Method, apparatus and system for imaging

Abstract

A method, apparatus and system for imaging. The method comprises: sending assistance request information, wherein the assistance request information is used for requesting one or more assistive apparatuses to assist a first imaging apparatus in imaging; and receiving an assistance signal from a first assistive apparatus or sending an assistance signal to the first assistive apparatus, wherein the assistance signal and a first imaging signal received or sent by the first imaging apparatus are used together for imaging, and the one or more assistive apparatuses include the first assistive apparatus. The first imaging apparatus may be an apparatus in motion, the position of the one or more assistive apparatuses may be fixed, and the assistance signal may be used for determining a motion error of the first imaging apparatus, so that motion error compensation can be performed on an imaging result on the basis of the assistance signal, so as to improve the focus level of an image. The technical solution of the present application can be used for synthetic aperture imaging, and when a prominent point cannot be acquired or an acquired prominent point is unsatisfactory, can improve the focus level of an image.

Description

Methods, devices and systems for imaging Technical Field

[0001] The present application relates to the field of wireless communications, and in particular, to a method, device, and system for imaging. Background Art

[0002] In synthetic aperture imaging, positional errors in the antenna phase center caused by antenna platform motion always exist. This positional error leads to phase errors in the imaging signal echo (hereafter referred to as the echo), which in turn causes image defocus and degrades image quality. Current technology allows for correction of this positional error based on a specific point. This involves estimating the motion error of the imaging device using the specific point, and then correcting the imaging result based on this motion error to achieve image focus.

[0003] However, in actual implementation, it may be impossible to obtain a prominent point in the imaging scene, making it impossible to use the prominent point-based focusing technique to correct the imaging results. Alternatively, in actual implementation, the prominent point obtained may not be a scattering point with a large enough amplitude, making the prominent point-based focusing technique less effective in correcting the imaging results.

[0004] Summary of the Invention

[0005] The present application provides a method, device, and system for imaging, which can improve the focus of an image when a prominent point cannot be acquired in an imaging scene or the acquired prominent point is not ideal.

[0006] In a first aspect, a method for imaging is provided, which is applied to a first imaging device, and includes: sending auxiliary request information, where the auxiliary request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; receiving an auxiliary signal from the first auxiliary device, or sending an auxiliary signal to the first auxiliary device, where the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0007] In the above technical solution, the motion error of the first imaging device can be determined using the auxiliary signal transmitted between the first auxiliary device and the first imaging device. Therefore, the auxiliary signal can be used to correct the imaging result corresponding to the first imaging signal, helping to improve the image focus when a prominent point in the imaging scene cannot be acquired or the acquired prominent point is suboptimal.

[0008] In a second aspect, a method for imaging is provided, which is applied to a first imaging device, and the method includes: sending auxiliary request information, where the auxiliary request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; receiving an auxiliary signal from the first auxiliary device, where the auxiliary signal and the first imaging signal received by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0009] In the above technical solution, when the auxiliary device receives the auxiliary request information and determines to participate in the auxiliary imaging, it can send an auxiliary signal to the first imaging device without sending auxiliary response information to the imaging device, which helps to save signaling overhead in the auxiliary imaging process.

[0010] In a third aspect, a method for imaging is provided, which is applied to a first imaging device, and the method includes: sending auxiliary request information, where the auxiliary request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; sending an auxiliary signal to the first auxiliary device, where the auxiliary signal and the first imaging signal received by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0011] In the above technical solution, the first imaging device can determine the time to send the auxiliary signal according to the time of receiving the first imaging signal, that is, it is easier to control the timing of sending the auxiliary signal, which helps to reduce the complexity of the imaging process based on the auxiliary signal.

[0012] In addition, in the technical solutions of the second and third aspects, if the stationary imaging device sends an imaging signal and the first imaging device receives the first imaging signal, and the antenna array scale of the stationary imaging device is larger than the antenna array scale of the first imaging device, then the signal power of the first imaging signal received by the first imaging device is also larger, which helps to reduce the difficulty of subsequent imaging processing.

[0013] In a fourth aspect, a method for imaging is provided, which is applied to a first imaging device, and the method includes: sending auxiliary request information, the auxiliary request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; receiving an auxiliary signal from the first auxiliary device, the auxiliary signal and the first imaging signal sent by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0014] In the above technical solution, the auxiliary device can send an auxiliary signal to the imaging device when it receives the auxiliary request information and determines to participate in the auxiliary imaging, without sending auxiliary response information to the imaging device, which helps to save signaling overhead in the auxiliary imaging process.

[0015] In a fifth aspect, a method for imaging is provided, which is applied to a first imaging device, and the method includes: sending auxiliary request information, the auxiliary request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; sending an auxiliary signal to the first auxiliary device, the auxiliary signal and the first imaging signal sent by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0016] In the above technical solution, the first imaging device can determine the time to send the auxiliary signal based on the time to send the first imaging signal, that is, it is easier to control the timing of sending the auxiliary signal, which helps to reduce the complexity of the imaging process based on the auxiliary signal.

[0017] In addition, in the technical solutions of the fourth and fifth aspects, if the first imaging device sends a first imaging signal and the stationary imaging device receives the imaging signal echo, and the antenna array scale of the stationary imaging device is larger than the antenna array scale of the first imaging device, then the stationary imaging device can receive the imaging signal echo at one time without time-frequency multiplexing, which helps to reduce the waste of resources caused by time-frequency multiplexing.

[0018] In combination with any one of the first to fifth aspects, in certain implementations of any one of the first to fifth aspects, the auxiliary request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting an auxiliary signal.

[0019] In the above technical solution, the assistance request information indicates the location information or the first time-frequency resource of the first imaging device, enabling the first assisting device to determine whether to assist the first imaging device in imaging. Furthermore, by simultaneously indicating the location information and the first time-frequency resource of the first imaging device in the assistance request information, signaling overhead is reduced.

[0020] In combination with any one of the first to fifth aspects, in certain implementations of any one of the first to fifth aspects, the method further includes: receiving assistance response information from a second auxiliary device, the first assistance response information indicating whether the second auxiliary device participates in assisting the first imaging device in imaging one or more auxiliary devices including the second auxiliary device.

[0021] In a specific implementation, the second auxiliary device feeds back to the first imaging device whether it participates in assisting the first imaging device in imaging through auxiliary response information, so as to avoid the first imaging device sending auxiliary signals to auxiliary devices that do not participate in assisting the first imaging device in imaging, which helps to save signaling overhead.

[0022] In combination with any one of the first to fifth aspects, in certain implementations of any one of the first to fifth aspects, the method further includes: receiving second auxiliary response information from the first auxiliary device, the second auxiliary response information indicating at least one of the following: the first auxiliary device participating in assisting the first imaging device in imaging, the position of the first auxiliary device, or a second time-frequency resource for transmitting an auxiliary signal.

[0023] Exemplarily, the first time-frequency resource includes the second time-frequency resource, or the first time-frequency resource is the same as the second time-frequency resource.

[0024] In the above technical solution, the second auxiliary response information indicates the position of the first auxiliary device, thereby enabling the first imaging device, upon receiving information from multiple auxiliary devices confirming participation in assistance, to determine one or more auxiliary devices to transmit auxiliary signals. Alternatively, the second auxiliary response information indicates the position of the first auxiliary device, enabling the first imaging device to determine the motion error of the first imaging device based on the position of the first auxiliary device, the motion information of the first imaging device, and the phase delay of the auxiliary signal, thereby compensating for the motion error of the first imaging device and improving the focus of the image.

[0025] In combination with any one of the first to fifth aspects, in certain implementations of any one of the first to fifth aspects, the method further includes: receiving third auxiliary response information, the third auxiliary response information indicating that a third auxiliary device participates in assisting the first imaging device in imaging; wherein the distance between the first auxiliary device and the imaging area corresponding to the first imaging signal is closer than the distance between the third auxiliary device and the imaging area, and the one or more auxiliary devices include the third auxiliary device.

[0026] In some possible implementations, the third auxiliary device and the second auxiliary device are the same device, and the auxiliary response information and the third auxiliary response information may be the same.

[0027] In the above technical solution, when the first imaging device receives information from two or more auxiliary devices to determine participation in assistance, it can select the auxiliary device that is closer to the imaging area to transmit the auxiliary signal, so that the movement of the first imaging device has a closer impact on the auxiliary signal and the first imaging signal, so that the image formed based on the auxiliary signal has a higher degree of focus.

[0028] In combination with any one of the first, fourth, and fifth aspects, in certain implementations of any one of the first, fourth, and fifth aspects, the first imaging device is used to send a first imaging signal, and the second imaging device is used to receive an echo of the first imaging signal. The method also includes: sending first auxiliary information to the second imaging device, the first auxiliary information indicating the time delay and / or phase delay of the auxiliary signal.

[0029] Exemplarily, the first auxiliary information may be obtained by the first imaging device performing pulse compression or Fourier transform on the auxiliary signal; or, the first auxiliary information may be obtained by the first auxiliary device performing pulse compression or Fourier transform on the auxiliary signal and sent to the first imaging device.

[0030] In the above technical solution, the first imaging device sends the first auxiliary information to the second imaging device, which helps the second imaging device to correct the image generated based on the echo of the first imaging signal, thereby improving the focus of the image.

[0031] In combination with any one of the first, third, and fifth aspects, in certain implementations of any one of the first, third, and fifth aspects, the method further includes: receiving second auxiliary information from the first auxiliary device, the second auxiliary information indicating a time delay and / or phase delay of the auxiliary signal.

[0032] In the above technical solution, when the first imaging device includes an imaging signal receiver, the first imaging signal generates an image based on the second auxiliary information, which can avoid the use of an image autofocus algorithm based on a distinctive point, and helps to reduce the complexity of focusing processing on the image.

[0033] In combination with any one of the first to fifth aspects, in certain implementations of any one of the first to fifth aspects, the auxiliary signal is used to determine a motion error of the first imaging device, and the motion error is used to correct an imaging result obtained based on the first imaging signal.

[0034] In combination with any one of the first to fifth aspects, in certain implementations of any one of the first to fifth aspects, a phase delay and / or a time delay of the auxiliary signal is used to determine a motion error of the first imaging device.

