Frequency band splicing method and related apparatus

Abstract

The present application provides a frequency band splicing method and a related apparatus. In the frequency band splicing method provided by the present application, a first communication device and a second communication device both participate in the sending and processing of a sensing signal; the second communication device extracts auxiliary information on the basis of an echo signal corresponding to the sensing signal sent by the first communication device, and feeds back the auxiliary information to the first communication device; and on the basis of the echo signal corresponding to the sensing signal sent by the second communication device, and the auxiliary information, the first communication device performs fusion and splicing on echo signals of different sensing signals, and performs CIR estimation on the basis of an UWB signal obtained by splicing. Therefore, related information of a target is acquired.

Description

Frequency band splicing method and related device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 15, 2023, with application number 202311743378.6 and application name “Frequency Band Splicing Method and Related Devices”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communications, and in particular to a frequency band splicing method and related devices. Background Art

[0003] Ultra-wideband (UWB) technology transmits data by sending and receiving extremely narrow pulses of nanoseconds or less, resulting in a bandwidth in the gigahertz (GHz) range. UWB technology can be used in the field of sensing.

[0004] A technical solution for achieving perception through UWB technology is as follows: the perception initiator sends a perception signal, and the echo signal of the perception signal after reflection or scattering by the target reaches the perception responder. The perception responder estimates the channel impulse response (CIR) based on the echo signal. The perception responder feeds back the CIR parameters to the perception initiator. The perception initiator can extract information such as the distance, angle and speed of the perception target based on the CIR parameters.

[0005] However, using the above technical solution for perception may result in inaccurate perception. Summary of the Invention

[0006] The present application provides a frequency band splicing method and related devices, aiming to improve the perception accuracy of environmental perception based on UWB technology.

[0007] In a first aspect, the present application provides a frequency band splicing method, applied to a first communication device, the method comprising:

[0008] Receive first information from a second communication device, the first information including parameter information of a first echo signal, the first echo signal being an echo signal of a first perception signal; receive a second echo signal, the second echo signal being an echo signal of a second perception signal; and determine an ultra-wideband (UWB) signal based on the second echo signal and the first information.

[0009] In the dual-station sensing mode, both the sensing responder and the sensing initiator send sensing signals, and both the sensing initiator and the sensing responder participate in echo signal processing, thereby achieving better frequency band splicing effects, improving the accuracy of CIR estimation by communication equipment, and improving sensing accuracy.

[0010] In addition, since the perception signal is sent bidirectionally between the first communication device and the second communication device, the first communication device can extract more features of the target in the environment based on the spliced ​​UWB signal, thereby improving the perception accuracy.

[0011] In some implementations, the parameter information of the first echo signal includes at least one of the following information: the frequency band in which the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier for indicating a frequency band splicing reference signal.

[0012] In some implementations, the first information further includes perception information obtained based on the first echo signal.

[0013] In some implementations, the perception information includes at least one of the following information: the number of scattering centers, the distribution of relative distances between the scattering centers and the communication device that receives the first echo signal, or the distribution of geometric type parameters of the scattering centers.

[0014] The second communication device processes the first echo signal in advance to obtain the perception information, which can improve the efficiency of the first communication device in performing frequency band splicing according to the first echo signal and the second echo signal.

[0015] In some implementations, the relative distance between any two of the scattering centers is greater than or equal to a second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to a third threshold.

[0016] The second communication device cuts off the redundant scattering centers according to the relative distance and energy of the scattering centers, thereby avoiding the influence of the redundant scattering centers on the frequency band splicing, thereby improving the perception accuracy.

[0017] In some implementations, determining an ultra-wideband (UWB) signal based on the second echo signal and the first information includes:

[0018] Acquire a first fitting signal, where the first fitting signal is a signal obtained by fitting the first echo signal through a first scattering center model; acquire a second fitting signal, where the second fitting signal is a signal obtained by fitting the second echo signal through a second scattering center model, wherein the model order in the second scattering center model is the same as the model order in the first scattering center model; and determine a UWB signal based on the first fitting signal and the second fitting signal.

[0019] In some implementations, the model order corresponding to the first echo signal is lower than the model order corresponding to the second echo signal, wherein the model order in the first scattering center model and the model order in the second scattering center model are the same as the model order corresponding to the first echo signal.

