Sensing device, method by sensing device, and program

Abstract

To accurately identify a position of a detection object.SOLUTION: A sensing device 20 includes: a radio wave reception section 20a for receiving a sensing signal from a sensing transmitter 10; an observation point calculation section 20b for calculating a distance to and direction of a detection object with the sensing device as a start point based on the sensing signal, so as to identify an observation point based on the calculated distance and direction; a transmission source position identification section 20c for identifying a position of the sensing transmitter; and a detection object identification section 20d for identifying a position of the detection object based on the observation point and the position of the sensing transmitter.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to a sensing device, a method using the sensing device, and a program, and more particularly to a sensing device, a method using the sensing device, and a program that identify the position of a detection target based on the position of a device that transmits a sensing signal. [Background technology]

[0002] The Third Generation Partnership Project (3GPP (registered trademark)) has defined wireless communication specifications called 5G NR (Fifth Generation New Radio), and technological development of these wireless specifications is progressing.

[0003] Following 5G NR, 6G systems, the sixth generation of wireless communication specifications, are also being considered. For 6G systems, technical specifications related to sensing solutions are being considered. Sensing solutions use the Doppler effect to detect targets by analyzing changes in the frequency spectrum of emitted radio waves.

[0004] Patent Document 1 discloses a sensing technology for determining the state of a target using radio waves. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] International Publication No. 2021 / 215080 Summary of the Invention [Problem to be solved by the invention]

[0006] The technology described in Patent Document 1 determines the state of a target based on the sensing result of the target sensed by a communication device and the sensing result of the target sensed by another communication device.

[0007] The technology described in Patent Document 1 does not determine the position of a target based on the position of a device that transmits radio waves for sensing.

[0008] In view of the above circumstances, the present invention provides a technique for identifying the position of a detection target based on the position of a device that transmits a sensing signal. [Means for solving the problem]

[0009] In order to achieve the above object, the sensing device (20) of the present invention includes a radio wave receiving unit (20a) configured to receive a sensing signal from a sensing transmitter (10), an observation point calculation unit (20b) configured to calculate the distance and direction to the detection target from the sensing device as a starting point based on the sensing signal, and to identify an observation point based on the calculated distance and direction, a transmission source position identification unit (20c) configured to identify the position of the sensing transmitter based on the sensing signal, and a detection target identification unit (20d) configured to identify the position of the detection target based on the observation point and the position of the sensing transmitter.

[0010] Furthermore, the method performed by the sensing device (20) of the present invention includes receiving a sensing signal from a sensing transmitter (10), calculating a distance and direction to a detection target from the sensing device based on the sensing signal, identifying an observation point based on the calculated distance and direction, identifying a position of the sensing transmitter based on the sensing signal, and identifying a position of the detection target based on the observation point and the position of the sensing transmitter.

[0011] According to the above configuration, the position of the detection target can be identified with high accuracy by identifying the position of the detection target based on the position of the sensing transmitter. Note that the above configuration may achieve other effects instead of or in addition to the above effect. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 illustrates a sensing system. [Figure 2] FIG. 2 is a block diagram showing a schematic hardware configuration of a sensing transmitter. [Figure 3] FIG. 2 is a block diagram showing a schematic functional configuration of a sensing transmitter. [Figure 4] FIG. 2 is a block diagram showing a schematic hardware configuration of a sensing receiver. [Figure 5] FIG. 2 is a block diagram showing a schematic functional configuration of a sensing receiver. [Figure 6] FIG. 2 is a block diagram showing a schematic functional configuration of the sensing device. [Figure 7] FIG. 1 is a diagram illustrating an outline of detecting a detection target. [Figure 8] 4 is a flowchart showing sensing processing according to the first embodiment. [Figure 9] FIG. 1 is a diagram illustrating an outline of how the position of a detection target is identified. [Figure 10] 10 is a flowchart showing a sensing process according to the second embodiment. [Figure 11] 10 is a flowchart showing sensing processing according to the third embodiment. [Figure 12] 10 is a flowchart showing sensing processing according to the fourth embodiment. [Figure 13] 13 is a flowchart showing sensing processing according to the fifth embodiment. [Figure 14] FIG. 10 is a diagram illustrating an outline of calculating the radial velocity. DETAILED DESCRIPTION OF THE INVENTION

[0013] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and drawings, elements that can be similarly described will be designated by the same reference numerals, and redundant description will be omitted.

[0014] The embodiments described below are merely examples of configurations that can realize the present invention. Each of the following embodiments can be modified or changed as appropriate depending on the configuration of the device to which the present invention is applied and various conditions. Not all combinations of elements included in each of the following embodiments are necessarily essential for realizing the present invention, and some elements can be omitted as appropriate. Therefore, the scope of the present invention is not limited to the configurations described in each of the following embodiments. As long as there are no mutual contradictions, configurations that combine multiple configurations described in the following embodiments can also be adopted.

[0015] 1. First embodiment 1.1 Sensing system

[0016] In the first embodiment, a sensing channel and / or a sensing signal, which are defined separately from wireless communication, is used for radio waves used to perform sensing. Hereinafter, in this embodiment, a "sensing signal" is used to perform sensing. The sensing signal may be used interchangeably with the sensing channel.

[0017] In a first embodiment, sensing is performed by multiple devices. Sensing performed by multiple devices in this manner is referred to as "cooperative sensing." Cooperative sensing may be used interchangeably with group sensing, collaborative sensing, bistatic sensing, and multistatic sensing.

[0018] In collaborative sensing, sensing is performed by at least a sensing transmitter that transmits a sensing signal for performing sensing and a sensing receiver that receives the sensing signal. Sensing involves receiving a sensing signal transmitted to an object to be detected, such as a person or an obstacle, and analyzing changes in the frequency spectrum of the sensing signal to detect the object. Hereinafter, an object detected by sensing will be referred to as a "detection target." Detection targets include people, animals, objects, etc.

[0019] The sensing signal transmitted by the sensing transmitter is reflected from the target and its frequency spectrum changes due to the Doppler effect. The sensing receiver receives the sensing signal and analyzes the change in the frequency spectrum of the sensing signal to detect the target.

[0020] 1, the sensing system S according to the first embodiment includes one or more sensing transmitters 10 and one or more sensing receivers 20. The sensing receiver 20 may be referred to as a "sensing device" because it detects a detection target based on a sensing signal.

[0021] The sensing transmitter 10 transmits a sensing signal and a communication signal to the sensing receiver 20. As mentioned above, a sensing signal is a signal used to perform sensing, whereas a communication signal is a signal used to convey predetermined information to the sensing receiver 20. A communication signal may be used interchangeably with a communication channel.