[0035] In combination with any one of the first, second, and fourth aspects, in certain implementations of any one of the first, second, and fourth aspects, the auxiliary signal is used to construct a prominent point, and the prominent point is used to determine the motion error of the first imaging device.

[0036] In combination with any one of the first to fifth aspects, in certain implementations of any one of the first to fifth aspects, the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, including: the phase delay of the auxiliary signal, the motion information of the first imaging device, and the position information of the first auxiliary device are used to determine the motion error of the first imaging device; the motion error of the first imaging device is used to correct the imaging result obtained according to the first imaging signal.

[0037] In a sixth aspect, a method for imaging is provided, which is applied to a first auxiliary device, and the method includes: receiving first auxiliary request information, the first auxiliary request information being used to request the first auxiliary device to assist the first imaging device in imaging; sending an auxiliary signal to the first imaging device, or receiving an auxiliary signal from the first imaging device, the auxiliary signal and the first imaging signal received or sent by the first imaging device being used together for imaging.

[0038] Illustratively, the assistance request information in the first aspect may include first assistance request information.

[0039] In the seventh aspect, a method for imaging is provided, which is applied to a first auxiliary device, and the method includes: receiving auxiliary request information, the auxiliary request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; sending an auxiliary signal to the first imaging device, the auxiliary signal and the first imaging signal received by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0040] In an eighth aspect, a method for imaging is provided, which is applied to a first auxiliary device, and the method includes: receiving auxiliary request information, the auxiliary request information being used to request one or more auxiliary devices to assist the first imaging device in imaging; receiving an auxiliary signal from the first imaging device, the auxiliary signal and the first imaging signal received by the first imaging device being used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0041] In a ninth aspect, a method for imaging is provided, which is applied to a first auxiliary device, and the method includes: receiving auxiliary request information, the auxiliary request information being used to request one or more auxiliary devices to assist the first imaging device in imaging; sending an auxiliary signal to the first imaging device, the auxiliary signal and the first imaging signal sent by the first imaging device being used together for imaging, and the one or more auxiliary devices including the first auxiliary device.

[0042] In the tenth aspect, a method for imaging is provided, which is applied to a first auxiliary device, and the method includes: receiving auxiliary request information, the auxiliary request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; receiving an auxiliary signal from the first imaging device, the auxiliary signal and the first imaging signal sent by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0043] The beneficial effects of the sixth to tenth aspects and some implementation methods of the sixth to tenth aspects can be referred to the description in the first to fifth aspects and will not be repeated here.

[0044] In combination with any one of aspects 6 to 10, in certain implementations of any one of aspects 6 to 10, the first auxiliary request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting an auxiliary signal.

[0045] In combination with any aspect from the sixth to the tenth aspect, in certain implementations of any aspect from the sixth to the tenth aspect, the method further includes: sending second auxiliary response information to the first imaging device, the second auxiliary response information indicating at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the position of the first auxiliary device, or a second time-frequency resource for transmitting an auxiliary signal.

[0046] In combination with any aspect of the sixth to the tenth aspect, in certain implementations of any aspect of the sixth to the tenth aspect, the method further includes: receiving second auxiliary request information, the second auxiliary request information being used to request the first auxiliary device to assist the third imaging device in imaging; and sending fourth auxiliary response information to the third imaging device, the fourth auxiliary response information indicating whether the first auxiliary device participates in assisting the third imaging device in imaging.

[0047] In combination with any one of the sixth, eighth, and tenth aspects, in certain implementations of any one of the sixth, eighth, and tenth aspects, the method further includes: sending second auxiliary information to the first imaging device, the second auxiliary information indicating the time delay and / or phase delay of the auxiliary signal.

[0048] In combination with the sixth or tenth aspect, in certain implementations of the sixth or tenth aspect, the first imaging device is used to send a first imaging signal, and the second imaging device is used to receive an echo of the first imaging signal. The method also includes: sending third auxiliary information to the second imaging device, the third auxiliary information indicating the time delay and / or phase delay of the auxiliary signal.

[0049] In combination with any one of aspects 6 to 10, in certain implementations of any one of aspects 6 to 10, the auxiliary signal is used to determine a motion error of the first imaging device, and the motion error is used to correct an imaging result obtained based on the first imaging signal.

[0050] In combination with any aspect of the sixth to the tenth aspect, in certain implementations of any aspect of the sixth to the tenth aspect, the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, including: the phase delay of the auxiliary signal, the motion information of the first imaging device, and the position information of the first auxiliary device are used to determine the motion error of the first imaging device; the motion error of the first imaging device is used to correct the imaging result obtained according to the first imaging signal.

[0051] In the eleventh aspect, a device for imaging is provided, which may be the first imaging device in the first aspect, or the device may be arranged in the first imaging device in the first aspect, and the device includes: a sending unit for sending auxiliary request information, the auxiliary request information being used to request one or more auxiliary devices to assist the first imaging device in imaging; a receiving unit for receiving an auxiliary signal from the first auxiliary device; or the sending unit is also used to: send an auxiliary signal to the first auxiliary device; wherein the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0052] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the assistance request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting the auxiliary signal.

[0053] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the receiving unit is further used to: receive auxiliary response information from a second auxiliary device, the first auxiliary response information indicates whether the second auxiliary device participates in assisting the first imaging device in imaging, and the one or more auxiliary devices include the second auxiliary device.

[0054] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the receiving unit is further used to: receive second auxiliary response information from the first auxiliary device, the second auxiliary response information indicating at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the position of the first auxiliary device, or a second time-frequency resource for transmitting an auxiliary signal.

[0055] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the receiving unit is further used to: receive third auxiliary response information, the third auxiliary response information indicating that the third auxiliary device participates in assisting the first imaging device in imaging; wherein the distance between the first auxiliary device and the imaging area corresponding to the first imaging signal is closer than the distance between the third auxiliary device and the imaging area, and the one or more auxiliary devices include the third auxiliary device.

[0056] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the first imaging device is used to send a first imaging signal, the second imaging device is used to receive an echo of the first imaging signal, and the sending unit is further used to: send first auxiliary information to the second imaging device, the first auxiliary information indicating the time delay and / or phase delay of the auxiliary signal.

[0057] In combination with the eleventh aspect, in certain implementations of the eleventh aspect, the receiving unit is further configured to: receive second auxiliary information from the first auxiliary device, where the second auxiliary information indicates a time delay and / or phase delay of the auxiliary signal.

[0058] In the twelfth aspect, a device for imaging is provided, which may be the first auxiliary device in the sixth aspect, or the device may be arranged in the first auxiliary device in the sixth aspect, and the device includes: a receiving unit for receiving first auxiliary request information, the first auxiliary request information being used to request the first auxiliary device to assist the first imaging device in imaging; a sending unit for sending an auxiliary signal to the first imaging device; or the receiving unit is also used to: receive an auxiliary signal from the first imaging device; wherein the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging.

[0059] In combination with the twelfth aspect, in certain implementations of the twelfth aspect, the first assistance request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting an auxiliary signal.

[0060] In combination with the twelfth aspect, in certain implementations of the twelfth aspect, the sending unit is further used to: send second auxiliary response information to the first imaging device, the second auxiliary response information indicating at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the position of the first auxiliary device, or a second time-frequency resource for transmitting an auxiliary signal.

[0061] In combination with the twelfth aspect, in certain implementations of the twelfth aspect, the receiving unit is further used to: receive second auxiliary request information, where the second auxiliary request information is used to request the first auxiliary device to assist the third imaging device in imaging; and the sending unit is further used to: send fourth auxiliary response information to the third imaging device, where the fourth auxiliary response information indicates whether the first auxiliary device participates in assisting the third imaging device in imaging.

[0062] In combination with the twelfth aspect, in certain implementations of the twelfth aspect, the sending unit is further used to: send second auxiliary information to the first imaging device, where the second auxiliary information indicates a time delay and / or phase delay of the auxiliary signal.

[0063] In combination with the twelfth aspect, in certain implementations of the twelfth aspect, the first imaging device is used to send a first imaging signal, the second imaging device is used to receive an echo of the first imaging signal, and the sending unit is further used to: send third auxiliary information to the second imaging device, the third auxiliary information indicating the time delay and / or phase delay of the auxiliary signal.

[0064] In a thirteenth aspect, a communication device is provided, comprising: a processor for executing a computer program stored in a memory so that the device performs a method in any possible implementation of aspects one to ten.

[0065] In combination with the thirteenth aspect, in certain implementations of the thirteenth aspect, the device also includes a memory.

[0066] In the fourteenth aspect, the present application provides a communication device, which includes a processor and a communication interface. The processor reads instructions stored in a memory through the communication interface and executes the method provided by any one of the above aspects or its implementation method.

[0067] Optionally, the processor may be a processing circuit or a logic circuit, and the communication interface may be an input or output interface, wherein the processing circuit or logic circuit is used for information processing, and the input or output interface is used for sending and receiving information or data.

[0068] In a fifteenth aspect, a system for imaging is provided, the system comprising a device as in any possible implementation of the eleventh aspect and a device as in any possible implementation of the twelfth aspect.

[0069] In combination with the fifteenth aspect, in certain implementations of the fifteenth aspect, the system further includes another device for imaging, wherein the another device for imaging is used to receive the echo of the first imaging signal; or, the another device for imaging is used to send a second imaging signal, wherein the first imaging signal is the echo of the second imaging signal.

[0070] In the sixteenth aspect, a computer program product is provided, which includes: a computer program code, which enables the computer to execute the method in any possible implementation of the first to tenth aspects when the computer program code is run on a computer.

[0071] It should be noted that the above-mentioned computer program code may be stored in whole or in part on a first storage medium, wherein the first storage medium may be packaged together with the processor or separately from the processor.

[0072] In the seventeenth aspect, a computer-readable medium is provided, wherein the computer-readable medium stores instructions. When the instructions are executed by a processor, the processor implements the method in any possible implementation of the first to tenth aspects.