[0020] In some implementations, determining an ultra-wideband (UWB) signal based on the first fitting signal and the second fitting signal includes:

[0021] If the error between the first fitting signal and the first echo signal is less than or equal to the first threshold, and the error between the second fitting signal and the second echo signal is less than or equal to the first threshold, the first echo signal is fitted by the third scattering center model to obtain a third fitting signal, and the second echo signal is fitted by the fourth scattering center model to obtain a fourth fitting signal, the model order in the third scattering center model is the same as the model order in the fourth scattering center model, and the model order in the third scattering center model is less than the model order in the first scattering center model; the UWB signal is determined according to the third fitting signal and the fourth fitting signal.

[0022] In some implementations, determining an ultra-wideband (UWB) signal based on the first fitting signal and the second fitting signal includes:

[0023] If the error between the first fitting signal and the first echo signal is greater than the first threshold, and the error between the second fitting signal and the second echo signal is greater than the first threshold, the first echo signal is fitted using the fifth scattering center model to obtain a fifth fitting signal, and the second echo signal is fitted using the sixth scattering center model to obtain a sixth fitting signal, the model order in the sixth scattering center model is the same as the model order in the fifth scattering center model, and the model order in the fifth scattering center model is greater than the model order in the first scattering center model; the UWB signal is determined based on the fifth fitting signal and the sixth fitting signal.

[0024] When obtaining the UWB signal by splicing the first echo signal and the second echo signal, the model order of the scattering center model corresponding to the first echo signal and the model order of the scattering center model corresponding to the second echo signal are aligned to ensure the accuracy of the incoherent factor estimated during the correlation processing, thereby improving the frequency band splicing effect and enhancing the perception accuracy.

[0025] In a second aspect, the present application provides a frequency band splicing method, applied to a second communication device, the method comprising:

[0026] First information is sent to the first communication device, where the first information includes parameter information of a first echo signal, where the first echo signal is an echo signal of the first perception signal; and a second perception signal is sent.

[0027] In some implementations, the parameter information of the first signal includes at least one of the following information: the frequency band in which the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier for indicating a frequency band splicing reference signal.

[0028] In some implementations, the first information further includes perception information obtained based on the first echo signal.

[0029] In some implementations, the perception information includes at least one of the following information: the number of scattering centers, the distribution of relative distances between the scattering centers and the second communication device, or the distribution of geometric type parameters of the scattering centers.

[0030] In some implementations, the relative distance between any two of the scattering centers is greater than or equal to a second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to a third threshold.

[0031] In some implementations, there is a preset association between the frequency band of the second perception signal and the first information.

[0032] When the frequency band of the second perception signal sent by the second communication device is a preset optimal frequency band, the splicing effect of the UWB signal can be improved when the first echo signal and the second echo signal are spliced, thereby improving the perception accuracy.

[0033] In a third aspect, the present application provides a frequency band splicing device, which includes various functional modules for implementing any of the frequency band splicing methods mentioned in the above implementations. Optionally, each module can be implemented in software and / or hardware.

[0034] In a fourth aspect, the present application provides a frequency band splicing device, comprising a processor coupled to a memory and configured to execute instructions in the memory to implement any of the frequency band splicing methods described in the above implementations. Optionally, the device further comprises a memory. Optionally, the device further comprises a communication interface, the processor coupled to the communication interface.

[0035] In a fifth aspect, the present application provides a computer-readable medium storing a program code for execution by a device, wherein the program code includes instructions for executing any one of the frequency band splicing methods mentioned in the above implementation manners.

[0036] In a sixth aspect, the present application provides a computer program product, including a computer program, which implements any of the frequency band splicing methods mentioned in the above implementation manners when executed by a processor. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0038] FIG1 is a schematic diagram of two application scenarios provided by this application;

[0039] Figure 2 is a schematic diagram of a sensing scenario in dual-station sensing mode;

[0040] FIG3 is a flow chart of a frequency band splicing method according to an embodiment of the present application;

[0041] FIG4 is a flow chart of a frequency band splicing method provided by one embodiment of the present application;

[0042] FIG5 is a schematic diagram showing the effect of fitting a signal obtained by fitting an echo signal using a GTD model in a simulation experiment of the present application;

[0043] FIG6 is a comparison diagram of the effects before and after correlation recovery processing of the upper and lower sidebands in the simulation experiment of this application;