[0022] The sensing transmitter 10 may be a device that wirelessly communicates with the sensing receiver 20, such as a user equipment (UE) that operates in accordance with the 3GPP 5G NR specification, or a terminal device that complies with other older or newer 3GPP specifications.

[0023] The sensing transmitter 10 may be, for example, a mobile phone terminal such as a smartphone, a tablet terminal, a laptop PC, a communication module, a communication card, or an IoT device such as a surveillance camera or a robot. The sensing transmitter 10 may be a vehicle (e.g., a car, a train, etc.) or a device provided therein. The sensing transmitter 10 may be a transport vehicle other than a vehicle (e.g., a ship, an airplane, etc.) or a device provided therein. The sensing transmitter 10 may be a sensor or a device provided therein. Note that the sensing transmitter 10 may be called a terminal, a mobile station, a mobile terminal, a mobile device, a mobile unit, a subscriber station, a subscriber terminal, a subscriber device, a subscriber unit, a wireless station, a wireless terminal, a wireless device, a wireless unit, a remote station, a remote terminal, a remote device, a remote unit, etc. The sensing transmitter 10 may be a device adapted for one or more of enhanced Mobile Broadband (eMBB), Ultra-Reliable and Low Latency Communications (URLLC), and massive Machine Type Communications (mMTC).

[0024] The sensing receiver 20 receives a sensing signal and a communication signal from the sensing transmitter 10. The sensing receiver 20 may be a device that wirelessly communicates with the sensing transmitter 10, and may be, for example, a base station device that operates in accordance with the 3GPP 5G NR specification. The sensing receiver 20 may also be a base station device that complies with other older or newer 3GPP specifications.

[0025] In the embodiment, the sensing transmitter 10 corresponds to a terminal device and the sensing receiver 20 corresponds to a base station device, but such a configuration is merely an example. For example, the sensing transmitter 10 may correspond to a base station device and the sensing receiver 20 may correspond to a terminal device. Furthermore, both the sensing transmitter 10 and the sensing receiver 20 may correspond to a terminal device. In other words, the sensing transmitter 10 may be any wireless communication device that transmits a sensing signal. The sensing receiver 20 may be any wireless communication device that receives a sensing signal.

[0026] 2, the sensing transmitter 10 includes, as hardware elements, a processor 101, a memory 102, an input / output interface 103, a transceiver 104, and an antenna 105. The above elements provided in the sensing transmitter 10 are connected to each other by an internal bus. Note that the sensing transmitter 10 may include hardware elements other than the elements shown in FIG. 2.

[0027] The processor 101 is a computing element that realizes various functions of the sensing transmitter 10. The processor 101 may be a SoC (System-on-a-Chip) that includes elements such as a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a memory controller.

[0028] The memory 102 is configured by at least one storage medium such as a RAM (Random Access Memory) or an eMMC (embedded Multi Media Card). The memory 102 is an element that temporarily or permanently stores programs and data used to execute various processes in the sensing transmitter 10. The programs include one or more instructions for operating the sensing transmitter 10. The processor 101 implements the functions of the sensing transmitter 10 by loading the programs stored in the memory 102 into the memory 102 and / or a system memory (not shown) and executing them.

[0029] The input / output interface 103 is an interface that accepts operations on the sensing transmitter 10 and supplies them to the processor 101, and also presents various information to the user. The input / output interface 103 is, for example, a touch panel.

[0030] The transceiver 104 is a circuit that performs various signal processing to realize wireless communication, and includes a baseband processor and an RF circuit. The transceiver 104 transmits and receives wireless signals to and from the sensing receiver 20 via an antenna 105.

[0031] 3, the sensing transmitter 10 has, as functional blocks, a control unit 110 and a communication unit 120. The communication unit 120 has at least one transmission unit 121 and at least one reception unit 122.

[0032] The control unit 110 may include at least one processor 101 and at least one memory 102. In other words, the control unit 110 may be realized by the processor 101 and the memory 102. The control unit 110 executes various control processes in the sensing transmitter 10. For example, the control unit 110 controls wireless communication with the sensing receiver 20 via the communication unit 120. That is, the control unit 110 transmits and receives data / information / messages via the communication unit 120.

[0033] The communication unit 120 includes a transceiver 104 and an antenna 105. In other words, the communication unit 120 is realized by the transceiver 104 and the antenna 105. The communication unit 120 wirelessly communicates with the sensing receiver 20 by transmitting and receiving radio signals to and from the sensing receiver 20. Two or more transceivers 104 and two or more antennas 105 may be included in the communication unit 120.

[0034] The control unit 110 operates to execute various processes in the sensing transmitter 10 of this embodiment.

[0035] 4, the sensing receiver 20 has, as hardware elements, a processor 201, a memory 202, a network interface 203, a transceiver 204, and an antenna 205. The above elements provided in the sensing receiver 20 are connected to each other by an internal bus. Note that the sensing receiver 20 may have hardware elements other than the elements shown in FIG. 4.

[0036] The processor 201 is a computing element that realizes various functions of the sensing receiver 20. The processor 201 may be a CPU, and may further include other processors such as a GPU.

[0037] The memory 202 is configured by at least one storage medium such as a ROM (Read Only Memory), a RAM, an HDD (Hard Disk Drive), or an SSD (Solid State Drive). The memory 202 is an element that temporarily or permanently stores programs and data used to execute various processes in the sensing receiver 20. The programs include one or more instructions for operating the sensing receiver 20. The processor 201 implements the functions of the sensing receiver 20 by loading the programs stored in the memory 202 into the memory 202 and / or a system memory (not shown) and executing them.

[0038] The network interface 203 is an interface used to send and receive signals to and from other sensing receivers 20 and the core network 30 .

[0039] The transceiver 204 is a circuit that performs various signal processing to realize wireless communication, and includes a baseband processor and an RF circuit. The transceiver 204 transmits and receives wireless signals to and from the sensing transmitter 10 via an antenna 205.

[0040] 5, the sensing receiver 20 has, as functional blocks, a control unit 210, a communication unit 220, and a network communication unit 230. The communication unit 220 has at least one transmission unit 221 and at least one reception unit 222.

[0041] The control unit 210 may include at least one processor 201 and at least one memory 202. In other words, the control unit 210 may be realized by the processor 201 and the memory 202. The control unit 210 executes various control processes in the sensing receiver 20. For example, the control unit 210 controls wireless communication with the sensing transmitter 10 via the communication unit 220. That is, the control unit 210 transmits and receives data / information / messages via the communication unit 220. Furthermore, for example, the control unit 210 controls communication with other nodes (e.g., other sensing receivers 20, nodes of the core network 30) via the network communication unit 230.

