Signal sending or receiving method and apparatus

Abstract

Embodiments of the present application provide a signal sending or receiving method and apparatus, capable of determining a waveform of a first signal. The signal sending method comprises: a first node determines a waveform of a first signal, wherein the waveform of the first signal is determined on the basis of a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging; and the first node sends the first signal on the basis of the waveform of the first signal.

Description

Signal sending or receiving method and device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on September 18, 2023, with application number 202311210854.8 and application name “A method and device for sending or receiving a signal”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of positioning perception, and more specifically, to a method and device for sending or receiving a signal. Background Art

[0003] Positioning has become an essential native capability in networks, and numerous application scenarios demand high-precision, low-latency positioning capabilities. For example, simultaneous positioning and map construction require centimeter-level positioning accuracy and a refresh rate of approximately 10 milliseconds. Safety-critical applications such as remote surgery and medical diagnosis demand millimeter-level positioning accuracy and millisecond-level refresh rates. In addition to terminal device positioning, the 3rd Generation Partnership Project (3GPP) Release 19Rel-19 also introduced the concept of radio frequency sensing, which involves the positioning of perceived targets.

[0004] Currently, reference signals used for ranging all have fixed time-frequency patterns, such as comb-based ones, which limit their design freedom. Traditional ranging methods that use baseband signals for ranging have ranging accuracy that is roughly proportional to the bandwidth of the ranging signal, but this accuracy is low when the bandwidth is low. Carrier phase ranging methods that use carrier signals for ranging use fewer time-frequency resources, but their ranging accuracy is low in scenarios with low signal-to-noise ratios.

[0005] Summary of the Invention

[0006] Embodiments of the present application provide a method and apparatus for sending or receiving a signal, which can determine the waveform of a first signal.

[0007] To achieve the above objectives, this application adopts the following technical solutions:

[0008] In a first aspect, a signal transmission method is provided. The method can be performed by a first node, or by a component of the first node, such as a processor, chip, or chip system of the first node. It can also be implemented by a logic module or software that implements all or part of the functions of the first node. For example, in the case where the method can be performed by the first node, the method includes: the first node determining a waveform of a first signal, where the waveform of the first signal is determined based on a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging; and the first node transmitting the first signal based on the waveform of the first signal.

[0009] In the signal transmission method provided in an embodiment of the present application, a first node determines a waveform of a first signal and transmits the first signal based on the waveform of the first signal. The waveform of the first signal is determined based on a first signal-to-noise ratio and a frequency range of the first signal, such that the waveform of the first signal is an optimal waveform determined by the first signal-to-noise ratio and the frequency range of the first signal. That is, the waveform of the first signal is compatible with the first signal-to-noise ratio and the frequency range of the first signal. Therefore, ranging using the first signal corresponding to the waveform of the first signal can achieve higher ranging accuracy.

[0010] In a second aspect, a signal reception method is provided. This method can be performed by a second node, or by a component of the second node, such as a processor, chip, or chip system of the second node. It can also be implemented by a logic module or software that implements all or part of the functions of the second node. For example, in the case of a method performed by the second node, the method includes: the second node receiving a first signal, where the waveform of the first signal is determined based on a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging.

[0011] In the signal reception method provided in an embodiment of the present application, a first node determines a waveform of a first signal and transmits the first signal based on the waveform of the first signal. The waveform of the first signal is determined based on a first signal-to-noise ratio and a frequency range of the first signal, such that the waveform of the first signal is an optimal waveform determined by the first signal-to-noise ratio and the frequency range of the first signal. That is, the waveform of the first signal is compatible with the first signal-to-noise ratio and the frequency range of the first signal. Therefore, ranging using the first signal corresponding to the waveform of the first signal can achieve higher ranging accuracy.

[0012] In combination with the first or second aspect above:

[0013] In one possible implementation, the power spectrum of the first signal is non-uniform. Using the first signal corresponding to such a power spectrum for ranging can save bandwidth and reduce the time-frequency resource overhead of the signal used for ranging, compared to distributing the signal energy across the entire bandwidth.

[0014] In one possible implementation, the lower the first signal-to-noise ratio, the higher the power of low-frequency points in the power spectrum of the first signal; and the higher the first signal-to-noise ratio, the higher the power of high-frequency points in the power spectrum of the first signal. A characteristic of the power spectrum of the first signal-to-noise ratio is provided.

[0015] In one possible implementation, a higher first signal-to-noise ratio (SNR) results in a narrower main lobe and higher side lobes for the autocorrelation function corresponding to the first signal; a lower first SNR results in a wider main lobe and lower side lobes for the autocorrelation function corresponding to the first signal. A power spectrum characteristic of the first SNR is provided.

[0016] In one possible implementation, the waveform of the first signal is designed with minimizing the Ziv-Zakai Bound (ZZB) as an optimization objective. The waveform of the first signal is determined with minimizing the ZZB as an optimization design objective, which can further improve the accuracy of ranging.

[0017] In the embodiment of the present application, ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. ZZB is:

[0018] Where r1=1,r≤1,Cr≥0,[Cr] a =0, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i, n are all less than or equal to N.

[0019] In one possible implementation, the autocorrelation function of the first signal is obtained by solving ZZB. By solving ZZB, the waveform of the first signal corresponding to the autocorrelation function of the first signal is obtained, and the ranging accuracy is improved by using the waveform.

[0020] In one possible implementation, the waveform of the first signal is determined from a first set based on a first signal-to-noise ratio and a mapping relationship between each of the multiple signal-to-noise ratios and a waveform. The first set includes multiple waveforms. During ranging, a required waveform can be adaptively found from the first set based on the mapping relationship between the signal-to-noise ratio and the waveform.

[0021] In one possible implementation, each of the multiple waveforms is determined based on its corresponding signal-to-noise ratio and the frequency range of its corresponding signal. Because each waveform is determined based on its corresponding signal-to-noise ratio and the frequency range of its corresponding signal, the signal corresponding to each waveform can achieve a high level of ranging accuracy when used for ranging.

[0022] In the embodiment of the present application, the frequency range of the first signal is determined according to the positioning type of the first signal; wherein, in B1 / f c When the value of the first signal is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is the low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; or, when B2 / f c When the signal-to-noise ratio is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is the passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; wherein the first threshold is determined according to the first signal-to-noise ratio, f c After the positioning type of the first signal is determined, the frequency range of the first signal to be selected can be determined according to the positioning type of the first signal, thereby further improving the ranging accuracy corresponding to the waveform of the first signal determined for ranging.