[0044] FIG7 is a schematic diagram of the frequency domain effect of a full-band UWB signal obtained by splicing the upper and lower sub-bands in the simulation experiment of this application;

[0045] FIG8 is a schematic diagram of the time domain effect of a full-band UWB signal obtained by splicing the upper and lower sub-bands in the simulation experiment of this application;

[0046] FIG9 is a schematic diagram of the model orders corresponding to different echo signals before and after scattering center clipping when the signal-to-noise ratio is 20 dB in the simulation experiment of this application;

[0047] FIG10 is a schematic diagram of the model orders corresponding to different echo signals before and after scattering center clipping when the signal-to-noise ratio is 30 dB in the simulation experiment of this application;

[0048] FIG11 is a schematic diagram showing a comparison of normalized mean square errors under different algorithms in the simulation experiment of this application;

[0049] FIG12 is a schematic structural diagram of a frequency band splicing device provided by one embodiment of the present application;

[0050] FIG13 is a schematic structural diagram of a frequency band splicing device provided by another embodiment of the present application;

[0051] FIG14 is a schematic structural diagram of a frequency band splicing device provided in yet another embodiment of the present application.

[0052] The above drawings illustrate specific embodiments of the present application, which will be described in more detail below. These drawings and the textual description are not intended to limit the scope of the present application in any way, but rather to illustrate the concepts of the present application to those skilled in the art by reference to specific embodiments. DETAILED DESCRIPTION

[0053] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all embodiments consistent with the present application. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present application, as detailed in the appended claims.

[0054] The technical solution provided in this application can be applied to wireless personal area networks (WPANs) based on UWB technology. For example, the method provided in this application can be applied to Institute of Electrical and Electronics Engineers (IEEE) protocols, such as IEEE 802.11be / Wi-Fi 7 / extremely high throughput (EHT) protocol, IEEE 802.11bn / Wi-Fi 8 / ultra-high reliability (UHR) protocol, IEEE 802.15 / UWB protocol, or IEEE 802.11bf / sensing / perception protocol, or a future generation of UWB WPAN standards, which are not listed here one by one. The method provided in this application can also be applied to various communication systems, for example, the Internet of Things (IoT) system, the Vehicle to X (V2X) system, the narrowband Internet of Things (NB-IoT) system, devices used in the Internet of Things, IoT nodes and sensors in the Internet of Things, smart cameras, smart remote controls, smart water and electricity meters in smart homes, and sensors in smart cities. It can also be applied to the Long Term Evolution (LTE) frequency division duplex (FDD) system, LTE time division duplex (TDD) system, universal mobile telecommunication system (UMTS), worldwide interoperability for microwave access (WiMAX) communication system, LTE system, fifth-generation (5G) communication system, sixth-generation (6G) communication system, etc.

[0055] UWB technology is a new wireless communication technology that transmits data using narrow, non-sinusoidal pulses in the nanosecond range. By modulating impulses with very steep rise and fall times, UWB pulses occupy a wide spectrum, resulting in signals with bandwidths in the GHz range. UWB bandwidth typically exceeds 1 GHz. Due to the narrowness of UWB pulses and their extremely low radiation spectral density, UWB wireless communication systems offer advantages such as strong multipath resolution, low power consumption, and high confidentiality, facilitating coexistence with other systems and improving spectrum utilization and system capacity. Furthermore, in short-range communication applications, the transmit power of UWB transmitters can typically be less than 1 milliwatt (mW). Theoretically, the interference generated by UWB signals is equivalent to broadband white noise. This facilitates good coexistence between ultra-wideband and existing narrowband communications. Consequently, UWB systems can operate simultaneously with narrowband (NB) communication systems without interfering with each other. The method provided in this application can be implemented by a communication device in a wireless communication system. In a communication device, the module that implements the UWB system function can be called a UWB module (for example, it can be used to send UWB pulses), and the module that implements the narrowband communication system function can be called a narrowband communication module. The UWB module and the narrowband communication module can be different devices or chips, etc., and the embodiments of this application are not limited to this. Of course, the UWB module and the narrowband communication module can also be integrated into a single device or chip. The embodiments of this application do not limit the implementation of the UWB module and the narrowband communication module in the communication device.