[0042] The communication unit 220 includes a transceiver 204 and an antenna 205. In other words, the communication unit 220 is realized by the transceiver 204 and the antenna 205. The communication unit 220 wirelessly communicates with the sensing transmitter 10 by transmitting and receiving radio signals to and from the sensing transmitter 10. Two or more transceivers 204 and two or more antennas 205 may be included in the communication unit 220.

[0043] The network communication unit 230 includes the network interface 203. In other words, the network communication unit 230 is realized by the network interface 203. The network interface 203 transmits and receives signals to and from the network (and, by extension, the other nodes described above).

[0044] The control unit 210 operates to execute various processes in the sensing receiver 20 of this embodiment.

[0045] 1.2 Functional configuration of the sensing device The functional configuration of the sensing receiver 20 will be described below. The sensing receiver 20 is the entity that performs sensing according to the first embodiment, and will therefore be referred to as the "sensing device 20." As shown in Fig. 6, the sensing device 20 has a radio wave receiving unit 20a, an observation point calculation unit 20b, a transmission source position identification unit 20c, and a detection target identification unit 20d, which are logical function blocks for performing sensing according to the first embodiment.

[0046] The radio wave receiving unit 20a receives a sensing signal from the sensing transmitter 10. The radio wave receiving unit 20a also receives a communication signal from the sensing transmitter 10. The radio wave receiving unit 20a is realized by the communication unit 220 / transmitter / receiver 204 and the antenna 205.

[0047] The observation point calculation unit 20b calculates the distance and direction to the detection target based on the sensing signal from the sensing transmitter 10. The observation point calculation unit 20b identifies the observation point based on the calculated distance and direction. The observation point refers to the position of the detection target estimated based on the calculated distance and direction. The observation point calculation unit 20b is realized by the control unit 210 / processor 201.

[0048] The transmission source position identifying unit 20c identifies the position of the sensing transmitter 10 based on the sensing signal from the sensing transmitter 10. The transmission source position identifying unit 20c also identifies the position of the sensing transmitter 10 based on the communication signal from the sensing transmitter 10. The transmission source position identifying unit 20c is realized by the control unit 210 / processor 201.

[0049] The detection target identification unit 20d identifies the position of the detection target based on the observation point identified by the observation point calculation unit 20b and the position of the sensing transmitter 10 identified by the transmission source position identification unit 20c. The detection target identification unit 20d is realized by the control unit 210 / processor 201.

[0050] 1.3 Sensing based on source location In the above-mentioned collaborative sensing, the entity that transmits the sensing signal is different from the entity that receives and analyzes the sensing signal. In conventional sensing technologies, the observation point is identified by calculating the distance and direction to the detection target based on the sensing signal. However, the observation point identified in this way is often different from the actual location of the detection target.

[0051] As mentioned above, the sensing solutions being considered for introduction into 6G systems are expected to detect not only stationary targets but also moving targets, and all manner of targets in all their forms. In addition, it will be necessary to accurately detect the target's position.

[0052] In the first embodiment, the fact that the position of the surrounding object, that is, the detection target, can be geometrically determined by identifying the source of the sensing signal, that is, the position of the sensing transmitter 10, is utilized.

[0053] Below, an outline of how the sensing device 20 receives a sensing signal from the sensing transmitter 10 and identifies an observation point will be described. As shown in Fig. 7, the sensing device 20 receives the sensing signal transmitted from the sensing transmitter 10. The sensing device 20 detects detection targets SO1 and SO2 based on the sensing signal.

[0054] The sensing signal is reflected from the detection target SO1 and reaches the sensing device 20. The path of this sensing signal is represented as paths P1-1 and P1-2. The sensing signal is also reflected from the detection target SO2 and reaches the sensing device 20. The path of this sensing signal is represented as paths P2-1 and P2-2. Furthermore, the sensing signal reaches the sensing device 20 from the sensing transmitter 10. The path of this sensing signal is represented as path P3.

[0055] Hereinafter, the sensing signal passing through paths P1-1 and P1-2 will be referred to as sensing signal A. The sensing signal passing through paths P2-1 and P2-2 will be referred to as sensing signal B. The sensing signal passing through path P3 will be referred to as sensing signal C. Sensing signals A and B are reflected waves, and sensing signal C is a direct wave.

[0056] When the radio wave receiving unit 20a of the sensing device 20 receives a sensing signal, the observation point calculating unit 20b calculates the distance and direction to the detection target based on the sensing signal, and identifies the observation point based on the calculated distance and direction. In the example shown in Fig. 7, the identified observation points are observation points OP1, OP2, and OP3. OP3 is an observation point identified based on the calculated distance and direction after calculating the distance and direction based on the sensing signal received directly from the sensing transmitter 10.

[0057] The distance to the detection target is calculated, for example, based on the time it takes for the sensing signal to reach the sensing device 20. The direction to the detection target is calculated, for example, by providing multiple antennas 205 on the sensing device 20 and based on the phase difference between the sensing signals received by each of the antennas 205.

[0058] 7, the position of the detection target SO1 is different from the positions of any of the identified observation points OP1, OP2, and OP3. Similarly, the position of the detection target SO2 is different from the positions of any of the identified observation points OP1, OP2, and OP3.

[0059] An outline of the sensing process according to the first embodiment will be described below with reference to Fig. 8. In the process shown in Fig. 8, the sensing device 20 detects the positions of the detection targets SO1 and SO2 shown in Fig. 7 based on the sensing signal from the sensing transmitter 10.

[0060] In step S801, the radio wave receiving unit 20a of the sensing device 20 receives sensing signals. The received sensing signals include sensing signals A, B, and C.

[0061] Next, in step S802, the observation point calculation unit 20b of the sensing device 20 calculates the distance and direction to the detection target from the sensing device 20 as the base point, based on the sensing signal from the sensing transmitter 10. The observation point calculation unit 20b also identifies the observation point based on the calculated distance and direction. In the process shown in FIG. 8, the observation point calculation unit 20b identifies observation point OP1 based on sensing signal A. The observation point calculation unit 20b also identifies observation point OP2 based on sensing signal B. The observation point calculation unit 20b also identifies observation point OP3 based on sensing signal C.

[0062] Next, in step S803, the transmission source position identifying unit 20c of the sensing device 20 calculates the distance and direction to the transmission source of the sensing signal, i.e., the sensing transmitter 10, with the sensing device 20 as the base point, based on the sensing signal from the sensing transmitter 10. Furthermore, the transmission source position identifying unit 20c identifies the position of the transmission source, i.e., the position of the sensing transmitter 10, based on the calculated distance and direction. The distance to the transmission source is calculated, for example, based on the time it takes for the sensing signal to reach the sensing device 20. The direction to the transmission source is calculated, for example, by providing multiple antennas 205 in the sensing device 20 and calculating based on the phase difference of the sensing signals received by each of the antennas 205.

