Method for determining spatial distribution of echo signal, communication node and storage medium

Abstract

The present application provides a method for determining the spatial distribution of an echo signal, a communication node and a storage medium. The method comprises: receiving an echo signal, and calculating a delay Doppler map of the echo signal; extracting environment data in the delay Doppler map, determining a distance parameter, an angle parameter and an energy parameter corresponding to each sample point in the environment data, and on the basis of the energy parameter, extracting an echo signal component in the environment data; on the basis of the echo signal component, determining a reflection point position of the echo signal; and on the basis of the reflection point position and the intensity of the echo signal, drawing a spatial distribution diagram of the echo signal in three-dimensional space.

Description

Method for determining echo signal spatial distribution, communication node and storage medium

[0001] Cross-references

[0002] This application claims priority to the Chinese patent application filed with the China Patent Office on December 4, 2023, with application number 202311656489.3 and titled “Method for determining the spatial distribution of echo signals, communication nodes and storage medium”. The entire contents of the application are incorporated by reference into this application. Technical Field

[0003] The present application relates to the field of wireless communication technology, for example, to a method for determining the spatial distribution of an echo signal, a communication node, and a storage medium. Background Art

[0004] In recent years, measuring signal spatial distribution has become a research hotspot. In wireless communications, studying signal spatial distribution provides an intuitive understanding of channel characteristics in specific scenarios. It determines the direction of the echo signal and the location of the reflection point, enabling targeted suppression of interfering signal components and improving useful signal quality. In wireless positioning, it is often necessary to determine the composition of the signal path, whether it is a direct path or a reflected path, or a single or multiple reflection path. Signal spatial distribution maps can assist in analyzing a range of signal path characteristics. Furthermore, echo signal distribution is crucial for reconstructing stationary environments or detecting moving targets.

[0005] Currently, the most commonly used technique for measuring spatial signal distribution is ray tracing. This technique first precisely maps the spatial target location, then uses a computer to generate a three-dimensional spatial layout. The reflection and refraction of light are then used to simulate the spatial propagation of rays and their paths after they intersect objects. This allows for precise modeling of spatial signals within a given spatial scene. However, this method is highly complex, and even slight changes in the scene result in exponentially more repetitive work. Ray tracing relies on the precise mapping of the spatial layout of buildings, and even slight variations in this layout can exponentially increase the error in the results. Furthermore, due to the differences between virtual and real space, this method struggles to accurately describe the characteristics of incoming signals in real-world scenarios.

[0006] Summary of the Invention

[0007] The present application provides a method for determining the spatial distribution of an echo signal, a communication node, and a storage medium.

[0008] An embodiment of the present application provides a method for determining the spatial distribution of an echo signal, comprising: receiving an echo signal and calculating a delay-Doppler spectrum of the echo signal; extracting environmental data from the delay-Doppler spectrum, determining a distance parameter, an angle parameter, and an energy parameter corresponding to each delay-Doppler sample point in the environmental data, and extracting an echo signal component from the environmental data based on the energy parameter; determining a reflection point position of the echo signal based on the echo signal component; and drawing a spatial distribution map of the echo signal in three-dimensional space based on the reflection point position and the intensity of the echo signal.

[0009] An embodiment of the present application further provides a communication node, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the above-mentioned method for determining the spatial distribution of echo signals when executing the program.

[0010] An embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored. When the program is executed by a processor, the above-mentioned method for determining the spatial distribution of echo signals is implemented. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] FIG1 is a flow chart of a method for determining the spatial distribution of an echo signal provided by an embodiment;

[0012] FIG2 is a schematic diagram of a channel impulse response provided by an embodiment;

[0013] FIG3 is a schematic diagram of an echo signal propagation provided by an embodiment;

[0014] FIG4 is a schematic diagram of a format of a transmission signal provided by an embodiment;

[0015] FIG5 is a schematic diagram of the position of an object in a real scene provided by an embodiment;

[0016] FIG6 is a schematic diagram of a delay-Doppler spectrum provided by an embodiment;

[0017] FIG7 is a schematic diagram of environmental data provided by an embodiment;

[0018] FIG8 is a schematic diagram of a spatial distribution of a loop echo signal provided by an embodiment;

[0019] FIG9 is a flow chart of a method for determining the spatial distribution of an echo signal provided by an embodiment;

[0020] FIG10 is a schematic diagram of the hardware structure of a communication node provided by an embodiment. DETAILED DESCRIPTION

[0021] The present application is described below in conjunction with the accompanying drawings and embodiments. It will be understood that the specific embodiments described herein are merely intended to explain the present application and are not intended to limit the present application. It should be noted that, unless there is a conflict, the embodiments and features within the embodiments of the present application may be combined with each other in any manner. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present application, not all structures.