[0073] In the eighteenth aspect, a chip system is provided, which includes a logic circuit for calling and running a computer program from a memory, so that a communication device equipped with the chip system executes a method in any possible implementation of the above-mentioned first to tenth aspects. BRIEF DESCRIPTION OF THE DRAWINGS

[0074] FIG1 is a schematic diagram of an imaging scene;

[0075] FIG2 is a schematic diagram of an imaging scene provided in an embodiment of the present application;

[0076] FIG3 is a schematic flow chart of a method for imaging provided in an embodiment of the present application;

[0077] FIG4 is another schematic flow chart of a method for imaging provided in an embodiment of the present application;

[0078] FIG5 is a schematic diagram of a power spectrum of an auxiliary signal provided in an embodiment of the present application;

[0079] FIG6 is another schematic flow chart of a method for imaging provided in an embodiment of the present application;

[0080] FIG7 is another schematic flow chart of a method for imaging provided in an embodiment of the present application;

[0081] FIG8 is another schematic flow chart of a method for imaging provided in an embodiment of the present application;

[0082] FIG9 is another schematic flow chart of a method for imaging provided in an embodiment of the present application;

[0083] FIG10 is another schematic flow chart of a method for imaging provided in an embodiment of the present application;

[0084] FIG11 is a comparison diagram of imaging results using the method of the present application and not using the method of the present application;

[0085] FIG12 is a schematic block diagram of an imaging device provided in an embodiment of the present application;

[0086] FIG13 is another schematic block diagram of an imaging device provided in an embodiment of the present application;

[0087] FIG14 is a schematic block diagram of a chip system provided in an embodiment of the present application. DETAILED DESCRIPTION

[0088] In order to facilitate understanding of the technical solution of this application, the terms involved in this application are introduced below.

[0089] 1. Dominant scatter: Dominant scatter, also known as strong scatter, is the local maximum amplitude in the synthetic aperture imaging results. In other words, the amplitude of a strong scatter is greater than that of other scatters. The appearance of a dominant point is determined by the reflected signal strength of the scatter on the corresponding object and the coherence of the reflected signal at multiple transmitting and receiving antenna positions.

[0090] 2. Synthetic Aperture Imaging: Utilizing a small-aperture antenna, the system moves at a constant speed along a linear path, sequentially receiving and storing echoes at defined locations. Echoes from different locations are coherently superimposed based on their spatial position and phase relationships, creating a virtual large-aperture antenna array, thereby achieving high resolution along the direction of motion.

[0091] 3. Echo: In synthetic aperture imaging, echo refers to the signal reflected by the imaging object (or the object to be imaged).

[0092] The technical solution in this application will be described below with reference to the accompanying drawings.

[0093] The technical solutions of the embodiments of the present application can be applied to various communication systems, such as: global system of mobile communication (GSM) system, code division multiple access (CDMA) system, wideband code division multiple access (WCDMA) system, general packet radio service (GPRS), long term evolution (LTE) system, LTE frequency division duplex (FDD) system, LTE time division duplex (TDD), universal mobile telecommunication system (UMTS), world-wide interoperability for microwave access (WiMAX) communication system, wireless local area network (WLAN) scenario, fifth generation (5G) system, new radio (NR), sixth generation (6G) system, Internet of Things (IoT) network or vehicle to everything (V2X), etc. In addition, the technical solutions provided in the embodiments of the present application can also be applicable to, for example, supporting the Institute of Electrical and Electronics Engineers (IEEE) 802.11 related standards, such as the 802.11a / b / g standards, 802.11n standards, 802.11ac standards, 802.11ax standards, IEEE 802.11ax next-generation Wi-Fi protocols, such as 802.11be, Wi-Fi 7, extremely high throughput (EHT), 802.11ad, 802.11ay or 802.11bf, such as the next generation of 802.11be, Wi-Fi 8, etc., and can also be applied to wireless personal area network systems based on ultra-wide band (UWB), such as the 802.15 series standards, and can also be applied to sensing systems, such as the 802.11bf series standards.

[0094] The above-mentioned communication system applicable to the present application is only an example, and the communication system applicable to the present application is not limited to this. It is described uniformly here and will not be repeated below.

[0095] FIG1 is a schematic diagram of a wireless communication system applicable to an embodiment of the present application. FIG1(a) shows a single-base synthetic aperture imaging system, in which the imaging signal transmitter and the imaging signal receiver use the same antenna, that is, there can be only one imaging device in the imaging scene. FIG1(b) shows a dual-base synthetic aperture imaging system, in which the imaging signal transmitter and the imaging signal receiver are respectively arranged at different locations, for example, the imaging signal transmitter is arranged in the imaging device 1 located at location 1, and the imaging signal receiver is arranged in the imaging device 2 located at location 2; or, the imaging signal transmitter is arranged in the imaging device 2 located at location 2, and the imaging signal receiver is arranged in the imaging device 1 located at location 1. In addition, an imaging signal transmitter and multiple imaging signal receivers distributed at different locations can be arranged to form a multi-base aperture imaging system; or, multiple imaging signal transmitters and imaging signal receivers distributed at different locations can be arranged to form a multi-base aperture imaging system. During the imaging process, the imaging signal transmitter transmits an imaging signal to the imaging object, and the imaging signal receiver receives the imaging signal reflected by the imaging object, that is, the echo, and then performs imaging based on the echo.

[0096] As mentioned above, during synthetic aperture imaging, positional errors in the antenna phase center caused by antenna platform motion always exist. This positional error will lead to phase errors in the echo, which in turn causes image defocus and reduces image quality. In specific implementations, it may be impossible to obtain a prominent point in the imaging scene, making it impossible to use prominent point-based focusing techniques to correct the imaging results. Alternatively, in specific implementations, the prominent point obtained may not be the scattering point with the largest amplitude, making the correction effect of the prominent point-based focusing technique unsatisfactory.

[0097] In view of this, the embodiments of the present application provide a method, device and system for imaging, which can determine the motion error of the imaging device through an auxiliary signal or auxiliary information sent by an auxiliary device, thereby compensating for the motion error of the imaging device, or performing phase compensation on the echo based on the motion error of the imaging device, which can reduce the defocus degree of the image and improve the focus degree of the image.

[0098] FIG2 is a schematic diagram of another wireless communication system applicable to an embodiment of the present application. As shown in FIG2(a), an auxiliary device is added to a single-base synthetic aperture imaging system, and the auxiliary device can send auxiliary information or an auxiliary signal to the imaging device, so that the imaging device corrects the imaging result according to the auxiliary information or the auxiliary signal. The auxiliary signal is used to determine the motion error of the imaging device, and the motion error is used to correct the imaging result obtained according to the echo. The auxiliary information is determined according to the auxiliary signal, and the auxiliary information indicates the time delay and / or phase delay of the auxiliary signal. The motion error of the imaging device can be determined according to the time delay and / or phase delay of the auxiliary signal. As shown in FIG2(b), an auxiliary device is added to a dual-base synthetic aperture imaging system, and the auxiliary device can send auxiliary information or an auxiliary signal to an imaging device (such as imaging device 1 and / or imaging device 2) provided with an imaging signal receiver, so that the imaging device provided with the imaging signal receiver corrects the imaging result according to the auxiliary information or the auxiliary signal.

[0099] Exemplarily, the imaging device shown in FIG2 may include various devices that support imaging, or the imaging device may also be a chip, a chip system, or a processor provided in a device that supports imaging, or the imaging device may also be a logic module or software that can realize all or part of the functions of the device that supports imaging. Exemplarily, the device that supports imaging may include but is not limited to a base station (BS), a user equipment (UE), an access point (AP), and a station (STA). Among them, the station may be a non-access point station (non-AP STA), referred to as a non-AP station or STA for short. The auxiliary device shown in FIG2 may include a device for assisting imaging with position determination, or the auxiliary device may also be a chip, a chip system, or a processor provided in a device for assisting imaging, or the auxiliary device may also be a logic module or software that can realize all or part of the functions of the device for assisting imaging. The device for assisting imaging may include but is not limited to a BS, a UE, an AP, and a STA.

[0100] The imaging device and / or auxiliary device of the present application can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; can also be deployed on the water surface; and can also be deployed in the air on aircraft, balloons, and satellites. The embodiments of the present application do not limit the scenarios in which the imaging device and auxiliary device are located.

[0101] Based on the wireless communication system shown in FIG2 , the present application proposes a method for imaging.

[0102] FIG3 shows a schematic flow chart of a method for imaging provided in an embodiment of the present application. This method 300 can be performed by a first imaging device and a first auxiliary device. The first imaging device can be any one of the imaging device, imaging device 1, and imaging device 2 shown in FIG2 , and the first auxiliary device can be the auxiliary device shown in FIG2 . This method 300 includes S301 and S302 (or S302′).

[0103] S301: A first imaging device sends assistance request information, where the assistance request information is used to request one or more assistance devices to assist the first imaging device in imaging.

[0104] The one or more auxiliary devices include a first auxiliary device. The assistance request information may include first assistance request information, where the first assistance request information is used to request the first auxiliary device to assist the first imaging device in imaging. In some implementations, the position of each of the one or more auxiliary devices is fixed, or the motion path of each of the one or more auxiliary devices is fixed, so that its position can be accurately determined.

[0105] Assisting the first imaging device in imaging can be understood as assisting the first imaging device in correcting an imaging result, or assisting the first imaging device in generating an image with a higher degree of focus.

[0106] S302: The first imaging device receives an auxiliary signal from a first auxiliary device, where the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging.

[0107] In some implementations, after S301 is executed, S302 ′ is executed: the first imaging device sends an auxiliary signal to the first auxiliary device.

[0108] In a monostatic synthetic aperture imaging system, the first imaging device includes an imaging signal receiver and an imaging signal transmitter, and the first imaging device may be in motion. In a bistatic or multistatic synthetic aperture imaging system, the first imaging device may include an imaging signal receiver, or may also include an imaging signal transmitter, and the first imaging device may be in motion. When the first imaging device includes only an imaging signal receiver, the imaging signal transmitter may be disposed in a stationary device for imaging. When the first imaging device includes only an imaging signal transmitter, the imaging signal receiver may be disposed in a stationary device for imaging. For a more detailed description of the first imaging device including an imaging signal receiver to receive the first imaging signal, please refer to the embodiments corresponding to Figures 7 and 9 below. For a more detailed description of the first imaging device including an imaging signal transmitter to transmit the first imaging signal, please refer to the embodiments corresponding to Figures 8 and 10 below, which will not be described in detail here.