[0063] As described above, the sensing device 20 receives sensing signals A, B, and C. The transmission source position identification unit 20c determines whether the received sensing signals are sensing signals received directly from the sensing transmitter 10, that is, whether they are direct waves. Of the sensing signals A, B, and C, sensing signal C is the sensing signal received directly from the sensing transmitter 10. Therefore, the transmission source position identification unit 20c can calculate the distance and direction to the transmission source based on sensing signal C, and identify the position of the transmission source based on the calculated distance and direction.

[0064] The direct wave, i.e., sensing signal C, arrives at the sensing device 20 earlier than the indirect waves, i.e., sensing signals A and B. Utilizing this, the transmission source position identification unit 20c selects the sensing signal that arrives earliest among the sensing signals received by the radio wave receiving unit 20a as the sensing signal to be used to identify the position of the transmission source. Then, the transmission source position identification unit 20c identifies the position of the transmission source based on the selected sensing signal.

[0065] In the process of step S803, the observation point OP3 identified based on the sensing signal C that arrives earliest from among the observation points OP1 to OP3 identified in step S802 may be identified as the position of the transmission source.

[0066] Alternatively, the process of step S803 may be executed before the process of step S802. In this case, the process of identifying the location of the transmission source based on sensing signal C is executed before identifying the observation point. Therefore, in the process of identifying the observation point, sensing signal C may be excluded, and observation point OP1 may be identified based on sensing signal A, and observation point OP2 may be identified based on sensing signal B.

[0067] Next, in step S804, the detection target identification unit 20d of the sensing device 20 identifies the position of the detection target based on the observation point identified in step S802 and the position of the transmission source identified in step S803. Specifically, the positions of the detection targets SO1 and SO2 are identified as follows:

[0068] Regarding the position of detection target SO1, detection target identification unit 20d identifies the position of detection target SO1 based on the direction to observation point OP1, the distance to the position of the transmission source, and the distance to observation point OP1. Furthermore, regarding the position of detection target SO1, detection target identification unit 20d identifies the position of detection target SO2 based on the direction to observation point OP2, the distance to the position of the transmission source, and the distance to observation point OP2. An overview of identifying the positions of detection targets SO1 and SO2 will be described with reference to FIG. 9. Note that in FIG. 9, the position of the transmission source identified in step S803 is represented as SL.

[0069] 9, detection object SO1 exists on the azimuth toward observation point OP1. The azimuth toward observation point OP1 is calculated in step S802. Then, the position of detection object SO1 can be identified by performing triangulation based on the distance to observation point OP1 calculated in step S802 and the distance to transmission source position SL calculated in step S803.

[0070] Similarly, detection object SO2 exists on the azimuth toward observation point OP2. The azimuth toward observation point OP2 is calculated in step S802. Then, the position of detection object SO1 can be identified by triangulation based on the distance to observation point OP2 calculated in step S802 and the distance to source position SL calculated in step S803.

[0071] The first embodiment has been described above. According to the first embodiment, the detection target is identified based on the position of the transmitter of the sensing signal and the observation point, based on the sensing signal. In this way, the accuracy of identifying the position of the detection target can be improved.

[0072] 2. Second embodiment Next, a second embodiment will be described. In the first embodiment, the sensing device selects the sensing signal that arrives earliest among the sensing signals received, and identifies the location of the transmitter based on the selected sensing signal. In the second embodiment, such a configuration is preferable in that it can be realized with a simple configuration in an environment where the sensing device can receive direct waves. However, there may be environments where the sensing device cannot necessarily receive direct waves, such as an environment where there are many obstacles between the sensing transmitter and the sensing device. In such an environment, the sensing device cannot identify the location of the transmitter.

[0073] In the second embodiment, a case is assumed in which the sensing device cannot receive direct waves. The configuration of the sensing system in the second embodiment is similar to the configuration of the sensing system described in the first embodiment, so a detailed description thereof will be omitted. Furthermore, the configurations of the sensing transmitter and sensing receiver in the second embodiment are similar to the configurations of the sensing transmitter and sensing receiver described in the first embodiment, so a detailed description thereof will be omitted.

[0074] An outline of the sensing process according to the second embodiment will be described with reference to Fig. 10. In the process shown in Fig. 10, the sensing device 20 also detects the positions of the detection targets SO1 and SO2 shown in Fig. 7 based on the sensing signal from the sensing transmitter 10.

[0075] In step S1001, the radio wave receiving unit 20a of the sensing device 20 receives sensing signals. The received sensing signals include sensing signals A, B, and C.

[0076] Next, in step S1002, the observation point calculation unit 20b of the sensing device 20 calculates the distance and direction to the detection target from the sensing device 20 as the base point, based on the sensing signal from the sensing transmitter 10. The observation point calculation unit 20b also identifies the observation point based on the calculated distance and direction. In the process shown in FIG. 10, the observation point calculation unit 20b identifies observation point OP1 based on sensing signal A. The observation point calculation unit 20b also identifies observation point OP2 based on sensing signal B. The observation point calculation unit 20b also identifies observation point OP3 based on sensing signal C.

[0077] Next, in step S1003, the transmission source position identification unit 20c of the sensing device 20 selects a sensing signal that can be regarded as a direct wave from the sensing signals A, B, and C received in step S1001. In this embodiment, sensing signal C is selected.

[0078] The direct wave, i.e., sensing signal C, is less attenuated than the indirect wave, i.e., sensing signals A and B. Utilizing this, the transmission source position identification unit 20c selects, from among the sensing signals received by the radio wave receiving unit 20a, a sensing signal having a certain level of signal strength as the sensing signal to be used to identify the position of the transmission source. When there are multiple sensing signals having a certain level of signal strength, the transmission source position identification unit 20c selects the sensing signal having the strongest signal strength.

[0079] The selection of the sensing signal in step S1003 may be performed based on the signal strength of the sensing signal that arrived earliest from the sensing device, as described in the first embodiment. In other words, whether the sensing signal that arrived earliest is the sensing signal directly received from the sensing transmitter 10 is determined depending on whether the signal strength of the sensing signal that arrived earliest is at a certain level.

[0080] If it is determined in step S1003 that there is no sensing signal having a certain level of signal strength, the process shown in Fig. 10 ends. Alternatively, in consideration of the possibility that the sensing device 20 may not be able to receive direct waves due to a temporary cause, the process may be restarted from step S1001 after waiting for a certain period of time.