[0022] FIG1 is a flow chart of a method for determining the spatial distribution of an echo signal provided by an embodiment. The method can be applied to a communication node (such as a base station or access point). As shown in FIG1 , the method provided by this embodiment includes the following steps:

[0023] In step 110, an echo signal is received and a delay-Doppler spectrum of the echo signal is calculated.

[0024] In step 120, environmental data in the delay-Doppler spectrum is extracted, a distance parameter, an angle parameter, and an energy parameter corresponding to each sample point in the environmental data are determined, and an echo signal component in the environmental data is extracted according to the energy parameter.

[0025] In step 130, the reflection point position of the echo signal is determined according to the echo signal component.

[0026] In step 140 , a spatial distribution diagram of the echo signal is drawn in a three-dimensional space according to the position of the reflection point and the intensity of the echo signal.

[0027] In this embodiment, the echo signal mainly refers to the signal emitted by the transmitting base station and returned to the receiving base station after being reflected by the target object. The delay-Doppler spectrum, also known as the range-Doppler (RD) diagram, can be calculated based on the echo signal. The delay-Doppler spectrum is used to record the reflected signal power corresponding to each delay-Doppler unit. The delay-Doppler spectrum includes data of stationary objects and moving targets in the environment. The environmental data is the echo signal data corresponding to the zero frequency in the Doppler. The range of Doppler frequency in the delay-Doppler spectrum is [-fm / 2, fm / 2], where fm is the maximum Doppler frequency. The parameters of each sample point in the environmental data include distance parameters, angle parameters, and energy parameters. The sample point corresponds to each (f, Ts). The angle parameter and energy parameter of the sample point can be obtained by estimating the angle value and energy value. The distance parameter mainly refers to the full propagation distance of the transmitted signal from the transmitting base station to the target reflection and then received by the receiving base station. It can be determined based on the LOS path-assisted echo signal propagation time calculation method. The reflection point of the echo signal, that is, the position of the target object, can be determined based on the echo signal components. Based on the position and intensity of the echo signal reflection point, a grayscale map of the signal propagation can be drawn in three-dimensional space.

[0028] The method for determining the spatial distribution of echo signals in this embodiment can quickly process large amounts of spatial environment signal data, enabling measurement of the spatial distribution of signals in a real-world environment and mapping of the spatial signal distribution. Furthermore, by directional suppression of interfering signal components, the quality of useful signals is improved, and the direction and position of incoming waves are determined, facilitating three-dimensional reconstruction of the spatial environment. This method overcomes the difficulty of existing virtual space-based ray tracing techniques in describing channel distribution, requiring precise mapping. It reduces the repetitive workload associated with scene changes and overcomes the significant spatial differences between virtual and real channels. It can directly describe channel characteristics based on real-world echo signals, achieving low-cost, high-efficiency, and high-precision perception of spatial signal distribution.

[0029] In one embodiment, calculating the delay-Doppler spectrum of the echo signal includes:

[0030] Step 1110: performing a conjugate point multiplication of the echo signal and the local sequence to obtain frequency domain channel information;

[0031] Step 1120: Perform inverse fast Fourier transform on the frequency domain channel information to obtain a channel impulse response;

[0032] Step 1130: Perform fast Fourier transform on the channel impulse response in the dimension of the number of data packets to obtain a delay-Doppler spectrum.

[0033] In this embodiment, within a period of time, the receiving base station receives the object echo signal r, where r is N1*N2*N3, where the dimensions are the number of antennas, sampling points, and number of data packets. The channel frequency domain information H=R·*conj(S) and the channel impulse response h=F are calculated by multiplying the received echo signal with the conjugate point of the local sequence. -1 (H), where h is N1*N2*N3. Performing an FFT on the packet count dimension yields the Doppler domain received data (Dop) (i.e., the delay-Doppler spectrum). Dop is N1*N2*N3, where the dimensions are the number of antennas, delay, and Doppler frequency.