[0109] Movement of the first imaging device may cause a shift in the antenna phase center of the first imaging device. When the first imaging device includes an imaging device receiver, the error caused by this shift in the antenna phase center can cause a defocused image obtained based on the first imaging signal received by the first imaging device. When the first imaging device includes an imaging device transmitter, the error caused by this shift in the antenna phase center can cause a defocused image obtained based on an echo formed by reflection of the first imaging signal transmitted by the first imaging device from the imaging object.

[0110] In some implementations, a motion error of the first imaging device can be determined based on a phase delay or time delay introduced during transmission of the auxiliary signal. Correcting the position of the first imaging device based on the motion error of the first imaging device, or performing phase compensation on the first imaging signal based on the motion error of the first imaging device, can help improve the focus of an image generated using the first imaging signal.

[0111] In other implementations, if the auxiliary signal is sent by the first auxiliary device to the first imaging device, a distinctive point can be constructed according to the auxiliary signal, and the focus of the image generated using the first imaging signal can be improved by an autofocus algorithm based on the constructed distinctive point.

[0112] More specifically, because the auxiliary signal received by the receiving end passes through the channel between the first imaging device and the first auxiliary device, when the first imaging device is in motion, the time delay and phase delay between the auxiliary signal received by the receiving end and the auxiliary signal sent by the transmitting end will change due to the influence of the first imaging device's motion. Therefore, this time delay or phase delay can be used to determine the motion error of the first imaging device. When the first imaging device receives the auxiliary signal from the first auxiliary device, the receiving end is the first imaging device, and the transmitting end is the first auxiliary device. When the first imaging device transmits the auxiliary signal to the first auxiliary device, the receiving end is the first auxiliary device, and the transmitting end is the first imaging device.

[0113] It can be understood that the phase delay of a signal can be determined according to the time delay of the signal, and vice versa.

[0114] Exemplarily, S302 or S302' is executed within a first time period during which the first imaging device receives or sends a first imaging signal. The first time period may be determined based on the movement speed of the first imaging device. For example, the length of the first time period may be inversely proportional to the movement speed of the first imaging device, and the faster the movement speed of the first imaging device, the shorter the time period. For example, the first time period may be determined based on Δt×v=λ. Δt is the first time period, v is the movement speed of the first imaging device, and λ is the wavelength of the imaging signal. For example, if the movement speed of the first imaging device is 10 meters per second (m / s) and the imaging signal wavelength is 3 gigahertz (GHz), i.e., 10 centimeters, the first time period is 0.01 seconds.

[0115] In a specific implementation process, S302 or S302 ′ may be performed before receiving or sending the first imaging signal, or may be performed when or after receiving or sending the first imaging signal.

[0116] In some implementations, the assistance request information indicates location information of the first imaging device and / or a first time-frequency resource for transmitting the assistance signal.

[0117] Exemplarily, the position information of the first imaging device can be used to determine the planned motion path of the first imaging device or the predicted motion path of the first imaging device, wherein the planned motion path or the predicted motion path is the motion path of the first imaging device within a period of time in the future. For example, the position information of the first imaging device may include multiple position-speed-moment sequences, each position-speed-moment sequence indicating the position and speed of the first imaging device at a moment. Furthermore, the first auxiliary device may determine the planned motion path or the predicted motion path based on the intention prediction algorithm. Taking the first imaging device as a vehicle as an example, the first auxiliary device may determine the planned motion path or the predicted motion path based on multiple position-moment sequences and semantic information. Among them, the semantic information may include information such as road structure, traffic rules, and traffic light status.

[0118] Based on the planned or predicted motion path of the first imaging device, the first assisting device can determine whether it can maintain line of sight (LOS) coverage of the first imaging device, and thus determine whether to participate in assisting the first imaging device in imaging. For example, if the first assisting device determines that it can maintain LOS coverage of the first imaging device within a first time period, the first assisting device may determine to participate in assisting the first imaging device in imaging.

[0119] Exemplarily, the first time-frequency resource may also be used by the auxiliary device to determine whether to participate in assisting the first imaging device in imaging. For example, when the auxiliary device cannot use the first time-frequency resource, it may determine not to participate in assisting the first imaging device in imaging.

[0120] In some scenarios, when the first auxiliary device determines that it can maintain LOS coverage of the first imaging device within the first time period and can use the first time-frequency resource, the first auxiliary device may determine to participate in assisting the first imaging device in imaging.

[0121] Exemplarily, the first time-frequency resource may include one or more time-frequency resources for transmitting the auxiliary signal. The first time-frequency resource may be defined by a time domain position and a frequency domain position, wherein the time domain position may include at least one of a frame, a subframe, a time slot, and a symbol; and the frequency domain position may include at least one of a bandwidth part (BWP), a resource block (RB), and a resource element (RE). Alternatively, the first time-frequency resource may be a time-frequency resource in a predefined resource set.

[0122] Exemplarily, the first auxiliary request information indicates the first time-frequency resource, which may include: the first auxiliary request information carries information about the first time-frequency resource, and the information about the first time-frequency resource may be, for example: the index of the first time-frequency resource, etc., indicating information about the first time-frequency resource.

[0123] Exemplarily, the first time-frequency resource is associated with the first time period. For example, the first imaging device may determine the time when it receives or sends the first imaging signal, and then determine the first time-frequency resource based on the time when the first imaging signal is received or sent and the first time period.

[0124] In some implementations, before executing S302 or S302', the first auxiliary device further sends second auxiliary response information to the first imaging device, where the second auxiliary response information indicates at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the location of the first auxiliary device, or a second time-frequency resource for transmitting an auxiliary signal.

[0125] Exemplarily, the first time-frequency resource may include the second time-frequency resource, that is, the second time-frequency resource is a time-frequency resource among one or more time-frequency resources for transmitting auxiliary signals included in the first time-frequency resource.

[0126] Exemplarily, the assistance response information from the auxiliary device may use a 1-bit field to indicate whether the auxiliary device participates in assisting the first imaging device with imaging. For example, when the 1-bit field is set to 1, the auxiliary device is instructed to participate in assisting the first imaging device with imaging, and when the 1-bit field is set to 0, the auxiliary device is instructed not to participate in assisting the first imaging device with imaging. The second assistance response information indicating that the first auxiliary device participates in assisting the first imaging device with imaging may include: setting the 1-bit field indicating whether the auxiliary device participates in assisting the first imaging device with imaging to 1.

[0127] In the specific implementation process, the second auxiliary response information indicating that the first auxiliary device participates in assisting the first imaging device in imaging may also be an implicit indication. For example, the second auxiliary response information indicates the position of the first auxiliary device, or the second auxiliary response information indicates the position of the first auxiliary device and the second time-frequency resource, then it is determined that the first auxiliary device participates in assisting the first imaging device in imaging.

[0128] Exemplarily, the second auxiliary response information indicating the location of the first auxiliary device may include: the second auxiliary response information carrying the location of the first auxiliary device, or the second auxiliary response information carrying a location index, where the location index indicates the location of the first auxiliary device or indicates a fixed motion path of the first auxiliary device. The first imaging device may determine the location of the first auxiliary device based on the location index. For example, the location index may be an identification (ID) of the first auxiliary device, or the location index may be in other forms.

[0129] Exemplarily, the position of the first auxiliary device may be a precise position of the first auxiliary device. For example, the position of the first auxiliary device may be accurate to 0.01 to 0.0125 of the imaging signal wavelength.

[0130] During the specific implementation process, if the first time-frequency resource only includes information about one time-frequency resource, and the time-frequency resource is a time-frequency resource available to the first auxiliary device, the second auxiliary response information may not indicate the second time-frequency resource used to transmit the auxiliary signal, or the second auxiliary response information implicitly indicates the second time-frequency resource. For example, if the second auxiliary response information indicates the position of the first auxiliary device, it is determined that the first auxiliary device participates in assisting the first imaging device in imaging, and receives or sends the auxiliary signal through the first time-frequency resource.

[0131] In some implementations, before executing S302 or S302', the first imaging device further receives third auxiliary response information, where the third auxiliary response information indicates that a third auxiliary device participates in assisting the first imaging device in imaging; wherein the distance between the first auxiliary device and the imaging area corresponding to the first imaging signal is closer than the distance between the third auxiliary device and the imaging area, and the one or more auxiliary devices include the third auxiliary device.

[0132] For example, the first imaging device may determine, based on the position of the first auxiliary device indicated by the second auxiliary response information and the position of the third auxiliary device indicated by the third auxiliary response information, that the first auxiliary device is closer to the imaging area than the third auxiliary device. Furthermore, the first imaging device determines that the first auxiliary device, which is closer to the imaging area, participates in the auxiliary imaging. The closer the auxiliary device is to the imaging area, the more similar the effect of the first imaging device's movement on the phase delay of the imaging signal and the auxiliary signal, thereby increasing the accuracy of compensation or correction of the imaging result using the auxiliary signal.

[0133] In some implementations, the first imaging device further receives first assistance response information from a second assistance device, the first assistance response information indicating that the second assistance device participates in assisting the first imaging device in imaging, or the first assistance response information indicating that the second assistance device does not participate in assisting the first imaging device in imaging, the one or more assistance devices including the second assistance device.

[0134] Exemplarily, the second auxiliary device and the third auxiliary device may be the same device, and the first auxiliary response information and the third auxiliary response information are the same information.

[0135] In a specific implementation, if an assisting device receives an assisting request from a first imaging device and determines not to participate in assisting, it may not send an assisting response to the first imaging device indicating that it will not participate in assisting the first imaging device. Furthermore, if the first imaging device does not receive an assisting response from the assisting device within a preset time period after sending the assisting request, it may be determined that the assisting device does not participate in assisting. For example, the preset time period may be 3 seconds, 5 seconds, or other time periods.

[0136] In some implementations, the first auxiliary device further receives second auxiliary request information, where the second auxiliary request information is used to request the first auxiliary device to assist the third imaging device in imaging; the first auxiliary device sends fourth auxiliary response information to the third imaging device, where the fourth auxiliary response information indicates that the first auxiliary device participates in assisting the third imaging device in imaging, or the fourth auxiliary response information indicates that the first auxiliary device does not participate in assisting the third imaging device in imaging.

