processor may be a single CPU (Central Processing Unit), but may also include two or more processing units. For example, the processor may include a general-purpose microprocessor; an instruction set processor and / or an associated chipset and / or a special-purpose microprocessor, such as an application-specific integrated circuit (ASIC). The processor may also include onboard memory for caching purposes. The computer program may be carried by a computer program product connected to the processor. The computer program product may include a computer-readable medium storing the computer program. For example, the computer program product may be flash memory, random access memory (RAM), read-only memory (ROM), or EEPROM, and in alternative embodiments, the aforementioned computer program modules may be distributed across different computer program products provided in the form of memory, which reside within any of the communication devices and / or terminal devices.

[0183] The present disclosure has been described above with reference to embodiments thereof. However, these embodiments are for illustrative purposes only and are not intended to limit the scope of the disclosure. The scope of the disclosure is defined by the appended claims and their equivalents. Various changes and modifications can be made by those skilled in the art without departing from the scope of the disclosure, and all such changes and modifications fall within the scope of the disclosure.

Claims

1. A method (900) for determining the angle of arrival (AoA) at a communication device (110, 700), the method (900) comprising: Perform the first measurement (S910) on the first carrier wave; Based at least on the first measurement, a first candidate AoA of the object is determined (S920), and the number of the first candidate AoA is a first number; Based at least on whether more than one first candidate AoA has been identified for the object, determine (S930) whether to perform a second measurement on a second carrier different from the first carrier; In response to determining that the second measurement should be performed on the second carrier, the second measurement is performed on the second carrier (S940); as well as Based at least on the first measurement and the second measurement, the AoA of the object is determined from the first number of first candidate AoA (S950).

2. The method (900) according to claim 1, wherein, The step of determining (S930) whether to perform a second measurement on the second carrier includes at least one of the following: In response to determining that more than one first candidate AoA has been identified for the object, it is determined that the second measurement should be performed on the second carrier; as well as In response to determining that only one first candidate AoA is determined for the object or that no first candidate AoA is determined, it is determined not to perform the second measurement on the second carrier.

3. The method (900) according to claim 1 or 2, wherein, The communication load of the first carrier is lower than the communication load of at least one other carrier.

4. The method (900) according to any one of claims 1 to 3, wherein, The first resource on the first carrier capable of performing the first measurement is configured for object awareness based on at least one or more sensing latency requirements.

5. The method (900) according to claim 4, wherein, The first resource is a periodic resource with a first cycle.

6. The method (900) according to any one of claims 1 to 5, wherein, The second resource on the second carrier capable of performing the second measurement is configured semi-statically or dynamically.

7. The method (900) according to any one of claims 1 to 6, wherein, When the second resource is semi-statically configured, the second resource is a periodic resource with a second period longer than the first period of the first resource.

8. The method (900) according to any one of claims 1 to 7, wherein, When the second resource is dynamically configured, the second resource is configured in response to determining that the second measurement should be performed on the second carrier.

9. The method (900) according to any one of claims 1 to 8, wherein, Before performing the first measurement step (S910) and / or before performing the second measurement step (S940), the method (900) further includes: Receive a message from a network node indicating at least one of the following: a first configuration for object awareness on the first carrier, and a second configuration for object awareness on the second carrier.

10. The method (900) according to any one of claims 1 to 9, further comprising at least one of the following: In response to determining that there are no other first candidate AoA besides one first candidate AoA, the first candidate AoA is determined as the AoA of the object; In response to determining that only one first candidate AoA exists or that no first candidate AoA exists, wait for a period of time; and In response to determining that there is only one first candidate AoA or that there is no first candidate AoA, the next round of object perception is triggered.

11. The method (900) according to any one of claims 1 to 10, further comprising: In response to determining that the second measurement should be performed on the second carrier, a message instructing one or more adjacent communication devices (530) to perform interference avoidance is sent.

12. The method (900) according to any one of claims 1 to 11, wherein, At least one of the first measurement and the second measurement is performed on one or more sensing signals transmitted by the communication device (110) itself or another communication device (710).

13. The method (900) according to claim 12, wherein, The other communication device (710) is a network node or terminal device (710).