[0034] In one embodiment, the environmental data is data corresponding to the zero-frequency component in the delay-Doppler spectrum, and the environmental data can be recorded as Dop0.

[0035] In one embodiment, the distance parameter includes the sum of the distance between the transmitting and receiving nodes and a specified distance, where the specified distance is the product of the difference between the arrival time of the reflection path and the arrival time of the line-of-sight path and the speed of light.

[0036] In this embodiment, the distance parameter is determined based on the LOS path-assisted echo signal propagation time calculation method. Figure 2 is a schematic diagram of a channel impulse response provided by an embodiment. As shown in Figure 2, for the LOS path and the reflection path (echo signal), the LOS path is generally the earliest and strongest path, and its arrival time is T1, and the reflection path arrives at T2. Assuming that the distance between the transceiver base station is D los , the speed of light is c, then the propagation distance of the reflection path is: D = D los +(T2-T1)*c. On this basis, the time synchronization error of the transmitting and receiving base stations can be eliminated, and the distance calculation accuracy can be greatly improved.

[0037] In one embodiment, the angle parameter includes an angle of the echo signal relative to a normal line of a receiver panel, and the angle parameter includes an elevation angle and an azimuth angle.

[0038] In one embodiment, determining the angle parameter corresponding to each sample point in the environmental data includes:

[0039] Step 1210: For each sample point, traverse the angular range of the receiving beam of the echo signal, and for any azimuth angle and any elevation angle, calculate the corresponding steering vector based on the number of antennas in the vertical direction and the number of antennas in the horizontal direction of the receiving node;

[0040] Step 1220: Multiply each steering vector by the corresponding point of each antenna data in the environmental data to obtain the corresponding Doppler data energy. The angle parameters include the azimuth and elevation angle corresponding to the maximum Doppler data energy.

[0041] In this embodiment, the angle is the angle of the echo signal relative to the normal of the receiver panel, including the pitch angle and the azimuth angle. The angle can be determined by the following method: traverse the receiving beam angle range, for any azimuth angle and pitch angle θ∈[-V / 2,V / 2] (H and V are the horizontal and vertical widths of the beam respectively) to calculate the steering vector:

[0042] a z =[1,ej2π / λdsin(θ),…,ej2π / λd(Nz-1)sin(θ)] T

[0043] Where Nz and Ny are the number of antennas in the vertical and horizontal directions of the receiving base station, respectively. For each steering vector, multiply the corresponding point of each antenna data of the environmental data Dop0 to obtain the Doppler data energy under the angle steering vector. Calculate the echo signal energy at each angle. The angle corresponding to the maximum energy is the angle value of the sample point, including the pitch angle and azimuth angle. The processed data is recorded as Dop a , Dop aThe value under each (f, Ts) is the energy value of the sample point.

[0044] In one embodiment, the energy parameter corresponding to each sample point in the environmental data is the value corresponding to each sample point in the Doppler data energy corresponding to each steering vector.

[0045] In one embodiment, the echo signal component is data in the environmental data whose energy is greater than a set threshold.

[0046] In this embodiment, the environmental data includes the echo signal reflected by the environmental target and the environmental noise. Set the threshold to T, and the echo signal component to be the environmental data Dop a Data with energy greater than T is denoted as Dop T T can be set according to the actual scenario and base station parameters.

[0047] In one embodiment, determining the reflection point position of the echo signal according to the echo signal component includes:

[0048] Step 1310: Establish a nonlinear equation system based on the sum of the distance from the transmitting node to the reflection point and the distance from the reflection point to the receiving node of the echo signal, the angle parameter corresponding to each sample point in the echo signal component, and the distance between the reflection point and the receiving node;

[0049] Step 1320: Convert the nonlinear equations into a linear equations.

[0050] Step 1330: Solve the linear equation group to obtain the reflection point position of the echo signal.