[0137] In some implementations, the first imaging device is configured to transmit a first imaging signal, and the second imaging device is configured to receive an echo of the first imaging signal. After executing S302 , the first imaging device transmits first auxiliary information to the second imaging device, where the first auxiliary information indicates a time delay and / or phase delay of the auxiliary signal.

[0138] For example, the position of the second imaging device may be fixed.

[0139] In some implementations, after S302 ′ is executed, the first auxiliary device sends second auxiliary information to the first imaging device, where the second auxiliary information indicates a time delay and / or phase delay of the auxiliary signal.

[0140] In some implementations, a first imaging device is configured to transmit a first imaging signal, and a second imaging device is configured to receive an echo of the first imaging signal. After executing S302', the first auxiliary device transmits third auxiliary information to the second imaging device, where the third auxiliary information indicates a time delay and / or phase delay of the auxiliary signal. Thus, when the second imaging device performs imaging based on the echo of the first imaging signal, the third auxiliary information can be used to perform phase compensation on the echo of the first imaging signal, or the position of the first imaging device can be corrected using the third auxiliary information to achieve phase compensation for the echo of the first imaging signal, thereby improving imaging focus.

[0141] The imaging method provided in the embodiments of the present application can still perform phase compensation on the echo based on the auxiliary signal, or correct the position of the imaging device based on the auxiliary signal, when a prominent point cannot be obtained in the imaging scene, or when a scattering point with the largest amplitude cannot be obtained as a prominent point in the imaging scene, thereby improving the focus of the image.

[0142] 4 to 6 , the specific implementation of determining the auxiliary information according to the auxiliary signal and assisting the first imaging signal in performing imaging based on the auxiliary information will be described below.

[0143] In some possible implementations, after the first imaging device receives the auxiliary signal, it executes the method shown in Figure 4 to obtain auxiliary information, or after the first auxiliary device receives the auxiliary signal, it executes the method shown in Figure 4 to obtain auxiliary information, and the auxiliary information can be any one of the first auxiliary information, the second auxiliary information, and the third auxiliary information in method 300.

[0144] In one implementation, as shown in FIG4( a ), the first imaging device or the first auxiliary device executes S303 and S304 to obtain auxiliary information.

[0145] S303: Perform pulse compression on the received auxiliary signal to obtain a pulse compression result.

[0146] By way of example, the auxiliary signal includes, but is not limited to, a single tone signal, a dual tone signal, a multicarrier signal, and a frequency modulated continuous wave (FMCW) signal.

[0147] The pulse compression result may be a complex sequence.

[0148] S304: Determine auxiliary information according to information at the amplitude peak of the pulse compression result.

[0149] Generally speaking, the time domain position of the amplitude peak in the pulse compression result can reflect the time delay of the auxiliary signal received by the receiving end relative to the auxiliary signal sent by the transmitting end, and the phase at the amplitude peak can reflect the phase delay of the auxiliary signal received by the receiving end relative to the auxiliary signal sent by the transmitting end.

[0150] In another implementation, as shown in FIG4(b), the first imaging device or the first auxiliary device executes S303' and S304' to obtain auxiliary information, which may be any one of the first auxiliary information, the second auxiliary information, and the third auxiliary information in the method 300.

[0151] S303', performing Fourier transform on the received auxiliary signal to obtain a Fourier transform result.

[0152] Exemplarily, the Fourier transform result may also be a complex number sequence.

[0153] S304', determining auxiliary information according to the phase corresponding to one or more frequencies in the Fourier transform result.

[0154] It can be understood that the phase corresponding to each frequency in the one or more frequencies may reflect a phase delay between the auxiliary signal received by the receiving end and the auxiliary signal sent by the transmitting end.

[0155] When the auxiliary information is determined using Fourier transform, the content of the auxiliary information is related to the form of the auxiliary signal. Exemplarily, (a) to (d) in Figure 5 show the power spectra of a single-tone signal, a dual-tone signal, a multi-carrier signal, and an FMCW signal, respectively, where the abscissa f is the frequency and the ordinate S(f) is the signal power. Among them, the multi-carrier signal can be, for example, an orthogonal frequency division multiplexing (OFDM) signal or a spread spectrum orthogonal frequency division multiplexing (DFT-s-OFDM) signal based on discrete Fourier transform. When the auxiliary information is determined by Fourier transform, the frequency components of different signals are different, and each signal corresponds to a phase. If the auxiliary signal is a single-tone signal, the auxiliary information can include only one phase value. If the auxiliary signal is a dual-tone signal, the auxiliary information can include two phase values, corresponding to two subcarriers respectively. If the auxiliary signal is a multicarrier signal, the auxiliary information can include multiple phase values, corresponding to multiple subcarriers respectively. If the auxiliary signal is a multi-carrier signal, the auxiliary information may include multiple phase values, the specific number of which depends on the size of the Fourier transform used.

[0156] In some implementations, after the first imaging device acquires the auxiliary information, it may perform imaging based on the auxiliary information. As shown in FIG6 , the first imaging device may perform S305 and S306 to perform imaging to improve the focus of the image.

[0157] S305 , fitting the motion error of the first imaging device according to the motion information of the first imaging device, the position information of the auxiliary device, and the phase delay of the auxiliary signal to obtain a fitted motion error.

[0158] Exemplarily, the motion information of the first imaging device indicates the actual driving path of the first imaging device. According to the motion information of the first imaging device, the position information of the auxiliary device, and the phase delay of the auxiliary signal, the motion error of the first imaging device can be fitted based on a quantized search method, specifically as follows:

[0159] 1) Modeling: Based on the motion information of the first imaging device and the position information of the auxiliary device, a mathematical model is established between the motion error of the first imaging device and the phase delay of the auxiliary signal. Assume that the exact spatial position coordinates of the first imaging device at time t are x(t), y(t), z(t), and the spatial position coordinates of the auxiliary device are x0, y0, z0. Then the distance that the signal propagates from the first imaging device to the auxiliary device, or from the auxiliary device to the first imaging device, is The corresponding signal propagation delay τ(t) = d(t) / c, where c is the propagation speed of electromagnetic waves. Let the phase delay Δφ contained in the auxiliary information be k The corresponding frequency component is f k , then its relationship with the time delay τ is: Δφ k =f k τ(t). When the first imaging device has a motion error, its spatial position can be expressed as the sum of the motion information of the first imaging device (which can be recorded by the sensor installed on the first imaging device) and the motion error, that is, in The spatial coordinates of the first imaging device included in the motion information are Δx(t), Δy(t), and Δz(t), respectively, and the offsets of the spatial coordinates of the first imaging device corresponding to the motion error are Δx(t), Δy(t), and Δz(t). Therefore, the motion error of the first imaging device will cause a change in the auxiliary signal delay, and thus a change in the auxiliary signal phase. Therefore, the motion error of the first imaging device can be estimated based on the auxiliary signal phase. The motion error of the first imaging device can be estimated for each moment. The following steps are described only for moment t.

[0160] 2) Quantization: Quantize the motion error of the first imaging device. That is, discretize the potential values ​​of Δx(t), Δy(t), and Δz(t). For example, quantize the coordinates within a range of ±10 cm with a step size of 1 cm. That is, the value ranges of Δx(t), Δy(t), and Δz(t) are all -10 cm, -9 cm, ..., 0 cm, ..., +9 cm, +10 cm. Therefore, there are a total of 21 * 21 * 21 = 9261 potential motion error values.

[0161] 3) Search: Use each potential motion error value to correct the motion information of the first imaging device, obtain the estimated spatial position of the first imaging device, calculate the corresponding signal propagation distance, signal propagation delay, and calculate the auxiliary signal at different frequencies f k The corresponding phase delay The root mean square error between the phase delay and the phase delay included in the auxiliary information is calculated.

[0162] 4) Output: The motion error with the minimum corresponding root mean square error is output as the estimation result of the motion error of the first imaging device.

[0163] It should be understood that the above-mentioned quantitative search method is only an example. In the specific implementation process, other methods can also be used to fit the motion error of the first imaging device, such as a method of using Kalman filtering to estimate the motion state.

[0164] Exemplarily, the motion information of the first imaging device can be determined based on information sensed by the sensor of the first imaging device, and the sensor of the first imaging device includes but is not limited to a global positioning system (GPS), an inertial measurement unit (IMU), a lidar, a millimeter-wave radar, an ultrasonic radar, and a camera.

[0165] S306: Correct the imaging result according to the fitted motion error.

[0166] In one implementation, phase compensation is performed on the first imaging signal according to the fitted motion error, thereby improving the focus of the image.

[0167] In yet another implementation, the position of the first imaging device is corrected based on the fitted motion error, and then imaging is performed based on the first imaging signal according to the corrected position.

[0168] The above describes a method for performing imaging based on auxiliary information. In actual implementation, imaging can also be performed based on auxiliary signals.

[0169] In some implementations, the first imaging device can treat the auxiliary device as an active scattering point. After receiving the auxiliary signal transmitted by the auxiliary device, the first imaging device uses a conventional imaging algorithm (such as a back projection algorithm (BP)) to obtain an image containing the auxiliary device. Because the auxiliary device actively transmits signals, the intensity of the corresponding image point or area in the image will be much greater than that of passive scattering points in the environment. In other words, the auxiliary device appears as a typical prominent point in the image. Therefore, the first imaging device can use an image focusing algorithm based on the prominent point formed by the auxiliary device to perform imaging.

[0170] Furthermore, the first imaging device can perform imaging using an image focusing algorithm. The following uses a phase gradient autofocus algorithm (PGA) as an example to illustrate a process of correcting a synthetic aperture radar (SAR) image based on a prominent point. The details are as follows:

[0171] 1) Circular shift: Determine the distance unit containing the prominent point, perform azimuth Fourier transform on the distance unit to obtain the azimuth-dimensional image, shift the prominent point to the center of the image, and remove the Doppler center frequency of the prominent point.

[0172] Exemplarily, the SAR image may be generated according to the first imaging signal or the echo of the first imaging signal.

[0173] 2) Windowing: Windowing is performed on the circularly shifted image domain data to improve the signal-to-noise ratio, reduce the impact of background clutter, and increase the accuracy of phase error estimation. The window width can be determined based on the degree of blur in the SAR image.

[0174] 3) Phase gradient estimation: Perform inverse azimuth Fourier transform on the windowed image domain data, and then calculate the phase error gradient between the two phase points

[0175] Among them, s r (n) is the inverse Fourier transform signal within the window, d(n) = s r (n+1)-s r The total phase error can be obtained by adding the phase error gradients of all phase points.