[0081] In step S1004, based on the sensing signal selected in step S1003, the transmission source position identifying unit 20c calculates the distance and direction from the sensing device 20 to the transmission source of the sensing signal, i.e., the sensing transmitter 10. Furthermore, based on the calculated distance and direction, the transmission source position identifying unit 20c identifies the position of the transmission source, i.e., the position of the sensing transmitter 10.

[0082] In the process of step S1004, the observation point OP3 identified based on the sensing signal selected in step S1003 from among the observation points OP1 to OP3 identified in step S1002 may be identified as the position of the transmission source.

[0083] Alternatively, the process of step S1002 may be executed before the processes of steps S1003 and S1004. In this case, the process of selecting sensing signal C and identifying the location of the transmission source based on sensing signal C is executed before identifying the observation point. Therefore, in the process of identifying the observation point, sensing signal C may be excluded, and observation point OP1 may be identified based on sensing signal A, and observation point OP2 may be identified based on sensing signal B.

[0084] Next, in step S1005, the detection target identification unit 20d of the sensing device 20 identifies the position of the detection target based on the observation point identified in step S1002 and the position of the transmission source identified in step S1004. A specific example of identifying the position of the detection target is as described in the first embodiment, and therefore a detailed description thereof will be omitted.

[0085] The second embodiment has been described above. According to the second embodiment, the location of the transmitter is identified based on a sensing signal having a certain level of signal strength. In this way, the accuracy of identifying the location of the detection target can be improved by taking into account environments in which the sensing device cannot receive direct waves.

[0086] 3. Third embodiment Next, a third embodiment will be described. In the third embodiment, a case is also assumed in which the sensing device cannot receive a direct wave, but the accuracy of identifying the location of the transmission source is further improved. In the third embodiment, instead of identifying the location of the transmission source based on a sensing signal received from a sensing transmitter, the sensing device identifies the location of the transmission source based on location information transmitted from the sensing transmitter.

[0087] The configuration of the sensing system in the third embodiment is similar to the configuration of the sensing system described in the first embodiment, so a detailed description thereof will be omitted. Also, the configurations of the sensing transmitter and sensing receiver in the third embodiment are similar to the configurations of the sensing transmitter and sensing receiver described in the first embodiment, so a detailed description thereof will be omitted.

[0088] An outline of the sensing process according to the third embodiment will be described with reference to Fig. 11. In the process shown in Fig. 11, the sensing device 20 also detects the positions of the detection targets SO1 and SO2 shown in Fig. 7 based on the sensing signal from the sensing transmitter 10.

[0089] In step S1101, the radio wave receiving unit 20a of the sensing device 20 receives sensing signals. The received sensing signals include sensing signals A, B, and C.

[0090] Next, in step S1102, the radio wave receiving unit 20a receives a communication signal transmitted from the sensing transmitter. As described above, the communication signal is a signal used to transmit predetermined information to the sensing receiver 20. The communication signal includes location information of the sensing transmitter 10.

[0091] The sensing transmitter 10 receives, via the transceiver 104 and the antenna 105, GNSS signals from a satellite positioning system (GNSS) that indicate the location of the sensing transmitter 10. The sensing transmitter 10 communicates location information about its own location to the sensing device 20 using communication signals.

[0092] Next, in step S1103, the observation point calculation unit 20b of the sensing device 20 calculates the distance and direction to the detection target from the sensing device 20 as the base point, based on the sensing signal from the sensing transmitter 10. The observation point calculation unit 20b also identifies the observation point based on the calculated distance and direction. In the process shown in FIG. 11, the observation point calculation unit 20b identifies observation point OP1 based on sensing signal A. The observation point calculation unit 20b also identifies observation point OP2 based on sensing signal B. The observation point calculation unit 20b also identifies observation point OP3 based on sensing signal C.

[0093] Next, in step S1104, the detection target identification unit 20d of the sensing device 20 identifies the position of the detection target based on the observation point identified in step S1103 and the position information received in step S1102, i.e., the position of the transmission source. At this time, the transmission source position identification unit 20c calculates the distance and direction to the transmission source, i.e., the sensing transmitter 10, based on the position information received in step S1102. A specific example of identifying the position of the detection target is as described in the first embodiment, so a detailed description thereof will be omitted.

[0094] The third embodiment has been described above. According to the third embodiment, the location of the transmitter is identified based on the location information transmitted from the sensing transmitter. In this way, by taking into account an environment in which the sensing device cannot receive waves directly, it is possible to improve the accuracy of identifying the location of the detection target and also improve the accuracy of identifying the location of the transmitter.

[0095] 4. Fourth embodiment Next, a fourth embodiment will be described. In the fourth embodiment, the processing described in the second embodiment and the processing described in the third embodiment are combined. As described above, in the sensing processing described in the second embodiment, it is determined whether the sensing signal received by the sensing device 20 has a certain level of signal strength. If there is no sensing signal having a certain level of signal strength, the processing ends. In the fourth embodiment, if there is no sensing signal having a certain level of signal strength, position information is received from the sensing transmitter.

[0096] An outline of the sensing process according to the fourth embodiment will be described with reference to Fig. 12. In the process shown in Fig. 12, the sensing device 20 also detects the positions of the detection targets SO1 and SO2 shown in Fig. 7 based on the sensing signal from the sensing transmitter 10.

[0097] In step S1201, the radio wave receiving unit 20a of the sensing device 20 receives sensing signals. The received sensing signals include sensing signals A, B, and C.

[0098] Next, in step S1202, the observation point calculation unit 20b of the sensing device 20 calculates the distance and direction to the detection target from the sensing device 20 as the base point, based on the sensing signal from the sensing transmitter 10. The observation point calculation unit 20b also identifies the observation point based on the calculated distance and direction. In the process shown in FIG. 8, the observation point calculation unit 20b identifies observation point OP1 based on sensing signal A. The observation point calculation unit 20b also identifies observation point OP2 based on sensing signal B. The observation point calculation unit 20b also identifies observation point OP3 based on sensing signal C.

[0099] Next, in step S1203, the transmission source position identifying unit 20c of the sensing device 20 selects a sensing signal that can be considered as a direct wave from among the sensing signals A, B, and C received in step S1201. If there are multiple sensing signals with a certain level of signal strength, the transmission source position identifying unit 20c selects the sensing signal with the strongest signal strength.

[0100] If it is determined in step S1203 that there is no sensing signal having a certain level of signal strength, in step S1204, the radio wave receiving unit 20a sends a message to the sensing device requesting it to send location information.

[0101] Next, in step S1205, the radio wave receiving unit 20a receives a communication signal transmitted from the sensing transmitter. As described above, the communication signal is a signal used to transmit predetermined information to the sensing receiver 20. The communication signal includes location information of the sensing transmitter 10.