[0051] In this embodiment, the position of the echo signal reflection point can be obtained by the following method:

[0052] FIG3 is a schematic diagram of an echo signal propagation provided by an embodiment. As shown in FIG3 , in order to simplify the calculation without loss of generality, the coordinates of the transmitting base station TX are denoted as (x0, y0, z0), the coordinates of the receiving base station RX are denoted as (0, 0, 0), and the coordinates of the reflection point to be determined are denoted as (x, y, z). The signal of the transmitting base station hits the target, and the echo signal is received by the receiving base station. r1 is the distance between the reflection point of the echo signal and the receiving base station; the known quantity D is the sum of the distances of the signal from the transmitting base station to the reflection point and the distance from the reflection point to the receiving base station, that is, the total propagation distance. θ is the elevation angle of the receiving antenna, is the azimuth angle. Then establish the following about x, y, z, r1 The nonlinear system of equations:

[0053] The nonlinear system of equations is transformed into a linear form by the following process:

[0054] Expand (5): x 2+y 2 +z 2 -2x0x-2y0y-2z0z+x0 2 +y0 2 +z0 2 =D 2 -2Dr1+r1 2 (6)

[0055] From (4), we can know that x 2 +y 2 +z 2 =r1 2 , substituting into (6) we get:

[0056] 2x0x+2y0y+2z0z-2Dr1=x0 2 +y0 2 +z0 2 -D 2 (7)

[0057] Substituting (1), (2), and (3) into (7), we obtain:

[0058] Then substitute (8) into (1), (2), and (3) to obtain the coordinates (x, y, z) of the reflection point, thereby determining the position of the reflection point.

[0059] The following is an illustrative example of a method for determining the spatial distribution of an echo signal using specific embodiments.

[0060] The echo signal distribution perception process for a specified real scene is as follows:

[0061] The base station transmits at a frequency of 4.9 GHz, with a bandwidth of 100 MHz. The sensing signal period is 5 ms, with one sensing symbol transmitted per period. The modulation sequence is the RIM sequence used by 3GPP. The transmit signal beamform is 65° horizontally and 6° vertically. The base station panel has eight horizontal and four vertical arrays, using dual polarization. The format of the transmitted signal is shown in Figure 4.

[0062] Figure 5 is a schematic diagram illustrating the positions of objects in a real-world scenario, provided by one embodiment. As shown in Figure 5 , point A represents the location of a transceiver base station, which is spaced 0.5 meters apart. Points B and D represent buildings, and C represents a corridor. The direction of the beam center is indicated by the arrow. It should be noted that the boxes and symbols in Figure 5 are only for illustrative purposes and do not represent the actual shape and size of the objects.

[0063] First, the delay-Doppler spectrum (RD) of the echo signal is calculated. Over a period of time, the receiving base station receives frequency domain data R of the object's echo signal. R is 64*3276*100, with the dimensions representing the number of antennas, subcarrier index, and number of packets. The received data is conjugated to the local sequence point multiplication to obtain the channel frequency domain H = R * conj(S). A 4096-point IFFT is performed to obtain the channel impulse response h = IFFT(H). h is 64*4096*100, with the dimensions representing the number of antennas, time domain sampling points, and number of packets. An FFT is performed on the packet number dimension to obtain the Doppler domain received data Dop, as shown in Figure 6. Dop is 64*4096*100, with the dimensions representing the number of antennas, time domain sampling points, and Doppler frequency.

[0064] Secondly, extract the environmental data from the delay-Doppler spectrum, that is, extract the zero-frequency data from the Dop map. The environmental data is recorded as Dop0, as shown in Figure 7.

[0065] Estimate the parameters of each sample point in the environmental data, including distance, angle, and energy. The echo signal impulse response arrives at Ts = 42, and the linear distance between the transceiver and base station is Dlos = 0.5 m. For any signal path, its propagation distance can be expressed as: D = (T2 - 42) * 2.44 + 0.5. For n = 1, 2, 3... T2 is the Ts value for that signal path.

[0066] When searching by angle, set the azimuth The range is [-8,11]°, the pitch angle θ is [-15,3]°, and the steering vector is constructed:

[0067] Wherein, λ is the wavelength, and d = 0.5λ.