[0056] The method provided in the present application can be implemented by a communication device in a wireless communication system, and the communication device can be a device involved in a UWB system. For example, the communication device may include but is not limited to a communication server, a router, a switch, a bridge, a computer, a mobile phone, etc. For another example, the communication device may include a central control point, such as a personal area network (PAN) or a PAN coordinator, etc. For another example, the communication device may include a user equipment (UE), and the user equipment may include various handheld devices with wireless communication functions, vehicle-mounted devices, wearable devices, Internet of Things devices, computing devices, or other processing devices connected to a wireless modem, etc. For another example, the communication device may include a chip, and the chip may be set in a communication server, a router, a switch, or a user terminal, etc., which are not listed here one by one.

[0057] Figure 1 is a schematic diagram of two application scenarios provided by this application. In the system 101 shown in (A) of Figure 1, multiple full-function devices (FFDs) and multiple reduced-function devices (RFDs) form a star topology communication system, where one of the FFDs is a PAN controller. In the star topology communication system, the PAN controller transmits data with one or more other devices, that is, multiple devices can establish a one-to-many or many-to-one data transmission architecture. In the system 102 shown in (B) of Figure 1, multiple FFDs and one RFD form a peer-to-peer topology or mesh topology communication system, where one of the FFDs is a PAN controller. In the peer-to-peer topology communication system, a many-to-many data transmission architecture can be established between multiple different devices. In (A) and (B) of Figure 1, FFDs and RFDs can both be understood as the devices shown in this application. Among them, the full-function devices and reduced-function devices are relative, such as a low-function device cannot be a PAN coordinator. For example, compared to a full-function device, a low-function device may not have coordination capabilities or may have a lower communication rate than a full-function device. It is understood that the PAN coordinator shown in FIG1(B) is only an example, and the other three full-function devices shown in FIG1(B) can also serve as PAN coordinators, which are not shown here one by one.

[0058] It should be understood that Figures 1(A) and 1(B) are simplified schematic diagrams for ease of understanding and do not limit the application scenarios of the present application. For example, the system 101 and / or the system 102 may also include other FFDs and / or RFDs. For another example, the PAN coordinator in the system 101 and / or the system 102 may also be a coordinator.

[0059] According to the definition of distance resolution, the distance resolution is inversely proportional to the effective correlation bandwidth of the signal. That is, the wider the effective correlation bandwidth of the signal, the smaller the distance resolution value, and the smaller the distance resolution value means stronger resolution capability. Because UWB signals have extremely wide bandwidth and have strong resolution capabilities in wireless multipath environments, the physical world can be observed and understood based on UWB signals. The basic principle of UWB perception is: a pair of UWB devices acts as a transmitting and receiving node, respectively. The transmitting node sends a perception signal, and the receiving node completes the channel impulse response (CIR) estimation based on the received perception signal. Based on the CIR parameters, information such as the distance, angle, and speed of the perception target in the environment can be extracted.

[0060] The devices involved in the UWB perception process may include a perception initiator and a perception responder. The terms perception initiator and perception responder are relative. For example, the perception initiator is the party that initiates the perception process, and the perception responder is the party that responds based on the party that initiates the perception process. For example, the perception initiator may be the transmitter of the perception signal, and the perception responder is the receiver of the perception signal. For another example, the perception initiator may be the receiver of the perception signal, and the perception responder is the transmitter of the perception signal. It is understood that the perception signal sent by the perception initiator first reaches the target and then reaches the perception responder (for example, the perception signal reaches the perception responder after being reflected or scattered by the target, and the signal that reaches the perception responder after being reflected or scattered by the target is equivalent to the echo signal of the perception signal).

[0061] Figure 2 is a schematic diagram of a sensing scenario in bistatic sensing mode. As shown in Figure 2, the bistatic sensing mode is based on a sensing scenario with a sensing responder. The sensing initiator (TX) is the transmitter (or the device that sends the sensing signal), and the sensing responder (RX) is the receiver (or the device that receives the sensing signal). The sensing initiator sends the sensing signal, and the sensing responder estimates the CIR based on the received sensing signal reflected or scattered by the sensed object. When the sensing responder has the ability to extract target information based on the CIR parameter, the sensing initiator can obtain relevant information about the target in the environment through the feedback information.