[0176] 4) Iterative Phase Correction: The SAR range-domain data is compensated using the phase error. The compensated data is then Fourier transformed into the image domain for the next iteration. This iteration is repeated multiple times, for example 4-6 times, to achieve image focus.

[0177] It should be understood that the above-mentioned PGA implementation process is only an example. In the specific implementation process, based on the special features of the auxiliary signal construction of this application, other focusing algorithms can also be used to focus the image.

[0178] Figures 7 to 10 illustrate several application scenarios of the imaging method provided in embodiments of the present application. The imaging device 1 can be understood as an example of a first imaging device, the auxiliary device 1 can be understood as an example of a first auxiliary device, and the imaging device 2 can be understood as an example of a second imaging device.

[0179] Figure 7 shows a schematic flow chart of a method 400 for imaging provided in an embodiment of the present application. In some scenarios, method 400 can be performed by imaging device 1 and auxiliary device 1, where imaging device 1 includes an imaging signal receiver. In other scenarios, method 400 can be performed by imaging device 1, imaging device 2, and auxiliary device 1, where imaging device 1 includes an imaging signal receiver and imaging device 2 includes an imaging signal transmitter. Method 400 can include steps S401 to S405.

[0180] S401 : The imaging device 1 sends assistance request information to the assistance device 1 .

[0181] The assistance request information may be understood as an example of the first assistance request information in method 300 .

[0182] S402 , the imaging device 1 receives assistance response information from the assistance device 1 .

[0183] The auxiliary response information may be understood as an example of the second auxiliary response information in method 300 .

[0184] S403 , the imaging device 1 receives the auxiliary signal from the auxiliary device 1 .

[0185] In some implementations, S402 may be skipped and S403 may be executed directly. For example, when S402 is skipped and S403 is executed directly, the auxiliary signal may carry the identification or location information of the auxiliary device 1 so that the imaging device 1 can determine the location of the auxiliary device 1 .

[0186] S404 , the imaging device 1 receives the imaging signal 1 .

[0187] For example, the auxiliary signal may be an example of the auxiliary signal in method 300, and the imaging signal 1 may be an example of the first imaging signal in method 300. The timing of when the imaging device 1 receives the auxiliary signal and the imaging signal 1 can be referred to the description of method 300 and will not be repeated here.

[0188] In some implementations, the method 400 further includes S404': the imaging device 2 sends an imaging signal 2. The imaging signal 1 is an echo formed by the imaging signal 2 being reflected by the imaging object.

[0189] S405 , performing imaging according to the auxiliary signal and the imaging signal 1 .

[0190] Illustratively, imaging based on the auxiliary signal and imaging signal 1 includes: constructing a distinctive point based on the auxiliary signal, and correcting the imaging result of imaging signal 1 based on the constructed distinctive point to obtain a final image; or determining a phase delay or time delay of the auxiliary signal, determining a motion error of imaging device 1 based on the phase delay or time delay of the auxiliary signal, performing phase compensation on imaging signal 1 based on the motion error of imaging device 1 to obtain a final image; or correcting the position of imaging device 1 based on the motion error of imaging device 1, and performing imaging based on the corrected position of imaging device 1 and imaging signal 1. The specific implementation of imaging based on the auxiliary signal and imaging signal 1 can be referred to the description in the above embodiment and will not be repeated here.

[0191] Generally speaking, the antenna array size of a moving imaging device (such as imaging device 1) is smaller than the antenna array size of a stationary imaging device (such as imaging device 2). Therefore, when the moving imaging device transmits an imaging signal and the stationary imaging device receives the imaging signal echo, the stationary imaging device can receive the imaging signal echo in one go without using time-frequency multiplexing, which helps reduce the resource waste caused by time-frequency multiplexing. In addition, when the auxiliary signal is sent by the auxiliary device, the auxiliary device can send the auxiliary signal to the imaging device upon receiving the auxiliary request information and determining to participate in the auxiliary imaging, without having to send the auxiliary response information to the imaging device, which helps save signaling overhead during the auxiliary imaging process.

[0192] Figure 8 shows a schematic flow chart of a method 500 for imaging provided in an embodiment of the present application. Method 500 can be performed by imaging device 1, imaging device 2, and auxiliary device 1. Imaging device 1 includes an imaging signal transmitter, and imaging device 2 includes an imaging signal receiver. Method 500 may include steps S501 to S508, where steps S501 to S503 are similar to steps S401 to S403 and are not further described here.

[0193] S504 , the imaging device 1 sends an imaging signal 1 .

[0194] For example, the imaging signal 1 may be an example of the first imaging signal in the method 300 . The timings of the imaging device 1 receiving the auxiliary signal and sending the imaging signal 1 may refer to the description in the method 300 and are not repeated here.

[0195] S505 , the imaging device 2 receives the imaging signal 2 .

[0196] The imaging signal 2 is the echo of the imaging signal 1 .

[0197] S506 , the imaging device 1 determines auxiliary information according to the auxiliary signal.

[0198] The method for the imaging device 1 to determine the auxiliary information may refer to the description in S303 - S304 or S303 ′ - S304 ′, which will not be repeated here.

[0199] S507 , imaging device 1 sends auxiliary information to imaging device 2 .

[0200] Illustratively, this auxiliary information may be an example of the first auxiliary information in the above method 300 .

[0201] S508 , the imaging device 2 performs imaging according to the auxiliary information and the imaging signal 2 .

[0202] The method for the imaging device 2 to perform imaging according to the auxiliary information and the imaging signal 2 can refer to the description in S305 and S306 and will not be repeated here.

[0203] As described above, the antenna array scale of a moving imaging device (such as imaging device 1) is generally smaller than that of a stationary imaging device (such as imaging device 2). Therefore, the signal power of the imaging signal emitted by the stationary imaging device is larger, so that the signal power of the echo of the imaging signal received by the moving imaging device is also larger, which helps to reduce the difficulty of subsequent imaging processing.

[0204] FIG9 shows a schematic flow chart of a method 600 for imaging provided in an embodiment of the present application. In some scenarios, method 600 can be performed by imaging device 1 and auxiliary device 1, where imaging device 1 includes an imaging signal receiver. In other scenarios, method 600 can be performed by imaging device 1, imaging device 2, and auxiliary device 1, where imaging device 1 includes an imaging signal receiver and imaging device 2 includes an imaging signal transmitter. Method 600 may include steps S601 to S607, where S601 and S602 are similar to S401 and S402 and are not further described here.

[0205] S603 , the imaging device 1 sends an auxiliary signal to the auxiliary device 1 .

[0206] S604 , the imaging device 1 receives the imaging signal 1 .

[0207] For example, the auxiliary signal may be an example of the auxiliary signal in method 300, and the imaging signal 1 may be an example of the first imaging signal in method 300. The timing for the imaging device 1 to send the auxiliary signal and receive the imaging signal 1 may refer to the description of method 300 and will not be repeated here.

[0208] In some implementations, the method 600 further includes S604 ′: the imaging device 2 sends an imaging signal 2 , where the imaging signal 1 is an echo of the imaging signal 2 .

[0209] S605 , the auxiliary device 1 determines auxiliary information according to the auxiliary signal.

[0210] The method for the auxiliary device 1 to determine the auxiliary information may refer to the description in S303 - S304 or S303 ′ - S304 ′, which will not be repeated here.

[0211] S606 , the imaging device 1 receives auxiliary information from the auxiliary device.

[0212] Illustratively, this auxiliary information may be an example of the second auxiliary information in the above method 300 .

[0213] S607 , the imaging device 1 performs imaging according to the auxiliary information and the imaging signal 1 .

[0214] The method for the imaging device 1 to perform imaging according to the auxiliary information and the imaging signal 1 can be referred to the description in S305 and S306 and will not be repeated here.

[0215] When the auxiliary signal is transmitted by the imaging device 1 and the imaging signal 1 is received by the imaging device 1 , it is easier for the imaging device to control the timing of transmitting the auxiliary signal.

[0216] Figure 10 shows a schematic flow chart of a method 700 for imaging provided in an embodiment of the present application. Method 700 can be performed by imaging device 1, imaging device 2, and auxiliary device 1. Imaging device 1 includes an imaging signal transmitter, and imaging device 2 includes an imaging signal receiver. Method 700 may include steps 7501 to 708, where steps S701 to S703 are similar to steps S601 to S603 and are not further described here.

[0217] S704 , imaging device 1 sends imaging signal 1 .

[0218] For example, the auxiliary signal may be an example of the auxiliary signal in method 300, and the imaging signal 1 may be an example of the first imaging signal in method 300. The timing of when the imaging device 1 sends the auxiliary signal and the imaging signal 1 can refer to the description of method 300 and will not be repeated here.

[0219] S705 , the imaging device 2 receives the imaging signal 2 .

[0220] The imaging signal 2 is the echo of the imaging signal 1 .

[0221] S706 , the auxiliary device 1 determines auxiliary information according to the auxiliary signal.

[0222] The method for the auxiliary device 1 to determine the auxiliary information may refer to the description in S303 - S304 or S303 ′ - S304 ′, which will not be repeated here.

[0223] S707 , the auxiliary device 1 sends auxiliary information to the imaging device 2 .

[0224] Illustratively, this auxiliary information may be an example of the third auxiliary information in the above method 300 .

[0225] S708 , the imaging device 2 performs imaging according to the auxiliary information and the imaging signal 2 .

[0226] The method for the imaging device 2 to perform imaging according to the auxiliary information and the imaging signal 1 can refer to the description in S305 and S306 and will not be repeated here.

[0227] When both the auxiliary signal and the imaging signal 1 are transmitted by the imaging device 1 , it is easier for the imaging device to control the timing of transmitting the auxiliary signal.

[0228] For the beneficial effects not described in detail in FIG. 9 and FIG. 10 , reference can be made to the description in the aforementioned embodiments, which will not be repeated here.

[0229] The focus of the image can be improved based on the method 300, the method 400, the method 500, the method 600 and the method 700. For example, FIG11 shows a comparison of imaging results without using the method of the present application and using the method of the present application.