[0102] If it is determined in step S1203 that a sensing signal having a certain level of signal strength is present, the process proceeds to step S1206. In step S1206, the transmission source position identifying unit 20c calculates the distance and direction from the sensing device 20 to the source of the sensing signal, i.e., the sensing transmitter 10, based on the sensing signal selected in step S1203. Furthermore, the transmission source position identifying unit 20c identifies the position of the transmission source, i.e., the position of the sensing transmitter 10, based on the calculated distance and direction.

[0103] In the process of step S1204, the observation point OP3 identified based on the sensing signal selected in step S1203 from among the observation points OP1 to OP3 identified in step S1202 may be identified as the position of the transmission source.

[0104] Next, in step S1207, the detection target identification unit 20d of the sensing device 20 identifies the position of the detection target based on the observation point identified in step S1202 and the position of the transmission source identified in step S1206 or the position information received in step S1205, i.e., the position of the transmission source. A specific example of identifying the position of the detection target is as described in the first embodiment, and therefore a detailed description thereof will be omitted.

[0105] The fourth embodiment has been described above. According to the fourth embodiment, the location of the transmitter is determined based on a sensing signal having a certain level of signal strength, and the location of the transmitter is determined based on location information transmitted from a sensing transmitter. In this way, the accuracy of determining the location of the detection target can be improved by taking into account an environment in which the sensing device cannot receive waves directly, and the accuracy of determining the location of the transmitter can also be improved.

[0106] 5. Fifth embodiment Next, a fifth embodiment will be described. In the fifth embodiment, in addition to identifying the position of a detection target, the line-of-sight velocity of the detection target is calculated. As described above, in sensing solutions being considered for introduction into 6G systems, it is expected that all types of detection targets, including not only stationary detection targets but also moving detection targets, will be detected in all aspects. In addition, it is considered necessary to accurately detect the line-of-sight velocity of the detection target.

[0107] An outline of the sensing process according to the fifth embodiment will be described with reference to Fig. 13. In the process shown in Fig. 13, the sensing device 20 also detects the positions of the detection targets SO1 and SO2 shown in Fig. 7 based on a sensing signal from the sensing transmitter 10. It is also assumed that the sensing transmitter 10 moves at a constant speed.

[0108] In step S1301, the radio wave receiving unit 20a of the sensing device 20 receives sensing signals. The received sensing signals include sensing signals A, B, and C.

[0109] Next, in step S1302, the radio wave receiving unit 20a receives a communication signal transmitted from the sensing transmitter. As described above, the communication signal is a signal used to transmit predetermined information to the sensing receiver 20. The communication signal includes position information and speed information of the sensing transmitter 10.

[0110] The sensing transmitter 10 includes an acceleration sensor (not shown). The control unit 110 of the sensing transmitter 10 calculates the speed at which the sensing transmitter 10 itself is moving by integrating data detected by the acceleration sensor. The sensing transmitter 10 transmits speed information relating to the speed at which the sensing transmitter 10 itself is moving to the sensing device 20 using a communication signal.

[0111] Next, in step S1303, the observation point calculation unit 20b of the sensing device 20 calculates the distance and direction to the detection target from the sensing device 20 as the base point, based on the sensing signal from the sensing transmitter 10. The observation point calculation unit 20b also identifies the observation point based on the calculated distance and direction. In the process shown in FIG. 13, the observation point calculation unit 20b identifies observation point OP1 based on sensing signal A. The observation point calculation unit 20b also identifies observation point OP2 based on sensing signal B. The observation point calculation unit 20b also identifies observation point OP3 based on sensing signal C.

[0112] Next, in step S1304, the observation point calculation unit 20b calculates the speed at which the detection target is moving based on the sensing signal from the sensing transmitter 10. The speed at which the detection target is moving is calculated, for example, based on the phase difference between sensing signals received consecutively over time by the antenna 205. In the process shown in FIG. 13, the observation point calculation unit 20b calculates the speed at which the detection target SO1 is moving based on the sensing signal A. Furthermore, the observation point calculation unit 20b calculates the speed at which the detection target SO2 is moving based on the sensing signal B.

[0113] Next, in step S1305, the detection target identification unit 20d of the sensing device 20 identifies the position of the detection target based on the observation point identified in step S1303 and the position information received in step S1302, i.e., the position of the transmission source. A specific example of identifying the position of the detection target is as described in the first embodiment, and therefore a detailed description thereof will be omitted.

[0114] Next, in step S1306, the detection target specifying unit 20d calculates the speed component of the movement of the sensing transmitter 10 based on the position information and speed information received in step S1302.

[0115] Next, in step S1307, the detection object identification unit 20d calculates the line-of-sight velocities of the detection objects by subtracting the velocity component calculated in step S1306 from the movement velocity calculated in step S1304. The line-of-sight velocities are calculated for each of the detection objects SO1 and SO2.

[0116] An outline of how the radial velocity is calculated in steps S1306 and S1307 will be described with reference to Fig. 14. In the example shown in Fig. 14, an example of calculating the radial velocity of the detection object SO2 shown in Fig. 7 is shown.

[0117] As described above, the velocity component of the movement of the sensing transmitter 10 is calculated based on the position information and velocity information of the sensing transmitter 10. In the example shown in FIG. 14, the position of the sensing transmitter 10 is [x t ,y t ] and the velocity is v t The velocity components can be expressed as follows using trigonometric ratios:

number

number

[0118] As described above, the line-of-sight velocity of the detection target SO2 is calculated by subtracting the calculated velocity component from the velocity at which the detection target SO2 moves. In the example shown in FIG. 14, the velocity at which the detection target SO2 moves is v s The radial velocity of the detection target SO2 is expressed as v obs It is expressed as:

[0119] radial velocity v obs can be calculated as follows from the calculated velocity component and the velocity at which the detection object SO2 moves.

number

number

[0120] Furthermore, when the sensing device 20 itself is moving, the line-of-sight velocity of the detection target may be calculated based on the velocity component of the sensing device itself. In this case, the detection target identification unit 20d calculates the velocity of the sensing device itself, and calculates the velocity component from the calculated velocity based on the sensing device itself's position. The velocity of the sensing device 20 moving is expressed as v r The velocity components can be expressed as follows using trigonometric ratios:

number

number

[0121] Based on the velocity component calculated for the speed at which the sensing device 20 moves, the line of sight velocity v obs can be calculated as follows:

number

number

[0122] The velocity component in step S1306 is calculated based on the position information received from the sensing transmitter 10, but is not limited to this example. As described in the first embodiment and the like, it may be determined whether the sensing signal received from the sensing transmitter 10 is a direct wave, and the position of the sensing transmitter 10 may be identified based on the sensing signal determined to be a direct wave. The velocity component is calculated from the sensing transmitter 10 identified in this manner.