[0068] For each angle, the steering vector is multiplied by the corresponding point of each antenna data of the environmental data Dop0 to obtain the Doppler data energy under the angle steering vector. The echo signal energy at each angle is calculated. The angle corresponding to the maximum energy is the angle value of the sample point, including the pitch angle and azimuth angle. The maximum energy is the energy corresponding to the angle value of the sample point. The processed data is Dop a .

[0069] Define the echo signal threshold T = 5×10 6 , extract environmental data Dop a The data with energy greater than T is the echo signal data Dop T .

[0070] On this basis, the position of the echo signal reflection point is calculated. The details are as follows:

[0071] Calculate the distance between the reflection point and the receiving base station:

[0072] Calculate the coordinates of the reflection point:

[0073] Finally, a grayscale image of the signal spatial distribution is plotted. Figure 8 shows the signal spatial distribution. The transceiver base station is located at point A, and the echo signals are primarily concentrated in areas B, C, and D. Because the beam center is perpendicular to point C, the echo signal strength at point C is the strongest. Points B and D, however, are located at the edges of the beam, so the transmitted signal power is weaker and the echo signal strength is also lower than that at point C.

[0074] The present application also provides an echo signal spatial distribution determination device. FIG9 is a schematic diagram of the structure of an echo signal spatial distribution determination device provided by an embodiment. As shown in FIG9, the echo signal spatial distribution determination device includes:

[0075] The calculation module 210 is configured to receive the echo signal and calculate the delay-Doppler spectrum of the echo signal;

[0076] an extraction module 220 configured to extract environmental data from the delay-Doppler spectrum, determine a distance parameter, an angle parameter, and an energy parameter corresponding to each sample point in the environmental data, and extract an echo signal component from the environmental data based on the energy parameter;

[0077] a determination module 230 configured to determine a reflection point position of the echo signal according to the echo signal component;

[0078] The drawing module 240 is configured to draw a spatial distribution diagram of the echo signal in a three-dimensional space according to the position of the reflection point and the intensity of the echo signal.

[0079] In one embodiment, the calculation module 210 includes:

[0080] a point multiplication unit configured to perform a conjugate point multiplication of the echo signal and the local sequence to obtain frequency domain channel information;

[0081] A first transform unit is configured to perform an inverse fast Fourier transform on the frequency domain channel information to obtain a channel impulse response;

[0082] The second transform unit is configured to perform a fast Fourier transform on the channel impulse response in a dimension of the number of data packets to obtain a delay-Doppler spectrum.

[0083] In one embodiment, the environmental data is data corresponding to a zero-frequency component in the delay-Doppler spectrum.

[0084] In one embodiment, the distance parameter includes the sum of the distance between the transmitting and receiving nodes and a specified distance, where the specified distance is the product of the difference between the arrival time of the reflection path and the arrival time of the line-of-sight path and the speed of light.

[0085] In one embodiment, the angle parameter includes an angle of the echo signal relative to a normal line of a receiver panel, and the angle parameter includes an elevation angle and an azimuth angle.

[0086] In one embodiment, the extraction module 220 includes:

[0087] A vector calculation unit is configured to traverse the angle range of the receiving beam of the echo signal for each sample point, and for any azimuth angle and any elevation angle, calculate a corresponding steering vector according to the number of antennas in the vertical direction and the number of antennas in the horizontal direction of the receiving node;

[0088] The energy calculation unit is configured to perform point multiplication of each of the steering vectors with the corresponding antenna data in the environmental data to obtain the corresponding Doppler data energy, and the angle parameters include the azimuth and elevation angles corresponding to the maximum Doppler data energy.

[0089] In one embodiment, the energy parameter corresponding to each sample point in the environmental data is a value corresponding to each sample point in the Doppler data energy corresponding to each steering vector.

[0090] In one embodiment, the echo signal component is data in the environmental data whose energy is greater than a set threshold.

[0091] In one embodiment, the determination module 230 includes:

[0092] an equation group establishing unit, configured to establish a nonlinear equation group based on the sum of the distance of the echo signal from the transmitting node to the reflection point and the distance from the reflection point to the receiving node, an angle parameter corresponding to each sample point in the echo signal component, and the distance between the reflection point and the receiving node;

[0093] a conversion unit configured to convert the nonlinear system of equations into a linear system of equations;

[0094] The position determination unit is configured to solve the linear equation group to obtain the reflection point position of the echo signal.