[0023] In a third aspect, a communication device is provided for implementing the various methods described above. The communication device may be the first node described in the first aspect, or a device comprising the first node, or a device included in the first node, such as a chip; or the communication device may be the second node described in the second aspect, or a device comprising the second node, or a device included in the second node, such as a chip; the communication device includes modules, units, or means corresponding to implementing the methods described above, which may be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the functions described above.

[0024] In some possible designs, the communication device may include a processing module and a transceiver module. The transceiver module, also referred to as a transceiver unit, is configured to implement the transmitting and / or receiving functions described in any of the above aspects and any possible implementations thereof. The transceiver module may be comprised of a transceiver circuit, a transceiver, a transceiver, or a communication interface. The processing module may be configured to implement the processing functions described in any of the above aspects and any possible implementations thereof.

[0025] In some possible designs, the transceiver module includes a sending module and a receiving module, which are respectively used to implement the sending and receiving functions in any of the above aspects and any possible implementation methods.

[0026] In a fourth aspect, a communication device is provided, comprising: at least one processor; the processor is configured to execute a computer program or instruction so that the communication device executes the method described in any one of the above aspects.

[0027] In one possible implementation, the communication device further includes the memory. Optionally, the memory is coupled to the processor, the memory may be integrated with the processor, or the memory may be independent of the processor. Optionally, the processor is configured to execute computer programs or instructions stored in the memory.

[0028] In a possible implementation, the memory is independent of the communication device.

[0029] In a possible implementation, the communication device further includes a communication interface, which is used to communicate with a module outside the communication device.

[0030] The communication device may be the first node in any of the above aspects, or a device including the first node, or a device included in the first node, such as a chip; or, the communication device may be the second node in any of the above aspects, or a device including the second node, or a device included in the second node, such as a chip.

[0031] In a fifth aspect, a computer-readable storage medium is provided, in which a computer program or instruction is stored. When the computer-readable storage medium is run on a communication device, the communication device can execute the method described in any one of the above aspects or any one of its implementations.

[0032] In a sixth aspect, a computer program product comprising instructions is provided, which, when executed on a communication device, enables the communication device to execute the method described in any one of the above aspects or any one of its implementations.

[0033] In a seventh aspect, a communication device is provided (for example, the communication device may be a chip or a chip system), which includes a processor for implementing the functions involved in any of the above aspects or any of its implementation methods.

[0034] In some possible designs, the communication device includes a memory for storing necessary program instructions and data.

[0035] In some possible designs, when the device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0036] It can be understood that when the communication device provided in any one of the third to seventh aspects is a chip, the above-mentioned sending action / function can be understood as output, and the above-mentioned receiving action / function can be understood as input.

[0037] Among them, the technical effects brought about by any design method in the third to seventh aspects can refer to the technical effects brought about by different design methods in the above-mentioned first or second aspects, and will not be repeated here.

[0038] In an eighth aspect, a communication system is provided, comprising: the first node in any one of the above aspects, and the second node in any one of the above aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] FIG1 is a schematic diagram of a system architecture provided in an embodiment of the present application;

[0040] FIG2 is a schematic structural diagram of a communication device 200 provided in an embodiment of the present application;

[0041] FIG3 is a schematic diagram of a signal sending or receiving method provided in an embodiment of the present application;

[0042] FIG4 is a schematic diagram of a mapping relationship between a signal-to-noise ratio and a waveform provided in an embodiment of the present application;

[0043] FIG5 is a schematic diagram of a power spectrum of a first signal provided in an embodiment of the present application;

[0044] FIG6 is a schematic diagram of a curve showing the corresponding relationship between the signal-to-noise ratio and the mean square error provided in an embodiment of the present application;

[0045] FIG7 is a schematic diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0046] In the description of this application, unless otherwise specified, " / " indicates that the objects associated before and after are in an "or" relationship, for example, A / B can represent A or B; "and / or" in this application is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can represent: A exists alone, A and B exist at the same time, and B exists alone, where A and B can be singular or plural.

[0047] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following items" or similar expressions refers to any combination of these items, including any combination of single items or plural items. For example, at least one of a, b and / or c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or plural.

[0048] In addition, to facilitate the clear description of the technical solutions of the embodiments of the present application, in the embodiments of the present application, the words "first" and "second" are used to distinguish between identical or similar items with substantially the same functions and effects. Those skilled in the art will understand that the words "first" and "second" do not limit the quantity or execution order, and the words "first" and "second" do not necessarily mean different.

[0049] In the embodiments of this application, words such as "exemplary" or "for example" are used to indicate examples, illustrations, or descriptions. Any embodiment or design described as "exemplary" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner to facilitate understanding.

[0050] It will be understood that the “embodiment” mentioned throughout the specification means that the specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present application. Therefore, the various embodiments throughout the specification do not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It will be understood that in the various embodiments of the present application, the size of the sequence number of each process does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present application.

[0051] It can be understood that in this application, "when" and "if" both mean that corresponding processing will be taken under certain objective circumstances, and do not limit the time, nor do they require any judgment action when implementing, nor do they mean that there are other limitations.

[0052] It is understood that some optional features in the embodiments of the present application may, in certain scenarios, be implemented independently of other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects. They may also be combined with other features in certain scenarios as needed. Accordingly, the devices provided in the embodiments of the present application may also implement these features or functions accordingly, which will not be described in detail here.

[0053] In this application, unless otherwise specified, the same or similar parts between the various embodiments can refer to each other. In the various embodiments of this application, unless otherwise specified and there is no logical conflict, the terms and / or descriptions between different embodiments are consistent and can be referenced to each other, and the technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships. The following description of the embodiments of this application does not constitute a limitation on the scope of protection of this application.

[0054] To facilitate understanding of the technical solutions provided by the embodiments of this application, a brief introduction to the relevant technologies of the embodiments of this application is first given. The brief introduction is as follows:

[0055] 1. Cramer-Rao Bound (CRB).