[0123] Furthermore, although the speed information regarding the speed at which the sensing transmitter 10 is moving is included in the communication signal from the sensing transmitter 10, this is not limiting. As described in the first embodiment and the like, it may be determined whether or not the sensing signal received from the sensing transmitter 10 is a direct wave, and the speed at which the sensing transmitter 10 is moving may be calculated based on the sensing signal determined to be a direct wave.

[0124] The fifth embodiment has been described above. According to the fifth embodiment, the radial velocity of the detection target is calculated based on the speed at which the sensing transmitter is moving and the speed at which the detection target is moving, based on the sensing signal. In this way, the accuracy of calculating the radial velocity can be improved.

[0125] In the fifth embodiment, the position of the detection target is identified and the line-of-sight velocity of the detection target is calculated at the same time, but only the process of calculating the line-of-sight velocity may be executed independently.

[0126] 6. Variations Although the embodiments for carrying out the present invention have been described above, the present invention is not limited to the above-described embodiments. It is to be understood that the above-described embodiments are merely examples and that various modifications are possible.

[0127] The words, phrases, and other expressions used in the above embodiments are merely examples and may be replaced with substantially identical or similar expressions. In particular, since the technology according to the above embodiments relates to technical specifications, the expressions in the above embodiments may be replaced with substantially identical or similar expressions in technical specifications (e.g., technical specifications cited in this specification).

[0128] The information transmitted and received in the above embodiment may be contained in the same or a different message or element already described in the technical specifications, or may be contained in a newly defined message or element. The information transmitted and received in the above embodiment may be transmitted and received using a different layer and / or a different channel than those in the above embodiment.

[0129] The means and / or functions provided by the devices described in the above embodiments can be provided by software recorded in a tangible memory device and a computer that executes the software, software alone, hardware alone, or a combination thereof. For example, if any of the above devices is provided by electronic circuits that are hardware, it can be provided by digital circuits including a large number of logic circuits, or analog circuits.

[0130] The device described in the above embodiment executes a program stored in a non-transitory tangible storage medium, and the execution of the program executes a method corresponding to the program.

[0131] 7. Additional Notes Some or all of the above embodiments and modified examples may be described as, but are not limited to, the following notes. Hereinafter, a relationship is expressed in which a note that is subordinate to multiple notes is subordinate to another note that is subordinate to multiple notes. All of the following subordinate relationships of notes are included in the above embodiments.

[0132] (Appendix 1) A sensing device (20), a radio wave receiving unit (20a) configured to receive a sensing signal from the sensing transmitter (10); an observation point calculation unit (20b) configured to calculate a distance and a direction to a detection target from the sensing device as a starting point based on the sensing signal, and to identify an observation point based on the calculated distance and direction; a source location determination unit (20c) configured to determine the location of the sensing transmitter; a detection target identification unit (20d) configured to identify the position of the detection target based on the observation point and the position of the sensing transmitter; A sensing device comprising:

[0133] (Appendix 2) the source location identification unit is further configured to calculate a distance to the sensing transmitter; the detection target identification unit is further configured to identify the position of the detection target by performing triangulation based on the direction to the detection target, the distance to the detection target, and the distance to the sensing transmitter. 2. The sensing device of claim 1.

[0134] (Appendix 3) The sensing device described in Appendix 1 or 2, wherein the transmission source position identification unit is further configured to determine whether the sensing signal is a direct wave, and to identify the position of the sensing transmitter based on the sensing signal determined to be a direct wave.

[0135] (Appendix 4) 4. The sensing device according to claim 3, wherein the source location identification unit is further configured to determine that the earliest arriving sensing signal is a direct wave.

[0136] (Appendix 5) The sensing device described in Appendix 4, wherein the transmission source position identification unit is further configured to select a sensing signal determined to be a direct wave, and to select an observation point identified based on the selected sensing signal as the position of the sensing transmitter.

[0137] (Appendix 6) The sensing device according to any one of Supplementary Notes 1 to 5, wherein the transmission source position identification unit is further configured to determine whether the sensing signal is a direct wave based on signal strength.

[0138] (Appendix 7) The sensing device described in Appendix 6, wherein the transmission source position identification unit is further configured to select a sensing signal determined to be a direct wave, and select an observation point identified based on the selected sensing signal as the position of the sensing transmitter.

[0139] (Appendix 8) the transmission source location identification unit determines whether the sensing signal has a certain level of signal strength; If there is no sensing signal with a certain level of signal strength, after a certain time has elapsed, the radio wave receiving unit is further configured to receive a sensing signal from the sensing transmitter; The source location identification unit is further configured to determine whether the sensing signal has a certain level of signal strength. 8. The sensing device according to claim 6 or 7.

[0140] (Appendix 9) the radio wave receiver is further configured to receive a communication signal from the sensing transmitter, the communication signal including location information regarding a location of the sensing transmitter; The transmission source location identification unit is further configured to identify the location of the sensing transmitter based on the location information. 3. The sensing device according to claim 1 or 2.

[0141] (Appendix 10) the transmission source location identification unit determines whether the sensing signal has a certain level of signal strength; When there is no sensing signal having a certain level of signal strength, the radio wave receiving unit is further configured to receive the communication signal from the sensing transmitter. 10. The sensing device of claim 9.

[0142] (Appendix 11) 11. The sensing device of claim 10, wherein the radio wave receiving unit is further configured to request the sensing transmitter to transmit the communication signal.

[0143] (Appendix 12) the observation point calculation unit is further configured to calculate a speed at which the detection target moves based on the sensing signal; The detection target identification unit calculating a velocity component of the sensing transmitter based on the position of the sensing transmitter and the velocity at which the sensing transmitter is moving; calculating a line-of-sight velocity of the detection target by subtracting the velocity component from the velocity of the detection target; 12. The sensing device according to any one of claims 1 to 11, further configured as follows:

[0144] (Appendix 13) 13. The sensing device of claim 12, wherein the radio wave receiving unit is further configured to receive a communication signal from the sensing transmitter, the communication signal including speed information regarding the speed at which the sensing transmitter is moving.

[0145] (Appendix 14) 14. The sensing device described in Appendix 12 or 13, wherein the transmission source position identification unit is further configured to determine whether the sensing signal is a direct wave, and to identify the speed of the sensing transmitter based on the sensing signal determined to be a direct wave.