14. The method (900) according to any one of claims 1 to 13, wherein, The first number of first candidate AoA includes at least one of the temporary candidate AoA defined by the following formula: in, It is a temporary candidate AoA. It is an integer. It is the measured phase difference of the first sensing signal. It is the wavelength of the first sensed signal. It refers to the spacing between antenna elements. It is an arcsine function.

15. The method (900) according to any one of claims 1 to 14, wherein, The steps to determine the first number of first candidate AoA include: Based at least on the measured phase difference of the first sensed signal, calculate one or more temporary candidate AoA. The step of determining the first number of first candidate AoA further includes at least one of the following: Based at least on the AoA determined for the object in the previous round of object perception, one or more of the temporary candidate AoA are determined as the first number of first candidate AoA; and In response to the fact that the AoA of the object was not determined in the previous round of object perception, the one or more temporary candidate AoA are determined as the first number of first candidate AoA.

16. The method (900) according to any one of claims 1 to 15, wherein, In response to determining more than one first candidate AoA, the method (900) further includes: Based on at least one first candidate AoA, the probability distribution of the first AoA is determined according to the Gaussian Mixture Model (GMM).

17. The method (900) according to claim 16, wherein, The first AoA probability distribution is determined by the following formula: in, The measured phase difference is given a first sensing signal. The probability distribution of the first AoA under the following circumstances. It is the first number of the first candidate AoA. It is the first The first candidate AoA and belong , It is the variance of the estimation accuracy.

18. The method (900) according to any one of claims 1 to 17, wherein, The step of determining the AoA of the object from the first number of first candidate AoA includes: Based at least on the second measurement, one or more second candidate AoA for the object are determined; and The AoA of the object is determined based at least on the first number of first candidate AoA and the one or more second candidate AoA.

19. The method (900) according to claim 18, wherein, The one or more second candidate AoA includes at least one of the temporary candidate AoA as defined by the following formula: in, It is a temporary candidate AoA. It is an integer. It is the measured phase difference of the second sensing signal. It is the wavelength of the second sensing signal. It refers to the spacing between antenna elements. It is an arcsine function.

20. The method (900) according to claim 18 or 19, further comprising: Based at least on the one or more second candidate AoA, the probability distribution of the second AoA is determined according to the GMM.

21. The method (900) according to claim 20, wherein, The second AoA probability distribution is determined by the following formula: in, The measured phase difference is given by the second sensing signal. The second AoA probability distribution under the following circumstances. It is the number of the second candidate AoA. It is the first The second candidate AoA and belong , It is the variance of the estimation accuracy.

22. The method (900) according to any one of claims 18 to 21, wherein, The AoA with the highest combination probability is determined as the AoA of the object, and the highest combination probability is calculated by the following formula: in, It is a combination probability distribution. The measured phase difference is given by the first sensing signal. In the case of more than one first candidate AoA, the probability distribution The measured phase difference is given by the second sensing signal. The probability distribution of one or more second candidate AoA under the circumstances.

23. The method (900) according to any one of claims 1 to 22, wherein, The communication device (110, 700) includes at least one of the following: Network nodes (110, 700); and Terminal equipment.

24. A communication device (110, 700, 1100), comprising: Processor (1106); A memory (1108) stores instructions that, when executed by the processor (1106), cause the communication devices (110, 700, 1100) to: Perform the first measurement on the first carrier wave; Based at least on the first measurement, a first candidate AoA of the object is determined, and the number of the first candidate AoA is a first number; Based at least on whether more than one first candidate AoA is determined for the object, it is determined whether to perform a second measurement on a second carrier different from the first carrier; In response to determining that the second measurement should be performed on the second carrier, the second measurement is performed on the second carrier; as well as The AoA of the object is determined from the first number of first candidate AoA based at least on the first measurement and the second measurement.

25. The communication device (110, 700, 1100) according to claim 24, wherein, When executed by the processor (1106), the instructions also cause the communication device (110, 700, 1100) to perform the method (900) according to any one of claims 2 to 23.

26. A method (1000) for AoA determination at a terminal device (710), the method (1000) comprising: Receive (S1010) a message from the network node indicating at least one of the following: a first configuration for object awareness on a first carrier, and a second configuration for object awareness on a second carrier. The method (1000) further includes at least one of the following: Based at least on the first configuration, a first sensing signal is transmitted on the first carrier (S1020); and In response to the detection of a triggering event, at least based on the second configuration, a second sensing signal is transmitted on the second carrier (S1030).