[0056] CRB is a lower bound on the variance of the estimate of a deterministic parameter in parameter estimation. The simplest form of CRB is that the variance of any unbiased estimator is at least greater than the inverse of the Fisher information. The CRB bound cannot accurately characterize the performance of parameter estimation when the true value is significantly different from the estimated value.

[0057] For the signal used for ranging, the corresponding CRB is expressed as follows:

[0058] Where J is the Fisher information, d is the distance, c is the signal propagation speed (such as the speed of light), SNR is the signal-to-noise ratio, and β is the root mean square bandwidth of the ranging signal. β satisfies the following relationship:

[0059] Where S(f) is the Fourier transform of the ranging signal, f is the frequency, represents the integral from positive infinity to negative infinity, and |S(f)| represents the modulus of the Fourier transform.

[0060] CBR indicates that the higher the signal-to-noise ratio (SNR), the higher the positioning accuracy; the larger the root mean square bandwidth (β), the higher the positioning accuracy.

[0061] In the embodiments of this application, the following problems exist with the positioning perception waveform designed based on CRB: First, in low SNR scenarios, CRB does not accurately characterize positioning accuracy. Furthermore, given a fixed available bandwidth, minimizing CRB corresponds to maximizing the root mean square bandwidth β, which means that the signal energy should be concentrated at the highest frequency point in the available bandwidth. This corresponds to a ranging solution using a single-frequency signal, which clearly suffers from integer ambiguity, and the waveform design is unrelated to SNR. Therefore, the waveform design method based on CRB is not suitable for ranging scenarios.

[0062] Figure 1 is a schematic diagram of the system architecture of an embodiment of the present application. As shown in Figure 1, the communication system mainly includes: a first node and a second node, wherein the first node can be a network device or a terminal device, and the second node can be a network device or a terminal device.

[0063] In an embodiment of the present application, the network device may be an entity that transmits or receives signals, and is used to receive uplink signals from a terminal device or send downlink signals to a terminal device.

[0064] In an embodiment of the present application, the terminal device may be used to send an uplink signal to a network device, or receive a downlink signal from a network device.

[0065] Optionally, the embodiments of the present application can be applied to 5G systems or other communication systems, such as the future sixth generation mobile communication technology (6th generation, 6G), etc., and the embodiments of the present application do not make specific limitations on this.

[0066] Optionally, the terminal device involved in the present application can be a user equipment (UE), access terminal, terminal unit, user station, terminal station, mobile station, mobile station, remote station, remote terminal, user terminal terminal equipment, TE), mobile device, wireless communication device, terminal agent, tablet computer (pad), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, vehicle-mounted device, vehicle-mounted transceiver unit, wearable device, or terminal device in a 5G network or a public land mobile network (PLMN) evolved after 5G. The access terminal can be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handheld device with wireless communication function, a computing device or other processing device connected to a wireless modem, a vehicle-mounted device, a drone, a robot, a smart point of sale (POS) machine, a customer-premises equipment (CPE) or a wearable device, virtual reality (VR) The terminal may be a wireless terminal in industrial control, a wireless terminal in self-driving, a wireless terminal in remote medical care, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city, or a wireless terminal in smart home. Alternatively, the terminal may be a terminal with communication capabilities in the Internet of Things (IoT), such as a terminal in V2X (e.g., a vehicle-to-everything (V2X) device), a terminal in D2D communication, or a terminal in M2M communication. The terminal may be mobile or fixed.

[0067] Optionally, the network device involved in the present application may be a device for communicating with a terminal device, for example, it may include an evolved base station (NodeB or eNB or e-NodeB, evolutionary Node B) in an LTE system or an LTE-A system, such as a traditional macro base station eNB and a micro base station eNB in ​​a heterogeneous network scenario. Alternatively, it may include a next generation node B (gNB) in an NR system. Alternatively, it may include a transmission reception point (TRP), a home base station (e.g., home evolved NodeB, or home Node B, HNB), a base band unit (BBU), a base band pool (BBU pool), or a wireless fidelity (WiFi) access point (AP), etc. Alternatively, it may include a base station in a non-terrestrial network (NTN), which can be deployed on an aircraft or satellite. In an NTN, the network device can function as a Layer 1 (L1) relay, a base station, or an integrated access and backhaul (IAB) node. Alternatively, the network device can be a device that implements base station functions in the IoT, such as drone communications, V2X, D2D, or machine-to-machine (M2M) communications.

[0068] In some possible scenarios, the network equipment may also be a module or unit that can implement some of the functions of the base station. For example, the access network equipment may be a centralized unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU). The CU and DU may be configured separately or included in the same network element, such as a baseband unit (BBU). The RU may be included in a radio frequency device or radio unit, such as a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH).

[0069] In different systems, CU (or CU-CP and CU-UP), DU or RU may also have different names, but those skilled in the art can understand their meanings. For example, the access network device may be a network device or a module of a network device in an open radio access network (open RAN, ORAN) system. In the ORAN system, CU may also be referred to as open (open, O)-CU, DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. Any of the CU (or CU-CP, CU-UP), DU and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0070] Optionally, the base station in the embodiment of the present application may include various forms of base stations, such as: macro base stations, micro base stations (also called small stations), relay stations, access points, home base stations, TRPs, transmitting points (TPs), mobile switching centers, etc., and the embodiments of the present application do not make specific limitations on this.

[0071] It should be noted that the communication system described in the embodiment of the present application is intended to more clearly illustrate the technical solution of the embodiment of the present application, and does not constitute a limitation on the technical solution provided in the embodiment of the present application. Ordinary technicians in this field can know that with the evolution of network architecture and the emergence of new business scenarios, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

[0072] Optionally, the relevant functions of the first node and the second node involved in the present application can be implemented by one device, or by multiple devices together, or by one or more functional modules within a device, or by one or more chips, or by a system on chip (SOC) or a chip system. The chip system can be composed of chips, or can include chips and other discrete devices. The embodiments of the present application do not specifically limit this.

[0073] It is understandable that the above functions can be network elements in hardware devices, software functions running on dedicated hardware, or a combination of hardware and software, or virtualized functions instantiated on a platform (e.g., a cloud platform).

[0074] For example, the functions of the first node and the second node involved in this application can be implemented by the communication device 200 in Figure 2. Figure 2 is a schematic diagram of the structure of the communication device 200 provided in an embodiment of the present application. The communication device 200 includes one or more processors 201, a communication line 202, and at least one communication interface (Figure 2 is merely an example of including a communication interface 204 and a processor 201), and optionally may also include a memory 203.