[0146] (Appendix 15) The source location identification unit calculating a velocity component of the sensing device based on the position of the sensing device and the velocity at which the sensing device moves; calculating the line-of-sight velocity by further subtracting the velocity component of the sensing device from the velocity of the detection target; 15. The sensing device of any one of appendixes 12 to 14, further configured as follows:

[0147] (Appendix 16) A sensing device (20), a radio wave receiving unit (20a) configured to receive a sensing signal from the sensing transmitter (10); an observation point calculation unit (20b) configured to calculate the speed at which the detection target moves based on the sensing signal; a transmission source location identification unit (20c) configured to calculate a position of the sensing transmitter and a speed at which the sensing transmitter moves, and to calculate a speed component based on the position of the sensing transmitter and the speed of the sensing transmitter; a detection target identification unit (20d) configured to calculate a line-of-sight velocity of the detection target by subtracting the velocity component from the velocity of the detection target; A sensing device comprising:

[0148] (Appendix 17) A method performed by a sensing device (20), comprising: receiving a sensing signal from a sensing transmitter (10); Calculating a distance and a direction to a detection target from the sensing device as a starting point based on the sensing signal, and identifying an observation point based on the calculated distance and direction; determining the location of the sensing transmitter; Identifying a position of the detection target based on the observation point and the position of the sensing transmitter; A method comprising:

[0149] (Appendix 18) When executed, the processor (101) in the sensing device (20) receiving a sensing signal from a sensing transmitter (10); Calculating a distance and a direction to a detection target from the sensing device as a starting point based on the sensing signal, and identifying an observation point based on the calculated distance and direction; determining the location of the sensing transmitter; Identifying a position of the detection target based on the observation point and the position of the sensing transmitter; A program that executes.

[0150] (Appendix 19) When executed, the processor (101) in the sensing device (20) receiving a sensing signal from a sensing transmitter (10); Calculating a distance and a direction to a detection target from the sensing device as a starting point based on the sensing signal, and identifying an observation point based on the calculated distance and direction; determining the location of the sensing transmitter; Identifying a position of the detection target based on the observation point and the position of the sensing transmitter; A computer-readable non-transitory tangible recording medium storing a program for executing the above.

[0151] The disclosures of the above prior art documents and references are incorporated herein by reference. [Explanation of symbols]

[0152] 10 sensing transmitter, 101 processor, 102 memory, 104 transceiver, 110 control unit, 120 communication unit, 20 sensing receiver, 201 processor, 202 memory, 204 transceiver, 210 control unit, 220 communication unit

Claims

1. A sensing device (20), a radio wave receiving unit (20a) configured to receive a sensing signal from a sensing transmitter (10); an observation point calculation unit (20b) configured to calculate a distance and a direction to a detection target from the sensing device as a starting point based on the sensing signal, and to identify an observation point based on the calculated distance and direction; a source location determination unit (20c) configured to determine the location of the sensing transmitter; a detection target identification unit (20d) configured to identify the position of the detection target based on the observation point and the position of the sensing transmitter; A sensing device comprising:

2. the source location identification unit is further configured to calculate a distance to the sensing transmitter; the detection target identification unit is further configured to identify the position of the detection target by performing triangulation based on the direction to the detection target, the distance to the detection target, and the distance to the sensing transmitter. The sensing device according to claim 1 .

3. The sensing device according to claim 1 , wherein the transmission source location identification unit is further configured to determine whether the sensing signal is a direct wave, and to identify the location of the sensing transmitter based on the sensing signal determined to be a direct wave.

4. The sensing device according to claim 3 , wherein the source location identifying unit is further configured to determine that the earliest arriving sensing signal is a direct wave.

5. 5. The sensing device according to claim 4, wherein the transmission source position identification unit is further configured to select a sensing signal determined to be a direct wave, and to select an observation point identified based on the selected sensing signal as the position of the sensing transmitter.

6. The sensing device according to claim 1 , wherein the transmission source location identifying unit is further configured to determine whether the sensing signal is a direct wave based on signal strength.

7. 7. The sensing device according to claim 6, wherein the transmission source location identification unit is further configured to select a sensing signal determined to be a direct wave, and to select an observation point identified based on the selected sensing signal as the location of the sensing transmitter.

8. the transmission source location identification unit determines whether the sensing signal has a certain level of signal strength; If there is no sensing signal with a certain level of signal strength, after a certain time has elapsed, the radio wave receiving unit is further configured to receive a sensing signal from the sensing transmitter; The source location identification unit is further configured to determine whether the sensing signal has a certain level of signal strength. The sensing device according to claim 6 .

9. the radio wave receiver is further configured to receive a communication signal from the sensing transmitter, the communication signal including location information regarding a location of the sensing transmitter; The transmission source location identification unit is further configured to identify the location of the sensing transmitter based on the location information. The sensing device according to claim 1 .

10. the transmission source location identification unit determines whether the sensing signal has a certain level of signal strength; When there is no sensing signal having a certain level of signal strength, the radio wave receiving unit is further configured to receive the communication signal from the sensing transmitter. The sensing device according to claim 9 .

11. The sensing device according to claim 10 , wherein the radio wave receiver is further configured to request the sensing transmitter to transmit the communication signal.

12. the observation point calculation unit is further configured to calculate a speed at which the detection target moves based on the sensing signal; The detection target identification unit calculating a velocity component of the sensing transmitter based on the position of the sensing transmitter and the velocity at which the sensing transmitter is moving; calculating a line-of-sight velocity of the detection target by subtracting the velocity component from the velocity of the detection target; The sensing device of claim 1 , further configured as follows:

13. The sensing device of claim 12 , wherein the radio wave receiver is further configured to receive a communication signal from the sensing transmitter, the communication signal including speed information regarding a speed at which the sensing transmitter is moving.

14. The sensing device according to claim 12 , wherein the transmission source position identification unit is further configured to determine whether the sensing signal is a direct wave, and to identify the velocity of the sensing transmitter based on the sensing signal determined to be a direct wave.

15. The source location identification unit calculating a velocity component of the sensing device based on the position of the sensing device and the velocity at which the sensing device moves; calculating the line-of-sight velocity by further subtracting the velocity component of the sensing device from the velocity of the detection target; The sensing device of claim 12 further configured to:

16. A method performed by a sensing device (20), comprising: receiving a sensing signal from a sensing transmitter (10); Calculating a distance and a direction to a detection target from the sensing device as a starting point based on the sensing signal, and identifying an observation point based on the calculated distance and direction; determining the location of the sensing transmitter; Identifying a position of the detection target based on the observation point and the position of the sensing transmitter; A method comprising:

17. When executed, the processor (101) in the sensing device (20) receiving a sensing signal from a sensing transmitter (10); Calculating a distance and a direction to a detection target from the sensing device as a starting point based on the sensing signal, and identifying an observation point based on the calculated distance and direction; determining the location of the sensing transmitter; Identifying a position of the detection target based on the observation point and the position of the sensing transmitter; A program that executes.

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