[0230] (a) in Figure 11 shows the motion path of an imaging device including an imaging signal transmitter (Tx), which includes the motion error of the imaging device. The motion error of the imaging device may cause a position error of 5 cm in the phase center of the antenna. (b) in Figure 11 is the result of imaging directly using the imaging signal echo, and (c) in Figure 11 is the result of imaging after phase compensation of the imaging signal echo using an auxiliary signal. From the comparison between (b) and (c) in Figure 11, it can be seen that the peak-to-average power ratio (PAPR) of the image generated using the method of the present application is significantly higher than the peak-to-average power ratio of the image generated without using the method of the present application, that is, the focusing degree of the image is significantly improved. At the same time, image distortion caused by defocus appears in the image generated without using the method of the present application, while the distortion problem is significantly improved in the image generated using the method of the present application.

[0231] In the various embodiments of the present application, unless otherwise specified or there is a logical conflict, the terms and / or descriptions between the various embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationships.

[0232] The imaging method provided by the embodiment of the present application is described in detail above with reference to Figures 1 to 11 . The imaging apparatus provided by the embodiment of the present application will be described in detail below with reference to Figures 12 and 13 . It should be understood that the description of the apparatus embodiment corresponds to the description of the method embodiment. Therefore, for matters not described in detail, reference can be made to the method embodiment above, and for the sake of brevity, no further description will be given here.

[0233] FIG12 shows a schematic block diagram of an imaging apparatus 2000 according to an embodiment of the present application. The apparatus 2000 may include units for executing the operations performed by the first imaging apparatus or the first auxiliary apparatus in the method 300. Furthermore, each unit in the apparatus 2000 is configured to implement a corresponding process in the above-described method embodiment.

[0234] Specifically, the device 2000 includes a sending unit 2010 and a receiving unit 2020 .

[0235] When the device 2000 is used to perform the operation performed by the first imaging device, the sending unit 2010 is used to send auxiliary request information, and the auxiliary request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; the receiving unit 2020 is used to receive an auxiliary signal from the first auxiliary device; or, the sending unit 2010 is further used to: send an auxiliary signal to the first auxiliary device; wherein the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

[0236] In some possible implementations, the assistance request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting the auxiliary signal.

[0237] In some possible implementations, the receiving unit 2020 is further used to: receive first auxiliary response information from a second auxiliary device, the first auxiliary response information indicating that the second auxiliary device participates in assisting the first imaging device in imaging, or the first auxiliary response information indicates that the second auxiliary device does not participate in assisting the first imaging device in imaging, and the one or more auxiliary devices include the second auxiliary device.

[0238] In some possible implementations, the receiving unit 2020 is further used to: receive second auxiliary response information from the first auxiliary device, the second auxiliary response information indicating at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the position of the first auxiliary device, or a second time-frequency resource for transmitting an auxiliary signal.

[0239] In some possible implementations, the receiving unit 2020 is further used to: receive third auxiliary response information, where the third auxiliary response information indicates that a third auxiliary device participates in assisting the first imaging device in imaging; wherein the distance between the first auxiliary device and the imaging area corresponding to the first imaging signal is closer than the distance between the third auxiliary device and the imaging area, and the one or more auxiliary devices include the third auxiliary device.

[0240] In some possible implementations, the first imaging device is used to send a first imaging signal, the second imaging device is used to receive an echo of the first imaging signal, and the sending unit 2010 is further used to: send first auxiliary information to the second imaging device, where the first auxiliary information indicates a time delay and / or phase delay of the auxiliary signal.

[0241] In some possible implementations, the receiving unit 2020 is further configured to: receive second auxiliary information from the first auxiliary device, where the second auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

[0242] When the device 2000 is used to perform an operation performed by a first auxiliary device, the receiving unit 2020 is used to receive first auxiliary request information, and the first auxiliary request information is used to request the first auxiliary device to assist the first imaging device in imaging; the sending unit 2010 is used to send an auxiliary signal to the first imaging device; or, the receiving unit 2020 is also used to: receive an auxiliary signal from the first imaging device; wherein the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging.

[0243] In some possible implementations, the first assistance request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting the auxiliary signal.

[0244] In some possible implementations, the sending unit 2010 is further used to: send second auxiliary response information to the first imaging device, the second auxiliary response information indicating at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the position of the first auxiliary device, or a second time-frequency resource for transmitting an auxiliary signal.

[0245] In some possible implementations, the receiving unit 2020 is further used to: receive second auxiliary request information, where the second auxiliary request information is used to request the first auxiliary device to assist the third imaging device in imaging; and the sending unit 2010 is further used to: send fourth auxiliary response information to the third imaging device, where the fourth auxiliary response information indicates that the first auxiliary device participates in assisting the third imaging device in imaging, or the fourth auxiliary response information indicates that the first auxiliary device does not participate in assisting the third imaging device in imaging.

[0246] In some possible implementations, the sending unit 2010 is further configured to: send second auxiliary information to the first imaging device, where the second auxiliary information indicates a time delay and / or phase delay of the auxiliary signal.

[0247] In some possible implementations, the first imaging device is used to send a first imaging signal, and the second imaging device is used to receive an echo of the first imaging signal. The sending unit 2010 is also used to: send third auxiliary information to the second imaging device, where the third auxiliary information indicates the time delay and / or phase delay of the auxiliary signal.

[0248] In a specific implementation process, the various units in the above apparatus may be fully or partially integrated together, or may also be implemented independently. In one implementation, these units are integrated together and implemented in the form of a system-on-a-chip (SoC).

[0249] Figure 13 is a schematic diagram of a communication device 3000 provided in an embodiment of the present application. The communication device 3000 includes a processor 3010, which is configured to execute computer programs or instructions stored in a memory 3020, or read data / signaling stored in the memory 3020, to perform the methods described in the above method embodiments. Optionally, there are one or more processors 3010.

[0250] Optionally, as shown in FIG13 , the communication device 3000 further includes a memory 3020, which is used to store computer programs or instructions and / or data. The memory 3020 may be integrated with the processor 3010, or may be separately provided. Optionally, there may be one or more memories 3020.

[0251] Optionally, as shown in Figure 13, the communication device 3000 further includes a transceiver 3030, which is used to receive and / or send signals. For example, the processor 3010 is used to control the transceiver 3030 to receive and / or send signals.

[0252] As a solution, the communication device 3000 is used to implement the operations performed by the first imaging device in the above various method embodiments.

[0253] For example, the processor 3010 is configured to execute computer programs or instructions stored in the memory 3020 to implement related operations of the first imaging device in each of the above method embodiments.

[0254] As another solution, the communication device 3000 is used to implement the operations performed by the first auxiliary device in the above various method embodiments.

[0255] For example, the processor 3010 is configured to execute computer programs or instructions stored in the memory 3020 to implement related operations of the first auxiliary device in each of the above method embodiments.

[0256] It should be understood that the processor mentioned in the embodiments of the present application may be a central processing unit (CPU), or may be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor, etc.

[0257] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory and / or a non-volatile memory. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM). For example, RAM can be used as an external cache. By way of example and not limitation, RAM includes the following forms: static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus RAM (DR RAM).

[0258] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, the memory (storage module) can be integrated into the processor.

[0259] It should also be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0260] 14 is a schematic diagram of a chip system 4000 according to an embodiment of the present application. The chip system 4000 (or also referred to as a processing system) includes a logic circuit 4010 and an input / output interface 4020 .

[0261] Logic circuit 4010 may be a processing circuit in chip system 4000. Logic circuit 4010 may be coupled to a storage unit and call instructions in the storage unit, so that chip system 4000 can implement the methods and functions of various embodiments of the present application. Input / output interface 4020 may be an input / output circuit in chip system 4000, outputting information processed by chip system 4000 or inputting data or signaling information to be processed into chip system 4000 for processing.

[0262] Specifically, for example, if the chip system 4000 is installed in a first imaging device, the logic circuit 4010 is coupled to the input / output interface 4020, and the logic circuit 4010 can receive an auxiliary signal through the input / output interface 4020. The logic circuit 4010 processes the auxiliary signal to correct the imaging result. For another example, if the chip system 4000 is installed in a first auxiliary device, the logic circuit 4010 is coupled to the input / output interface 4020, and the logic circuit 4010 can send an auxiliary signal through the input / output interface 4020. The auxiliary signal is generated by the logic circuit 4010.

[0263] As a solution, the chip system 4000 is used to implement the operations performed by the first imaging device in each of the above method embodiments.

[0264] For example, the logic circuit 4010 is used to implement the processing-related operations performed by the first imaging device in the above method embodiment; the input / output interface 4020 is used to implement the sending and / or receiving-related operations performed by the first imaging device in the above method embodiment.

[0265] As another solution, the chip system 4000 is used to implement the operations performed by the first auxiliary device in the above various method embodiments.

[0266] For example, the logic circuit 4010 is used to implement the processing-related operations performed by the first auxiliary device in the above method embodiment; the input / output interface 4020 is used to implement the sending and / or receiving-related operations performed by the first auxiliary device in the above method embodiment.

[0267] An embodiment of the present application further provides a computer-readable storage medium on which computer instructions for implementing the methods executed by the device in the above-mentioned method embodiments are stored.

[0268] For example, when the computer program is executed by a computer, the computer can implement the method performed by the first imaging device in each embodiment of the above method.

[0269] For another example, when the computer program is executed by a computer, the computer can implement the method performed by the first auxiliary device in each embodiment of the above method.

[0270] An embodiment of the present application further provides a computer program product comprising instructions, which, when executed by a computer, implement the methods performed by the device (such as the first imaging device, or the first auxiliary device) in the above-mentioned method embodiments.

[0271] An embodiment of the present application further provides a system for imaging, comprising the aforementioned first imaging device and a first auxiliary device.

[0272] The explanation of the relevant contents and beneficial effects of any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, which will not be repeated here.

[0273] As used in this specification, the terms "component," "module," "system," and the like are used to represent computer-related entities, hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, and / or a computer. By way of illustration, both an application running on a computing device and a computing device can be a component. One or more components can reside in a process and / or an execution thread, and a component can be located on a computer and / or distributed between two or more computers. In addition, these components can be executed from various computer-readable media having various data structures stored thereon. Components can communicate, for example, via local and / or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component on a local system, a distributed system, and / or a network, such as the Internet interacting with other systems via signals).