[0075] The processor 201 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the present application.

[0076] The communication line 202 may include a path for connecting different components.

[0077] The communication interface 204 can be a transceiver module for communicating with other devices or communication networks, such as Ethernet, RAN, and wireless local area networks (WLAN). For example, the transceiver module can be a device such as a transceiver or a transceiver. Alternatively, the communication interface 204 can be a transceiver circuit located within the processor 201 to implement signal input and output to the processor.

[0078] The memory 203 may be a device having a storage function. For example, it may be a read-only memory (ROM) or other types of static storage devices that can store static information and instructions, a random access memory (RAM) or other types of dynamic storage devices that can store information and instructions, or an electrically erasable programmable read-only memory (EEPROM), a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact discs, laser discs, optical discs, digital versatile discs, Blu-ray discs, etc.), a magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may exist independently and be connected to the processor via the communication line 202. The memory may also be integrated with the processor.

[0079] The memory 203 is used to store computer-executable instructions for executing the solution of the present application, and the execution is controlled by the processor 201. The processor 201 is used to execute the computer-executable instructions stored in the memory 203, thereby implementing a signal sending or receiving method provided in an embodiment of the present application.

[0080] Alternatively, optionally, in an embodiment of the present application, the processor 201 may also perform processing-related functions in the signal sending or receiving method provided in the following embodiments of the present application, and the communication interface 204 is responsible for communicating with other devices or communication networks, which is not specifically limited in the embodiments of the present application.

[0081] Optionally, the computer-executable instructions in the embodiments of the present application may also be referred to as application code, which is not specifically limited in the embodiments of the present application.

[0082] In a specific implementation, as an embodiment, the processor 201 may include one or more CPUs, such as CPU0 and CPU1 in FIG. 2 .

[0083] In a specific implementation, as an embodiment, the communication device 200 may include multiple processors, such as the processor 201 and the processor 207 in Figure 2. Each of these processors may be a single-core processor or a multi-core processor. The processor here may include, but is not limited to, at least one of the following: a central processing unit (CPU), a microprocessor, a digital signal processor (DSP), a microcontroller unit (MCU), or an artificial intelligence processor, etc., and each computing device may include one or more cores for executing software instructions to perform calculations or processing.

[0084] In a specific implementation, as an embodiment, the communication device 200 may further include an output device 205 and an input device 206. The output device 205 communicates with the processor 201 and can display information in a variety of ways. For example, the output device 205 can be a liquid crystal display (LCD), a light emitting diode (LED) display device, a cathode ray tube (CRT) display device, or a projector. The input device 206 communicates with the processor 201 and can receive user input in a variety of ways. For example, the input device 206 can be a mouse, a keyboard, a touch screen device, or a sensor device.

[0085] The communication device 200 described above may also sometimes be referred to as a communication apparatus, and may be a general-purpose device or a dedicated device. For example, the communication device 200 may be a desktop computer, a portable computer, a network server, a personal digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, an embedded device, the aforementioned terminal, the aforementioned network device, or a device having a similar structure to that shown in FIG2 . The embodiments of the present application do not limit the type of the communication device 200.

[0086] In addition, the composition structure shown in FIG2 does not constitute a limitation on the communication device. In addition to the components shown in FIG2, the communication device may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0087] The signal sending or receiving method provided in the embodiment of the present application is described below in conjunction with the communication system shown in Figure 1.

[0088] It should be noted that in the following embodiments of the present application, the message names, parameter names, or information names between network elements are only examples. In other embodiments, they may also be other names, and the method provided in the present application does not make specific limitations on this.

[0089] It is understood that in the embodiments of the present application, each network element may perform some or all of the steps in the embodiments of the present application. These steps or operations are merely examples, and the embodiments of the present application may also perform other operations or variations of various operations. In addition, the steps may be performed in a different order than those presented in the embodiments of the present application, and it is possible that not all operations in the embodiments of the present application need to be performed.

[0090] Figure 3 is a schematic diagram of a signal sending or receiving method provided in an embodiment of the present application. The method is illustrated by taking the interaction between the first node and the second node as an example. Of course, the subject that executes the action of the first node in the method can also be a device / module in the first node, such as a chip, processor, processing unit, etc. in the first node; the subject that executes the action of the second node in the method can also be a device / module in the second node, such as a chip, processor, processing unit, etc. in the second node, and the embodiment of the present application does not specifically limit this. The processing performed by a single execution subject (for example, a first node or a second node) in the embodiment of the present application can also be divided into executions by multiple execution subjects, and these execution subjects can be logically and / or physically separated. For example, the processing performed by the network device can be divided into executions by at least one of CU, DU and RU. In an embodiment of the present application, the first node can be a network device or a terminal device, and the second node can be a network device or a terminal device. Exemplarily, as shown in Figure 3, method 300 includes:

[0091] S310: The first node determines a waveform of a first signal.

[0092] In the embodiment of the present application, the first signal is used for sensing, or the first signal is used for ranging, or the first signal is used for other functions, which is not limited in the embodiment of the present application.

[0093] Exemplarily, the first signal may be a downlink positioning reference signal (PRS) for ranging, or an uplink sounding reference signal (SRS), or a more optimized alternative to a sidelink (SL) PRS. Of course, the first signal may also be other types of signals, which is not limited in the embodiments of the present application.

[0094] In the embodiment of the present application, the waveform of the first signal is determined based on the first signal-to-noise ratio and the frequency range of the first signal. For example, the frequency range of the first signal may be a low-pass frequency range, or the frequency range of the first signal may be a band-pass frequency range, or the frequency range of the first signal may be a frequency range of a non-continuous bandwidth, which is not limited in the embodiment of the present application.

[0095] In one possible implementation, the waveform of the first signal can be designed with minimizing the Ziv-Zacke bound (ZZB) as the optimization objective. It should be understood that ZZB represents the lower bound of the variance of a deterministic parameter estimate in parameter estimation. ZZB can more accurately characterize ranging accuracy in scenarios with high, medium, and low signal-to-noise ratios.