[0095] The echo signal spatial distribution determination device proposed in this embodiment and the echo signal spatial distribution determination method proposed in the above embodiment belong to the same inventive concept. Technical details not fully described in this embodiment can be referred to any of the above embodiments, and this embodiment has the same beneficial effects as executing the echo signal spatial distribution determination method.

[0096] An embodiment of the present application also provides a communication node. Figure 10 is a schematic diagram of the hardware structure of a communication node provided by an embodiment. As shown in Figure 10, the communication node provided by the present application includes a processor 510 and a memory 520; the processor 510 in the communication node can be one or more, and Figure 10 takes one processor 510 as an example; the memory 520 is configured to store one or more programs; the one or more programs are executed by the one or more processors 510, so that the one or more processors 510 implement the method for determining the spatial distribution of echo signals as described in the embodiment of the present application.

[0097] The communication node further includes: a communication device 530 , an input device 540 and an output device 550 .

[0098] The processor 510, memory 520, communication device 530, input device 540 and output device 550 in the communication node may be connected via a bus or other means. FIG10 takes the bus connection as an example.

[0099] The input device 540 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the communication node. The output device 550 may include a display device such as a display screen.

[0100] The communication device 530 may include a receiver and a transmitter. The communication device 530 is configured to perform information transmission and reception communication according to the control of the processor 510.

[0101] The memory 520, as a computer-readable storage medium, can be configured to store software programs, computer-executable programs, and modules, such as program instructions / modules corresponding to the method for determining the spatial distribution of echo signals described in the embodiments of the present application (e.g., the calculation module 210, extraction module 220, determination module 230, and rendering module 240 in the device for determining the spatial distribution of echo signals). The memory 520 may include a program storage area and a data storage area. The program storage area may store an operating system and at least one application required for a function; the data storage area may store data generated based on the use of the communication node. Furthermore, the memory 520 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state memory device. In some instances, the memory 520 may further include memory remotely located relative to the processor 510, and these remote memories may be connected to the communication node via a network. Examples of such networks include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0102] The present application also provides a storage medium storing a computer program, which, when executed by a processor, implements the method for determining the spatial distribution of an echo signal described in any one of the embodiments of the present application. The method includes:

[0103] An echo signal is received and a delay-Doppler spectrum of the echo signal is calculated; environmental data in the delay-Doppler spectrum is extracted, a distance parameter, an angle parameter, and an energy parameter corresponding to each sample point in the environmental data are determined, and an echo signal component in the environmental data is extracted based on the energy parameter; a reflection point position of the echo signal is determined based on the echo signal component; and a spatial distribution map of the echo signal is drawn in three-dimensional space based on the reflection point position and the intensity of the echo signal.

[0104] The computer storage medium of the embodiment of the present application can adopt any combination of one or more computer-readable media.Computer-readable media can be computer-readable signal media or computer-readable storage media.Computer-readable storage media can be, for example, but not limited to: electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any combination of the above.More specific examples (non-exhaustive list) of computer-readable storage media include: electrical connections with one or more wires, portable computer disks, hard disks, random access memories (RAM), read-only memories (ROM), erasable programmable read-only memories (EPROM), flash memories, optical fibers, portable CD-ROMs, optical storage devices, magnetic storage devices, or any suitable combination of the above.Computer-readable storage media can be any tangible medium containing or storing a program, which can be used by an instruction execution system, device or device or used in combination with it.

[0105] A computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such a propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0106] The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wire, optical cable, radio frequency (RF), etc., or any suitable combination of the foregoing.

[0107] The computer program code for performing the operations of the present application can be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and also conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as an independent software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (e.g., using an Internet service provider to connect via the Internet).

[0108] The above description is merely an exemplary embodiment of the present application and is not intended to limit the scope of protection of the present application.

[0109] It will be understood by those skilled in the art that the term user terminal covers any suitable type of wireless user equipment, such as a mobile phone, a portable data processor, a portable web browser or a vehicle-mounted mobile station.

[0110] In general, various embodiments of the present application may be implemented in hardware or dedicated circuits, software, logic, or any combination thereof. For example, some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device, although the present application is not limited thereto.

[0111] Embodiments of the present application may be implemented by executing computer program instructions by a data processor of a mobile device, for example, in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.