[0062] For low-cost, low-power UWB devices, due to the performance limitations of their analog-to-digital converters (ADCs), UWB devices are unable to transmit UWB signals. An effective solution is to synthesize a UWB signal using multiple sub-band data in different frequency bands and perform CIR estimation based on the synthesized UWB signal. As an example, in the scenario shown in Figure 2, when the sensing initiator and sensing responder are low-cost, low-power UWB devices, the sensing initiator can send multiple sensing packets, which can be understood as a pulse sensing signal. The multiple pulse sensing signals, after being reflected or scattered by the target, reach the sensing responder as echo signals. The multiple echo signals are equivalent to multiple sub-band data. The sensing responder can splice the multiple echo signals to obtain a UWB signal and perform CIR estimation on the spliced ​​UWB signal. The sensing initiator obtains relevant information about the target in the environment through feedback information.

[0063] However, in dual-station sensing mode, only a single device participates in transmitting the sensing signal. That is, the sensing signal is sent by the sensing initiator and received by the sensing responder, which then performs CIR estimation based on the received sensing signal. This processing by a single device results in poor band stitching. Furthermore, since the sensing signal originates from a single device, the sensing responder can only infer partial characteristics of the objects in the environment based on the received sensing signal.

[0064] To solve the above problems, the present application provides a frequency band splicing method and related devices, aiming to improve the perception accuracy of environmental perception based on UWB technology.

[0065] In the technical solution proposed in this application, both the perception initiator and the perception responder participate in the sending of the perception signal. The perception responder extracts auxiliary information based on the echo signal corresponding to the perception signal sent by the perception initiator, and feeds the auxiliary information back to the perception initiator. The perception initiator fuses and splices the echo signals of different perception signals based on the echo signal corresponding to the perception signal sent by the perception responder and the auxiliary information, and performs CIR estimation based on the spliced ​​UWB signal to obtain relevant information of the target.

[0066] Below, without loss of generality, the frequency band splicing method provided in the embodiment of the present application is described in detail by taking the interaction between the first communication device and the second communication device as an example. The first communication device and the second communication device are the perception initiator and the perception responder in the UWB perception system. For example, the first communication device is the perception initiator (initiator) and the second communication device is the perception responder (responder), or the first communication device is the perception responder (responder) and the second communication device is the perception initiator (initiator), which is not limited here.

[0067] As an example but not limitation, the first communication device may be a device with communication capabilities in a WPAN, such as an FFD or an RFD; similarly, the second communication device may also be a device with communication capabilities in a WPAN, such as an FFD or an RFD.

[0068] FIG3 is a flow chart of a frequency band splicing method provided by an embodiment of the present application. As shown in FIG3 , the frequency band splicing method is applied in a dual-station sensing mode scenario and includes the following steps:

[0069] S301: A second communication device sends first information to a first communication device, where the first information includes parameter information of a first echo signal. Correspondingly, the first communication device receives the first information from the second communication device.

[0070] In dual-station sensing mode, the first communication device first transmits a first sensing signal. Correspondingly, the second communication device receives a first echo signal after the first sensing signal is reflected or scattered by a target. Based on the received first echo signal, the second communication device can obtain parameter information about the first echo signal. In real-world scenarios, the target can typically be approximated as a set of discrete scattering centers. When the first sensing signal is scattered by the target, it is effectively affected by the target. Therefore, the second communication device can also obtain sensing information based on the first echo signal. This sensing information is used to describe relevant information about the scattering centers in the scene.

[0071] In this step, the first information includes parameter information of the first echo signal, and the second communication device sends the parameter information of the echo signal to the first communication device via the first information. Optionally, the first information may also include perception information acquired based on the first echo signal.

[0072] In some implementations, the parameter information of the first echo signal may include at least one of the following information: the frequency band in which the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier for indicating a frequency band splicing reference signal.

[0073] In some implementations, the perception information may include at least one of the following information: the number of scattering centers, the distribution of relative distances between the scattering centers and the communication device receiving the first echo signal, or the distribution of geometric type parameters of the scattering centers.

[0074] As an example, the first information is in a signaling form, wherein the data format for indicating the parameter information and the perception information of the first echo signal is as shown in Table 1.