[0096] In the embodiment of the present application, ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. ZZB can be expressed as:

[0097] Where r1=1,r≤1,Cr≥0,[Cr] a =0, r i is the discretized autocorrelation function of the first signal, r represents the autocorrelation function of the first signal, SNR_D is the first signal-to-noise ratio, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform (DCT) matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i, n are all less than or equal to N.

[0098] In the embodiment of the present application, the waveform of the first signal designed with minimizing ZZB as the optimization goal corresponds to a first signal with higher ranging accuracy.

[0099] In one possible implementation, when determining the waveform of the first signal, N discrete sampling points of the autocorrelation function of the first waveform can be obtained. In this embodiment of the present application, interpolation and normalization are performed on the N sampling points to obtain a continuous autocorrelation function of the first signal. It should be understood that the continuous autocorrelation function of the first signal can be used to obtain estimated values ​​of unsampled points. This solution does not restrict the process of obtaining the first waveform from the autocorrelation function of the first waveform.

[0100] In one possible implementation of the embodiment of the present application, the autocorrelation function of the first signal is obtained by solving the optimization problem of minimizing ZZB. Optionally, the autocorrelation function of the first signal can be obtained by solving ZZB using a gradient projection algorithm, or by solving ZZB using other algorithms, which is not limited in the embodiment of the present application. The following is an exemplary description of a specific algorithm for solving ZZB using a gradient projection algorithm:

[0101] Where L and M represent the number of outer and inner layer cycles, respectively. represents the gradient of ZZB. σ and α l-1 Represents the iteration step size. and They represent two projection operators, and their definitions are given in the pseudo code. (l) ,u (l) , p m ,q m , x m , a m They are all intermediate quantities in the iterative solution process.

[0102] In the embodiment of the present application, the frequency range of the first signal is determined according to the positioning type of the first signal. In one possible implementation, in B1 / f c When the value of the first signal is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is the low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range, where B1 is determined according to the parameters of the communication system applied by the first signal for ranging, and f c is the carrier frequency; in another possible implementation, at B2 / f c When f is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is the passband frequency range, B2 is the bandwidth corresponding to the passband frequency range, and B2 is determined according to the parameters of the communication system applied by the first signal for ranging. c is the carrier frequency.

[0103] In the embodiment of the present application, the first threshold is determined according to the first signal-to-noise ratio. A method for determining the first threshold is given below:

[0104] 1. First, based on the first signal-to-noise ratio and the frequency range of the second signal, the waveform of the second signal is designed with minimizing ZZB as the optimization goal, wherein the frequency range of the second signal is selected as any low-pass frequency range with a bandwidth of B3.

[0105] 2. Next, determine a first bandwidth B4 corresponding to the power spectrum of the waveform of the second signal, where the first bandwidth may be a bandwidth corresponding to a frequency range in which power in the power spectrum of the second waveform exceeds a certain threshold.

[0106] Exemplarily, the first bandwidth may be a 3dB bandwidth corresponding to the power spectrum of the second signal, which is not limited in the embodiment of the present application.

[0107] 3. Use B4 / B3 as the first threshold.

[0108] It should be understood that the first threshold can be a value used for comparison to determine which positioning type to select, and the waveform of the second signal can be a waveform used for comparison. Furthermore, after determining the positioning type of the first signal, a corresponding frequency range of the first signal can be selected, and then, with minimizing ZZB as the optimization goal, an optimal ranging waveform determined by the first signal-to-noise ratio and the frequency range corresponding to the positioning type of the first signal is obtained, which can further improve the ranging accuracy of the first signal.

[0109] In one possible implementation, the first node determines the waveform of the first signal as follows: the first node determines the waveform of the first signal from the first set based on the first signal-to-noise ratio and the mapping relationship between each signal-to-noise ratio and the waveform in the multiple signal-to-noise ratios, wherein the first set includes multiple waveforms. Exemplarily, each of the multiple waveforms is determined based on its corresponding signal-to-noise ratio and the frequency range of its corresponding signal. Figure 4 is a schematic diagram of the mapping relationship between the signal-to-noise ratio and the waveform. As shown in Figure 4, the first set includes 3 waveforms, corresponding to the first set, each of which has a corresponding signal-to-noise ratio of 10dB, 13dB, and 25dB, respectively. The first waveform can be determined from the three waveforms based on the signal-to-noise ratio, for example, when the signal-to-noise ratio is 10dB.

[0110] In an embodiment of the present application, the power spectrum of the first signal is non-uniform. In an embodiment of the present application, the power spectrum of the first signal is obtained by performing a DCT transform on the autocorrelation function of the first signal. Exemplarily, (see FIG5 below), the lower the first signal-to-noise ratio, the higher the power of the low-frequency position point in the power spectrum of the first signal; the higher the first signal-to-noise ratio, the higher the power of the high-frequency position point in the power spectrum of the first signal; when the first signal-to-noise ratio is centered, the power spectrum of the first signal is relatively flat. Or, exemplarily, (see FIG4 above), the higher the first signal-to-noise ratio, the narrower the main lobe and the higher the side lobe of the autocorrelation function corresponding to the first signal; the lower the first signal-to-noise ratio, the wider the main lobe and the lower the side lobe of the autocorrelation function corresponding to the first signal.

[0111] Figure 5 is a schematic diagram of the power spectrum of the first signal provided in an embodiment of the present application. As shown in Figure 5, the relationship between the signal-to-noise ratio and the power can be more clearly shown. When the first signal-to-noise ratio is 10dB, the power of the low-frequency position of the power spectrum of the first signal is higher; when the first signal-to-noise ratio is 13dB and 15dB, the power spectrum of the first signal is relatively flat; when the first signal-to-noise ratio is 18dB, 25dB, and 30dB, the power of the high-frequency position of the power spectrum of the first signal is higher, and as the signal-to-noise ratio increases, the power spectrum becomes increasingly sharp, that is, the bandwidth corresponding to the high-frequency position of the power spectrum becomes narrower and narrower, and the power corresponding to the frequency point of the high-frequency position becomes increasingly larger.

[0112] Figure 6 is a schematic diagram of the corresponding relationship between the signal-to-noise ratio and the mean square error provided by an embodiment of the present application. As shown in Figure 6, curve 1 represents the mean square error corresponding to a waveform with a uniform power spectrum, and curve 2 represents the mean square error corresponding to a ZZB waveform (a waveform with an uneven power spectrum). As can be seen from Figure 6, the waveform of the first signal provided by an embodiment of the present application, and its corresponding uneven power spectrum, can effectively reduce the mean square error compared to the uniform power spectrum, that is, can effectively improve the accuracy of ranging.