[0274] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel 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.

[0275] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0276] In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in this article is a kind of association relationship that describes associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In this application, "at least one" refers to one or more, and "more than one" refers to two or more. "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, or c can mean: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0277] In the embodiments of this application, prefixes such as "first" and "second" are used only to distinguish different description objects and have no limiting effect on the position, order, priority, quantity, or content of the described objects. The use of prefixes such as ordinal numbers in the embodiments of this application to distinguish description objects does not constitute a limitation on the described objects. For a statement of the described objects, please refer to the description in the context of the claims or embodiments, and the use of such prefixes should not constitute an unnecessary limitation.

[0278] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0279] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0280] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0281] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0282] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in this application should be included in the scope of protection of this application. Therefore, the scope of protection of this application should be based on the scope of protection of the claims.

Claims

1. A method for imaging, characterized in that Applied to a first imaging device, the method comprises: Sending assistance request information, where the assistance request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; An auxiliary signal is received from a first auxiliary device, or an auxiliary signal is sent to the first auxiliary device, wherein the auxiliary signal and a first imaging signal received or sent by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

2. The method according to claim 1, characterized in that The auxiliary request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting the auxiliary signal.

3. The method according to claim 1 or 2, characterized in that The method further comprises: First assistance response information is received from a second assistance device, wherein the first assistance response information indicates whether the second assistance device participates in assisting the first imaging device in imaging, and the one or more assistance devices include the second assistance device.

4. The method according to any one of claims 1 to 3, characterized in that The method further comprises: Second auxiliary response information is received from the first auxiliary device, where the second auxiliary response information indicates at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the location of the first auxiliary device, or a second time-frequency resource for transmitting the auxiliary signal.

5. The method according to claim 4, characterized in that The method further comprises: receiving third auxiliary response information, wherein the third auxiliary response information indicates that a third auxiliary device participates in assisting the first imaging device in imaging; The distance between the first auxiliary device and the imaging area corresponding to the first imaging signal is closer than the distance between the third auxiliary device and the imaging area, and the one or more auxiliary devices include the third auxiliary device.

6. The method according to any one of claims 1 to 5, characterized in that The first imaging device is used to send a first imaging signal, and the second imaging device is used to receive an echo of the first imaging signal. The method further includes: First auxiliary information is sent to the second imaging device, where the first auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

7. The method according to any one of claims 1 to 5, characterized in that The method further comprises: Second auxiliary information is received from the first auxiliary device, wherein the second auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

8. The method according to any one of claims 1 to 7, characterized in that The auxiliary signal is used to determine a motion error of the first imaging device, and the motion error is used to correct an imaging result obtained according to the first imaging signal.

9. The method according to any one of claims 1 to 8, characterized in that The auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, including: The phase delay of the auxiliary signal, the motion information of the first imaging device and the position information of the first auxiliary device are used to determine the motion error of the first imaging device; The motion error of the first imaging device is used to correct the imaging result obtained according to the first imaging signal.

10. A method for imaging, characterized in that Applied to a first auxiliary device, the method comprises: receiving first assistance request information, where the first assistance request information is used to request the first assistance device to assist the first imaging device in imaging; An auxiliary signal is sent to the first imaging device, or an auxiliary signal is received from the first imaging device, wherein the auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging.

11. The method according to claim 10, characterized in that The first auxiliary request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting the auxiliary signal.

12. The method according to claim 10 or 11, characterized in that The method further comprises: Sending second auxiliary response information to the first imaging device, wherein the second auxiliary response information indicates at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the location of the first auxiliary device, or a second time-frequency resource for transmitting the auxiliary signal.

13. The method according to any one of claims 10 to 12, characterized in that The method further comprises: receiving second assistance request information, where the second assistance request information is used to request the first assistance device to assist a third imaging device in imaging; Fourth assistance response information is sent to the third imaging device, where the fourth assistance response information indicates whether the first assistance device participates in assisting the third imaging device in imaging.

14. The method according to any one of claims 10 to 13, characterized in that The method further comprises: Second auxiliary information is sent to the first imaging device, where the second auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

15. The method according to any one of claims 10 to 13, characterized in that The first imaging device is used to send a first imaging signal, and the second imaging device is used to receive an echo of the first imaging signal. The method further includes: Third auxiliary information is sent to the second imaging device, where the third auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

16. The method according to any one of claims 10 to 15, characterized in that The auxiliary signal is used to determine a motion error of the first imaging device, and the motion error is used to correct an imaging result obtained according to the first imaging signal.

17. The method according to any one of claims 10 to 16, characterized in that The auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, including: The phase delay of the auxiliary signal, the motion information of the first imaging device and the position information of the first auxiliary device are used to determine the motion error of the first imaging device; The motion error of the first imaging device is used to correct the imaging result obtained according to the first imaging signal.

18. A device for imaging, characterized in that The device comprises: A sending unit, configured to send assistance request information, wherein the assistance request information is used to request one or more auxiliary devices to assist the first imaging device in imaging; a receiving unit, configured to receive an auxiliary signal from a first auxiliary device; or The sending unit is further used to: send an auxiliary signal to the first auxiliary device; The auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, and the one or more auxiliary devices include the first auxiliary device.

19. The device according to claim 18, characterized in that The auxiliary request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting the auxiliary signal.

20. The device according to claim 18 or 19, characterized in that The receiving unit is also used for: First assistance response information is received from a second assistance device, wherein the first assistance response information indicates whether the second assistance device participates in assisting the first imaging device in imaging, and the one or more assistance devices include the second assistance device.

21. The device according to any one of claims 18 to 20, characterized in that The receiving unit is also used for: Second auxiliary response information is received from the first auxiliary device, where the second auxiliary response information indicates at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the location of the first auxiliary device, or a second time-frequency resource for transmitting the auxiliary signal.

22. The device according to claim 21, characterized in that The receiving unit is also used for: receiving third auxiliary response information, wherein the third auxiliary response information indicates that a third auxiliary device participates in assisting the first imaging device in imaging; The distance between the first auxiliary device and the imaging area corresponding to the first imaging signal is closer than the distance between the third auxiliary device and the imaging area, and the one or more auxiliary devices include the third auxiliary device.

23. The device according to any one of claims 18 to 22, characterized in that The first imaging device is used to send a first imaging signal, the second imaging device is used to receive an echo of the first imaging signal, and the sending unit is further used to: First auxiliary information is sent to the second imaging device, where the first auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

24. The device according to any one of claims 18 to 22, characterized in that The receiving unit is also used for: Second auxiliary information is received from the first auxiliary device, wherein the second auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

25. The device according to any one of claims 18 to 24, characterized in that The auxiliary signal is used to determine a motion error of the first imaging device, and the motion error is used to correct an imaging result obtained according to the first imaging signal.

26. The device according to any one of claims 18 to 25, characterized in that The auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, including: The phase delay of the auxiliary signal, the motion information of the first imaging device and the position information of the first auxiliary device are used to determine the motion error of the first imaging device; The motion error of the first imaging device is used to correct the imaging result obtained according to the first imaging signal.

27. A device for imaging, characterized in that The device comprises: A receiving unit, configured to receive first assistance request information, wherein the first assistance request information is used to request a first assistance device to assist a first imaging device in imaging; a sending unit, configured to send an auxiliary signal to the first imaging device; or, The receiving unit is further used to: receive an auxiliary signal from the first imaging device; The auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging.

28. The device according to claim 27, characterized in that The first auxiliary request information indicates at least one of the following: location information of the first imaging device, or a first time-frequency resource for transmitting the auxiliary signal.

29. The device according to claim 27 or 28, characterized in that The sending unit is also used for: Sending second auxiliary response information to the first imaging device, wherein the second auxiliary response information indicates at least one of the following: the first auxiliary device participates in assisting the first imaging device in imaging, the location of the first auxiliary device, or a second time-frequency resource for transmitting the auxiliary signal.

30. The device according to any one of claims 27 to 29, characterized in that The receiving unit is also used for: receiving second assistance request information, where the second assistance request information is used to request the first assistance device to assist a third imaging device in imaging; The sending unit is further configured to send fourth auxiliary response information to the third imaging device, where the fourth auxiliary response information indicates whether the first auxiliary device participates in assisting the third imaging device in imaging.

31. The device according to any one of claims 27 to 30, characterized in that The sending unit is also used for: Second auxiliary information is sent to the first imaging device, where the second auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

32. The device according to any one of claims 27 to 30, characterized in that The first imaging device is used to send a first imaging signal, the second imaging device is used to receive an echo of the first imaging signal, and the sending unit is further used to: Third auxiliary information is sent to the second imaging device, where the third auxiliary information indicates a time delay and / or a phase delay of the auxiliary signal.

33. The device according to any one of claims 27 to 32, characterized in that The auxiliary signal is used to determine a motion error of the first imaging device, and the motion error is used to correct an imaging result obtained according to the first imaging signal.

34. The device according to any one of claims 27 to 33, characterized in that The auxiliary signal and the first imaging signal received or sent by the first imaging device are used together for imaging, including: The phase delay of the auxiliary signal, the motion information of the first imaging device and the position information of the first auxiliary device are used to determine the motion error of the first imaging device; The motion error of the first imaging device is used to correct the imaging result obtained according to the first imaging signal.

35. A communication device, characterized in that: include: A processor, configured to execute a computer program stored in a memory, so that the apparatus performs the method according to any one of claims 1 to 9; or, so that the apparatus performs the method according to any one of claims 10 to 17.

36. The device according to claim 35, characterized in that The apparatus also includes the memory.

37. A system for imaging, characterized in that The system comprises the apparatus of any one of claims 18 to 26 and the apparatus of any one of claims 27 to 34.

38. The system of claim 37, wherein: The system further includes another device for imaging, wherein the another device for imaging is used to receive the echo of the first imaging signal; or the another device for imaging is used to send a second imaging signal, wherein the first imaging signal is the echo of the second imaging signal.

39. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 17.

40. A computer program product, characterized in that The computer program product comprises instructions for performing the method of any one of claims 1 to 17.

41. A chip system, characterized in that: include: A logic circuit, used to call and run a computer program from a memory, so that a communication device equipped with the chip system executes the method described in any one of claims 1 to 17.

Images