[0075] Table 1

[0076] The number of scattering centers (M) occupies bits 0 to 5 of the signaling. Convert the binary value of the bit corresponding to "M" to a decimal value. For example, the bit corresponding to "M" is (00000)2. After converting it to a decimal value, (00000)2 = (0) 10 The corresponding bit of "M" is (11111)2, and the corresponding decimal value is (11111)2=(63) 10. The number of scattering centers is a positive integer, so after converting the binary value on the bit corresponding to M into a decimal value, it is necessary to add 1. Accordingly, the value range of "M" is 1 to 64, and the minimum unit of change is 1. It can be understood that the UWB perception process needs to fit the echo signal data through the scattering center model, and the number of scattering centers "M" is the order of the scattering center model corresponding to the fitting process.

[0077] The frequency band where the first echo signal is located (N channel ) occupies 6 to 9 bits of the signaling, and "N channel "The binary value on the corresponding bit is converted into a decimal value, for example, "N channel "The corresponding bit is (0000)2, which is converted into a decimal value (0000)2 = (0) 10 , "N channel The corresponding bit position is (1111)2, and the corresponding decimal value is (1111)2=(15) 10 Therefore, “N channel "The value range is 0 to 15, and the minimum unit of change is 1. It should be noted that in the embodiment of the present application, a specific frequency band is defined for the first echo signal, and it is divided into 16 different frequency bands from the 0th frequency band to the 15th frequency band. The frequency band "N" of the first echo signal in Table 1 is channel The value of " is used to indicate that the first echo signal is specifically in the Nth channel For example, "N channel The value of the corresponding bit is (0011)2, indicating that the frequency band of the first echo signal is the third frequency band in the designated frequency band.

[0078] The bandwidth (B) of the first echo signal occupies 10 to 16 bits of the signaling, and its value satisfies the formula: B = (value1) 10 *5+100, where "(value1) 10 "That is, the binary value of the bit corresponding to "B" is converted into the resulting decimal value. For example, if the bit corresponding to "B" is (0000000)2, then the value of "B" is 100. If the bit corresponding to "B" is (1111111)2, then the value of "B" is 735. Therefore, the value range of "B" is 100 megahertz (MHz) to 735MHz, and the minimum change unit is 5MHz.

[0079] The frequency offset between the center frequency of the first echo signal and the center frequency of the channel occupies bits 17 to 37 of the signaling, and its value satisfies the formula: Here, "symbol1" is the first bit in the "offset" corresponding to the signaling bit 17, which is 0 or 1. "(value2) 10 " is the decimal value obtained by converting the binary value of the last 13 bits of the bit corresponding to "offset". For example, if the bit corresponding to "offset" is (10000000000001)2, the value of "offset" is 0.1. If the bit corresponding to "offset" is (11111111111111)2, the value of "offset" is 819.1. It should be noted that when the bit corresponding to "offset" is (00000000000000)2, the value of "offset" is -819.2. Therefore, the value range of "offset" is -819.2MHz to 819.1MHz, and the minimum change unit is 0.1MHz. It should be noted that the frequency band in which the first echo signal is located indicates that the first echo signal is specifically located in the Nth channel In the frequency band, the center frequency of the channel here is the Nth channel The center frequency of the channel on the frequency band.

[0080] The number of sampling points (N) of the first echo signal occupies bits 31 to 37 of the signaling. Convert the binary value of the bit corresponding to "N" to a decimal value. For example, the bit corresponding to "N" is (0000000)2. After converting it to a decimal value, (0000000)2 = (0) 10 The corresponding bit of "N" is (1111111)2, and the corresponding decimal value is (1111111)2 = (127) 10 The number of sampling points is a positive integer, so after converting the binary value of the bit corresponding to "N" to a decimal value, you need to add 1. Accordingly, the value range of "N" is 1 to 127, with the minimum change unit being 1.

[0081] The identifier (reference) used to indicate the frequency band splicing reference signal occupies 38 bits of the signaling. The value of "reference" is 0 or 1. 0 or 1 can be used to indicate the perception initiator (initiator) or perception responder (responder) respectively. The "reference" can be used to determine whether the sub-bands are spliced ​​based on the sub-bands on the specified side.

[0082] Bit 39 of the signaling is a null bit.