[0113] S320: The first node sends the first signal according to the waveform of the first signal. Correspondingly, the second node receives the first signal.

[0114] In the embodiment of the present application, the first node may send the first signal according to the waveform of the first signal, and the second node may receive the first signal.

[0115] Optionally, the second node may perform ranging or perception based on the first signal, which is not limited in this embodiment of the present application.

[0116] In the signal sending or receiving method provided in an embodiment of the present application, a first node determines a waveform of a first signal and sends the first signal according to the waveform of the first signal, wherein the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, so that the waveform of the first signal is an optimal waveform determined by the first signal-to-noise ratio and the frequency range of the first signal. That is, the waveform of the first signal is compatible with the first signal-to-noise ratio and the frequency range of the first signal. Therefore, using the first signal corresponding to the waveform of the first signal for ranging can make the ranging accuracy higher; further, the waveform of the first signal is determined with minimizing ZZB as the optimization design goal, which can further improve the ranging accuracy; and after the positioning type of the first signal is determined, the frequency range of the first signal to be selected can be determined according to the positioning type of the first signal, thereby further improving the ranging accuracy corresponding to the waveform of the first signal determined for ranging; finally, the frequency range of the first signal determined according to the first signal-to-noise ratio and the positioning type of the first signal, and the waveform of the first signal determined with minimizing ZZB as the optimization design goal, the corresponding power spectrum of the first signal is non-uniform. Therefore, using the first signal corresponding to this power spectrum for ranging can save bandwidth and reduce the time-frequency resource overhead of the signal used for ranging compared to distributing the signal energy over the entire bandwidth.

[0117] The above mainly introduces the solutions provided by the embodiments of the present application from the perspective of the interaction between the first node and the second node. Accordingly, the embodiments of the present application also provide a communication device, which is used to implement the various methods described above. The communication device can be the first node in the above method embodiments, or a device including the above first node, or a component that can be used for the first node; or the communication device can be the second node in the above method embodiments, or a device including the above second node, or a component that can be used for the second node. It can be understood that in order to implement the above functions, the communication device includes hardware structures and / or software modules corresponding to the execution of each function. It should be readily appreciated by those skilled in the art that, in combination with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in hardware or in a computer software-driven hardware manner depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0118] In the embodiment of the present application, the communication device can be divided into functional modules according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be understood that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0119] For example, FIG7 is a schematic diagram of a communication device provided in an embodiment of the present application. Taking the communication device as the first node in the above method embodiment (which may be a chip of the first node, or a module of the first node, or a device inside the first node) as an example, the communication device 700 includes a transceiver module 710 and a processing module 720. The transceiver module 710, which may also be referred to as a transceiver unit, is used to implement transceiver functions, and may be, for example, a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0120] In one solution, the processing module 720 is used to determine the waveform of the first signal. In an embodiment of the present application, the waveform of the first signal is determined based on the first signal-to-noise ratio and the frequency range of the first signal. The first signal is used for sensing or ranging.

[0121] The transceiver module 710 is configured to send the first signal according to the waveform of the first signal.

[0122] In the embodiment of the present application, the power spectrum of the first signal is non-uniform.

[0123] In the embodiment of the present application, the lower the first signal-to-noise ratio, the higher the power of the low-frequency point in the power spectrum of the first signal; the higher the first signal-to-noise ratio, the higher the power of the high-frequency point in the power spectrum of the first signal.

[0124] In the embodiment of the present application, the higher the first signal-to-noise ratio, the narrower the main lobe and the higher the side lobe of the autocorrelation function corresponding to the first signal; the lower the first signal-to-noise ratio, the wider the main lobe and the lower the side lobe of the autocorrelation function corresponding to the first signal.

[0125] In the embodiment of the present application, the waveform of the first signal is designed with minimizing the Ziv-Zackey bound ZZB as the optimization goal.

[0126] In the embodiment of the present application, ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. ZZB is:

[0127] Where r1=1,r≤1,Cr≥0,[Cr] a =0, r iis the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i, n are all less than or equal to N.

[0128] In the embodiment of the present application, the autocorrelation function of the first signal is obtained by solving ZZB.

[0129] In the embodiment of the present application, the waveform of the first signal is determined from a first set based on a mapping relationship between the first signal-to-noise ratio and each of the multiple signal-to-noise ratios and the waveform, and the first set includes multiple waveforms.

[0130] In the embodiment of the present application, each waveform among the multiple waveforms is determined according to its corresponding signal-to-noise ratio and the frequency range of its corresponding signal.

[0131] In the embodiment of the present application, the frequency range of the first signal is determined according to the positioning type of the first signal; wherein, in B1 / f c When the value of the first signal is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is the low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; or, when B2 / f c When the signal-to-noise ratio is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is the passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; wherein the first threshold is determined according to the first signal-to-noise ratio, f c is the carrier frequency.

[0132] All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here. Optionally, the communication device 700 may further include a storage module 730, which can be used to store instructions and / or data, and the processing module 720 can read the instructions and / or data in the storage module 730.

[0133] In the embodiment of the present application, the communication device 700 is presented in the form of various functional modules divided in an integrated manner. Here, "module" can refer to a specific ASIC, circuit, processor and memory that executes one or more software or firmware programs, integrated logic circuit, and / or other devices that can provide the above functions. In a simple embodiment, those skilled in the art will appreciate that the communication device 700 can take the form of the communication device 200 shown in Figure 2.

[0134] For example, the processor 201 in the communication device 200 shown in FIG. 2 may call the computer-executable instructions stored in the memory 203 to enable the communication device 200 to execute the signal transmission method in the above method embodiment.

[0135] Specifically, the functions / implementation processes of the transceiver module 710 and the processing module 720 in FIG7 can be implemented by the processor 201 in the communication device 200 shown in FIG2 calling computer-executable instructions stored in the memory 203. Alternatively, the functions / implementation processes of the processing module 720 in FIG7 can be implemented by the processor 201 in the communication device 200 shown in FIG2 calling computer-executable instructions stored in the memory 203, and the functions / implementation processes of the transceiver module 710 in FIG7 can be implemented by the communication interface 204 in the communication device 200 shown in FIG2.