[0112] The block diagram of any logical flow in the drawings of this application may represent program steps, or may represent interconnected logical circuits, modules and functions, or may represent a combination of program steps and logical circuits, modules and functions. A computer program may be stored on a memory. The memory may be of any type suitable for the local technical environment and may be implemented using any suitable data storage technology, such as but not limited to read-only memory (ROM), random access memory (RAM), optical storage devices and systems (digital versatile discs (DVD) or compact disks (CD), etc.). Computer-readable media may include non-transitory storage media. The data processor may be of any type suitable for the local technical environment, such as but not limited to a general-purpose computer, a special-purpose computer, a microprocessor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) and a processor based on a multi-core processor architecture.

[0113] The above description of exemplary embodiments of the present application has been provided by way of exemplary and non-limiting examples. However, various modifications and adaptations of the above embodiments will be apparent to those skilled in the art, when considered in conjunction with the accompanying drawings and the appended claims, without departing from the scope of the present application. Therefore, the proper scope of the present application will be determined by reference to the appended claims.

Claims

1. A method for determining the spatial distribution of an echo signal, comprising: Receiving an echo signal and calculating a delay Doppler spectrum of the echo signal; Extracting environmental data from the delay Doppler spectrum, determining a distance parameter, an angle parameter and an energy parameter corresponding to each sample point in the environmental data, and extracting an echo signal component in the environmental data according to the energy parameter; Determining the reflection point position of the echo signal according to the echo signal component; A spatial distribution diagram of the echo signal is drawn in three-dimensional space according to the position of the reflection point and the intensity of the echo signal.

2. The method according to claim 1, wherein: Calculating the delay Doppler spectrum of the echo signal includes: Performing a conjugate point multiplication of the echo signal and the local sequence to obtain frequency domain channel information; Performing an inverse fast Fourier transform on the frequency domain channel information to obtain a channel impulse response; The channel impulse response is subjected to a fast Fourier transform in the dimension of the number of data packets to obtain a delay Doppler spectrum.

3. The method according to claim 1, wherein: The environmental data is data corresponding to the zero-frequency component in the delay Doppler spectrum.

4. The method according to claim 1, wherein: The distance parameter includes the sum of the distance between the transmitting and receiving nodes and the specified distance, and the specified distance is the product of the difference between the arrival time of the reflection path and the arrival time of the line-of-sight path and the speed of light.

5. The method according to claim 1, wherein: The angle parameter includes the angle of the echo signal relative to the normal line of the receiver panel, and the angle parameter includes the pitch angle and the azimuth angle.

6. The method according to claim 1, wherein: Determining the angle parameter corresponding to each sample point in the environmental data includes: For each sample point, traverse the angle range of the receiving beam of the echo signal, and for any azimuth angle and any elevation angle, calculate the corresponding steering vector according to the number of antennas in the vertical direction and the number of antennas in the horizontal direction of the receiving node; Each of the steering vectors is multiplied by a corresponding point of each antenna data in the environmental data to obtain a corresponding Doppler data energy, and the angle parameters include an azimuth angle and a pitch angle corresponding to a maximum Doppler data energy.

7. The method according to claim 6, wherein: The energy parameter corresponding to each sample point in the environmental data is a value corresponding to each sample point in the Doppler data energy corresponding to each steering vector.

8. The method according to claim 6, wherein: The echo signal component is data in the environmental data whose energy is greater than a set threshold.

9. The method according to claim 1, wherein: Determining the reflection point position of the echo signal according to the echo signal component includes: According to the sum of the distance from the transmitting node to the reflection point and the distance from the reflection point to the receiving node of the echo signal, the angle parameter corresponding to each sample point in the echo signal component, and the distance between the reflection point and the receiving node, a nonlinear Systems of equations; Converting the nonlinear system of equations into a linear system of equations; Solve the linear equation group to obtain the reflection point position of the echo signal.

10. A communication node, comprising: memory, and one or more processors; The memory is configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the spatial distribution determination method according to any one of claims 1 to 9.

11. A computer-readable storage medium having a computer program stored thereon, wherein: When the program is executed by a processor, the spatial distribution determination method as described in any one of claims 1 to 9 is implemented.

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