27. The method (1000) according to claim 26, wherein, The communication load of the first carrier is lower than the communication load of at least one other carrier.

28. The method (1000) according to claim 26 or 27, wherein, The first resource on the first carrier capable of transmitting the first sensing signal is configured based on at least one or more sensing delay requirements.

29. The method (1000) according to claim 28, wherein, The first resource is a periodic resource with a first cycle.

30. The method (1000) according to any one of claims 26 to 29, wherein, The second resource on the second carrier capable of transmitting the second sensing signal is configured semi-statically or dynamically.

31. The method (1000) according to any one of claims 26 to 30, wherein, When the second resource is semi-statically configured, the second resource is a periodic resource with a second period longer than the first period of the first resource.

32. The method (1000) according to any one of claims 26 to 31, wherein, When the second resource is dynamically configured, it is configured only when the second sensing signal needs to be sent.

33. The method (1000) according to any one of claims 26 to 32, wherein, The triggering event includes at least one of the following: Receive a message from the network node indicating that the second sensing signal should be sent; and A periodic timer configured to send the second sensing signal.

34. A terminal device (710, 1100), comprising: Processor (1106); A memory (1108) stores instructions that, when executed by the processor (1106), cause the terminal device (710, 1100) to: Receive a message from the network node indicating at least one of the following: a first configuration for object awareness on a first carrier, and a second configuration for object awareness on a second carrier. When executed by the processor, the instructions also cause the terminal device (710, 1100) to perform at least one of the following: Based at least on the first configuration, a first sensing signal is transmitted on the first carrier; and In response to the detection of a triggering event, a second sensing signal is transmitted on the second carrier, based at least on the second configuration.

35. The terminal device (710, 1100) according to claim 34, wherein, When executed by the processor (1106), the instructions also cause the terminal device (710, 1100) to perform the method (1000) according to any one of claims 27 to 33.

36. A computer program (1110) comprising instructions that, when executed by at least one processor (1106), cause the at least one processor (1106) to perform the method (900, 1000) according to any one of claims 1 to 23 and 26 to 33.

37. A carrier (1108) comprising the computer program (1110) according to claim 36, wherein, The carrier (1108) is one of electronic signals, optical signals, radio signals, or computer-readable storage media.

38. A telecommunications network (10), comprising: Communication equipment (110, 700) includes: processor; A memory storing instructions that, when executed by the processor, cause the communication device (110, 700): Perform the first measurement on the first carrier wave; Based at least on the first measurement, a first candidate AoA of the object is determined, and the number of the first candidate AoA is a first number; Based at least on whether more than one first candidate AoA is determined for the object, it is determined whether to perform a second measurement on a second carrier different from the first carrier; In response to determining that the second measurement should be performed on the second carrier, the second measurement is performed on the second carrier; and The AoA of the object is determined from the first number of first candidate AoA based at least on the first measurement and the second measurement.

39. The telecommunications network (10) according to claim 38, further comprising: Terminal equipment (710) includes: processor; A memory storing instructions that, when executed by the processor, cause the terminal device (710): The communication device (110, 700) receives a message indicating at least one of the following: a first configuration for object awareness on a first carrier, and a second configuration for object awareness on a second carrier. When executed by the processor, the instruction also causes the terminal device (710) to perform at least one of the following: Based at least on the first configuration, a first sensing signal is transmitted on the first carrier; and In response to the detection of a triggering event, a second sensing signal is transmitted on the second carrier, based at least on the second configuration.

40. The telecommunications network (10) according to claim 38 or 39, wherein, When the instructions stored in the memory of the communication device (110, 700) are executed by the processor of the communication device (110, 700), the communication device (110, 700) also causes the communication device (110, 700) to perform the method (900) according to any one of claims 2 to 23.

41. The telecommunications network (10) according to claim 39 or 40, wherein, When the instructions stored in the memory of the terminal device (710) are executed by the processor of the terminal device (710), the terminal device (710) also causes the terminal device (710) to perform the method (1000) according to any one of claims 27 to 33.

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