[0136] Since the communication device 700 provided in the embodiment of the present application (which can be a chip of the first node, or a module of the first node, or a device inside the first node) can execute the above-mentioned signal sending method, the technical effects that can be obtained can refer to the above-mentioned method embodiment and will not be repeated here.

[0137] For example, FIG7 is a schematic diagram of a communication device provided in an embodiment of the present application. Taking the communication device as the second node in the above method embodiment (which may be a chip of the second node, or a module of the second node, or an internal device of the second node) as an example, the communication device 700 includes a transceiver module 710 and a processing module 720. The transceiver module 710, which may also be referred to as a transceiver unit, is used to implement transceiver functions, and may be, for example, a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0138] In one solution, the transceiver module 710 is configured to receive a first signal. In this embodiment of the present application, the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging.

[0139] In the embodiment of the present application, the power spectrum of the first signal is non-uniform.

[0140] In the embodiment of the present application, the lower the first signal-to-noise ratio, the higher the power of the low-frequency point in the power spectrum of the first signal; the higher the first signal-to-noise ratio, the higher the power of the high-frequency point in the power spectrum of the first signal.

[0141] In the embodiment of the present application, the higher the first signal-to-noise ratio, the narrower the main lobe and the higher the side lobe of the autocorrelation function corresponding to the first signal; the lower the first signal-to-noise ratio, the wider the main lobe and the lower the side lobe of the autocorrelation function corresponding to the first signal.

[0142] In the embodiment of the present application, the waveform of the first signal is designed with minimizing the Ziv-Zackey bound ZZB as the optimization goal.

[0143] In the embodiment of the present application, ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. ZZB is:

[0144] Where r1=1,r≤1,Cr≥0,[Cr] a =0, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i, n are all less than or equal to N.

[0145] In the embodiment of the present application, the autocorrelation function of the first signal is obtained by solving ZZB.

[0146] In the embodiment of the present application, the waveform of the first signal is determined from a first set based on a mapping relationship between the first signal-to-noise ratio and each of the multiple signal-to-noise ratios and the waveform, and the first set includes multiple waveforms.

[0147] In the embodiment of the present application, each waveform among the multiple waveforms is determined according to its corresponding signal-to-noise ratio and the frequency range of its corresponding signal.

[0148] In the embodiment of the present application, the frequency range of the first signal is determined according to the positioning type of the first signal; wherein, in B1 / f c When the value of the first signal is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is the low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; or, when B2 / f c When the signal-to-noise ratio is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is the passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; wherein the first threshold is determined according to the first signal-to-noise ratio, f c is the carrier frequency.

[0149] All relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here. Optionally, the communication device 700 may further include a storage module 730, which can be used to store instructions and / or data, and the processing module 720 can read the instructions and / or data in the storage module 730.

[0150] In the embodiment of the present application, the communication device 700 is presented in the form of various functional modules divided in an integrated manner. Here, "module" can refer to a specific ASIC, circuit, processor and memory that executes one or more software or firmware programs, integrated logic circuit, and / or other devices that can provide the above functions. In a simple embodiment, those skilled in the art will appreciate that the communication device 700 can take the form of the communication device 200 shown in Figure 2.

[0151] For example, the processor 201 in the communication device 200 shown in FIG. 2 may call the computer-executable instructions stored in the memory 203 to enable the communication device 200 to execute the signal transmission method in the above method embodiment.

[0152] Specifically, the functions / implementation processes of the transceiver module 710 and the processing module 720 in FIG7 can be implemented by the processor 201 in the communication device 200 shown in FIG2 calling computer-executable instructions stored in the memory 203. Alternatively, the functions / implementation processes of the processing module 720 in FIG7 can be implemented by the processor 201 in the communication device 200 shown in FIG2 calling computer-executable instructions stored in the memory 203, and the functions / implementation processes of the transceiver module 710 in FIG7 can be implemented by the communication interface 204 in the communication device 200 shown in FIG2.

[0153] Since the communication device 700 provided in the embodiment of the present application (which can be a chip of the second node, or a module of the second node, or an internal device of the second node) can execute the above-mentioned signal receiving method, the technical effects that can be obtained can refer to the above-mentioned method embodiment and will not be repeated here.

[0154] It should be understood that one or more of the above modules or units can be implemented by software, hardware or a combination of the two. When any of the above modules or units is implemented in software, the software exists in the form of computer program instructions and is stored in a memory, and a processor can be used to execute the program instructions and implement the above method flow. The processor can be built into an SoC (system on a chip) or an ASIC, or it can be an independent semiconductor chip. In addition to the core used to execute software instructions to perform calculations or processing within the processor, it can further include necessary hardware accelerators, such as field programmable gate arrays (FPGAs), programmable logic devices (PLDs), or logic circuits that implement dedicated logic operations.

[0155] When the above modules or units are implemented in hardware, the hardware can be any one or any combination of a CPU, a microprocessor, a digital signal processing (DSP) chip, a microcontroller unit (MCU), an artificial intelligence processor, an ASIC, a SoC, an FPGA, a PLD, a dedicated digital circuit, a hardware accelerator or a non-integrated discrete device, which can run the necessary software or not rely on the software to execute the above method flow.

[0156] Optionally, an embodiment of the present application further provides a communication device (for example, the communication device may be a chip or a chip system), which includes a processor for implementing the method in any of the above method embodiments. In one possible design, the communication device also includes a memory. The memory is used to store necessary program instructions and data, and the processor can call the program code stored in the memory to instruct the communication device to execute the method in any of the above method embodiments. Of course, the memory may not be in the communication device. When the communication device is a chip system, it may be composed of a chip, or it may include a chip and other discrete devices, which is not specifically limited in the embodiment of the present application.

[0157] Optionally, an embodiment of the present application also provides a computer-readable storage medium, which stores a computer program or instruction. When the computer program or instruction is run on a communication device, the communication device can execute the method described in any of the above method embodiments or any of its implementation methods.

[0158] Optionally, an embodiment of the present application further provides a communication system, which includes the first node described in the above method embodiment and the second node described in the above method embodiment.

[0159] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using a software program, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state disk (SSD)).

[0160] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art may understand and implement other variations of the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit may implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

[0161] Although the present application has been described with reference to specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the scope of the present application. Accordingly, this specification and the drawings are merely illustrative of the present application as defined by the appended claims and are deemed to cover any and all modifications, variations, combinations or equivalents within the scope of the present application. Obviously, those skilled in the art may make various modifications and variations to the present application without departing from the scope of the present application. Thus, the present application is intended to include such modifications and variations as fall within the scope of the claims of the present application and their equivalents.

Claims

1. A signal sending method, characterized in that: include: determining a waveform of a first signal, where the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging; The first signal is sent according to the waveform of the first signal.

2. A signal receiving method, characterized in that: include: A first signal is received, wherein a waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging.

3. The method according to claim 1 or 2, characterized in that: The power spectrum of the first signal is non-uniform.

4. The method according to any one of claims 1 to 3, characterized in that The lower the first signal-to-noise ratio is, the higher the power of the low-frequency point in the power spectrum of the first signal is; and the higher the first signal-to-noise ratio is, the higher the power of the high-frequency point in the power spectrum of the first signal is.

5. The method according to any one of claims 1 to 4, characterized in that The higher the first signal-to-noise ratio is, the narrower the main lobe of the autocorrelation function corresponding to the first signal is, and the higher the side lobe is; the lower the first signal-to-noise ratio is, the wider the main lobe of the autocorrelation function corresponding to the first signal is, and the lower the side lobe is.

6. The method according to any one of claims 1 to 5, characterized in that The waveform of the first signal is designed with minimizing the Ziv-Zackay bound ZZB as the optimization goal.

7. The method according to claim 6, characterized in that The ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. The ZZB is: Among them, r1=1,r≤1,Cr≥0, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i and n are all less than or equal to N.

8. The method according to claim 7, characterized in that The autocorrelation function of the first signal is obtained by solving the ZZB.

9. The method according to any one of claims 1 to 8, characterized in that The waveform of the first signal is determined from a first set according to the first signal-to-noise ratio and a mapping relationship between each signal-to-noise ratio in a plurality of signal-to-noise ratios and a waveform, and the first set includes a plurality of waveforms.

10. The method according to claim 9, characterized in that Each waveform of the plurality of waveforms is determined according to its corresponding signal-to-noise ratio and a frequency range of its corresponding signal.

11. The method according to any one of claims 1 to 10, characterized in that The frequency range of the first signal is determined according to the positioning type of the first signal; Among them, at B1 / f c When the value is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is a low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; Or, at B2 / f c When B2 is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is a passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; The first threshold is determined according to the first signal-to-noise ratio, and the f c is the carrier frequency.

12. A communication device, characterized in that: include: a processing module, configured to determine a waveform of a first signal, wherein the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging; A transceiver module is used to send the first signal according to the waveform of the first signal.

13. A communication device, characterized in that: include: The transceiver module is used to receive a first signal, the waveform of the first signal is determined according to a first signal-to-noise ratio and a frequency range of the first signal, and the first signal is used for sensing or ranging.

14. The communication device according to claim 12 or 13, characterized in that: The power spectrum of the first signal is non-uniform.

15. The device according to any one of claims 12 to 13, characterized in that The lower the first signal-to-noise ratio is, the higher the power of the low-frequency point in the power spectrum of the first signal is; and the higher the first signal-to-noise ratio is, the higher the power of the high-frequency point in the power spectrum of the first signal is.

16. The device according to any one of claims 12 to 15, characterized in that The higher the first signal-to-noise ratio is, the narrower the main lobe of the autocorrelation function corresponding to the first signal is, and the higher the side lobe is; the lower the first signal-to-noise ratio is, the wider the main lobe of the autocorrelation function corresponding to the first signal is, and the lower the side lobe is.

17. The device according to any one of claims 12 to 16, characterized in that The waveform of the first signal is designed with minimizing the Ziv-Zackay bound ZZB as the optimization goal.

18. The device according to claim 17, characterized in that The ZZB is related to the autocorrelation function r of the first signal and the first signal-to-noise ratio SNR_D. The autocorrelation function of the first signal is a mathematical representation of the waveform of the first signal. The ZZB is: Among them, r1=1,r≤1,Cr≥0, r i is the discretized autocorrelation function of the first signal, N is the number of sampling points of the autocorrelation function of the first signal, C is the discrete cosine transform DCT matrix, is the frequency range of the first signal, N, k, i and n are all positive integers, and k, i and n are all less than or equal to N.

19. The device according to claim 18, characterized in that The autocorrelation function of the first signal is obtained by solving the ZZB.

20. The device according to any one of claims 12 to 19, characterized in that The step of determining the waveform of the first signal comprises: According to the first signal-to-noise ratio and a mapping relationship between each signal-to-noise ratio in a plurality of signal-to-noise ratios and a waveform, a waveform of the first signal is determined from a first set, where the first set includes a plurality of waveforms.

21. The device according to claim 20, characterized in that Each waveform of the plurality of waveforms is determined according to its corresponding signal-to-noise ratio and a frequency range of its corresponding signal.

22. The device according to any one of claims 12 to 21, characterized in that The frequency range of the first signal is determined according to the positioning type of the first signal; Among them, at B1 / f c When the value is greater than the first threshold, the positioning type of the first signal is baseband signal positioning, the frequency range of the first signal is a low-pass frequency range, and B1 is the bandwidth corresponding to the low-pass frequency range; Or, at B2 / f c When B2 is less than or equal to the first threshold, the positioning type of the first signal is carrier phase positioning, the frequency range of the first signal is a passband frequency range, and B2 is the bandwidth corresponding to the passband frequency range; The first threshold is determined according to the first signal-to-noise ratio, and the f c is the carrier frequency.

23. A communication device, characterized in that: The communication device comprises a processor, and the processor is used to run a computer program or instruction, or to enable the communication device to execute the method according to any one of claims 1, 3 to 11, or to enable the communication device to execute the method according to any one of claims 2 to 11 through a logic circuit.

24. The device according to claim 23, characterized in that The communication device further comprises a communication interface for inputting or outputting signals.

25. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions or programs, which, when executed on a computer, enable the communication device to execute the method as claimed in any one of claims 1, 3 to 11, or enable the communication device to execute the method as claimed in any one of claims 2 to 11.

26. A communication system, characterized in that: The communication system comprises the communication device according to claim 23 and claim 24.

Images