[0083] The real part of the first echo signal (Re(s f )) The bit position of the signaling satisfies the formula: 40-(N*16+39), where "N" is the number of sampling points of the first echo signal.f )” satisfies the formula: Here, "symbol2" is "Re(s f )" corresponds to the 0 or 1 indicated by the first bit, "(value3) 10 ” is “Re(s f )” is converted into the decimal value of the remaining bits except the first bit in the corresponding bit. It should be noted that if “Re(s f )” corresponds to the bit (000000000000)2, “Re(s f )” takes the value of -1, and “Re(s f )” ranges from -1 to (1-2- 15 ), “Re(s f )”The minimum change unit is 2 -15 It can be understood that the real part of the first echo signal is the real part of the first echo signal in the frequency domain.

[0084] The imaginary part of the first echo signal (Imag(s f )) The bit position of the signaling satisfies the formula: (N*16+40)-(N*32+39), where "N" is the number of sampling points of the first echo signal. f )” satisfies the formula: Here, "symbol3" is "Imag(s f )" corresponds to the 0 or 1 indicated by the first bit, "(value4) 10 ” is “Imag(s f )” is converted into the decimal value of the remaining bits except the first bit in the corresponding bit. It should be noted that if “Imag(s f )” corresponds to the bit (000000000000)2, “Imag(s f )” takes the value -1, and “Imag(s f )” ranges from -1 to (1-2 -15 ), “Imag(s f )” minimum change unit is 2- 15 It can be understood that the imaginary part of the first echo signal is the imaginary part of the first echo signal in the frequency domain.

[0085] The relative distance distribution between the scattering center and the communication device receiving the first echo signal (r k) occupies the signaling bit position that satisfies the formula: (N*32+40)-(N*32+39+M*13), where "N" is the number of sampling points of the first echo signal and "M" is the number of scattering centers. k The value of " satisfies the formula: Here, "symbol4" is "r k "The first bit indicates 0 or 1," (value5) 10 ” is “r k "The binary value of the remaining bits except the first bit in the corresponding bit is converted into the decimal value obtained. It should be noted that if "r k "The corresponding bit is (0000000000000)2," k "The value is -2 -4 , , k The value range of " is -2- 4 to (2 4 -2 -8 ), "r k "The minimum change unit is 2- 8 Meter (m).

[0086] The geometric type parameter distribution of the scattering center (α k ) occupies the signaling bit position that satisfies the formula: (N*32+40+M*13)-(N*32+39+M*16), "α k The value range of " is [-2, -1, -1 / 2, 0, 1 / 2, 1, 3 / 2, 2], and different values ​​correspond to different geometric structure types. For example, "α k "When the value is -1, it means the geometric type of the scattering center is angular diffraction, "α k When the value is -0.5, it means that the geometric type of the scattering center is edge diffraction.

[0087] According to the data structure shown in Table 1, the signaling length corresponding to the first information is between 11 bytes and 645 bytes.

[0088] It can be understood that Table 1 is only an exemplary data structure. While ensuring that both the perception initiator and the perception responder can extract parameter information and / or perception information of the echo signal, the specific bit position and quantity occupied by each parameter in the signaling corresponding to the first information can be adjusted.

[0089] S302: The second communication device sends a second sensing signal. Correspondingly, the first communication device receives a second echo signal after the second sensing signal is reflected or scattered by a target.

[0090] It is understood that in the embodiments of the present application, the perception signals exchanged between the perception initiator and the perception responder will pass through the target. For ease of description, the flow diagram does not reflect the process of the perception signals passing through the target. For example, the perception signal sent by the perception initiator is reflected or scattered by the target, and its corresponding echo signal reaches the perception responder. This can be simply described as: the perception initiator sends the perception signal, and the perception responder receives the echo signal after the perception signal is reflected or scattered by the target.

[0091] S303: The first communication device determines an ultra-wideband (UWB) signal according to the second echo signal and the first information.

[0092] In this step, based on the parameter information of the first echo signal included in the first information, it is equivalent to the first communication device receiving the first echo signal. Because the time delay and initial phase between the first echo signal and the second communication device differ from the time delay and initial phase between the second echo signal and the first communication device, the first echo signal and the second echo signal are mutually uncorrelated. Therefore, when fusing and splicing the first echo signal and the second echo signal, correlation recovery processing must first be performed on the data of the two echo signals.

[0093] The first echo signal and the second echo signal are equivalent to two different subbands. The usual approach to recovering the correlation between subbands is: first, establish a suitable frequency band model for fitting the subband frequency domain data; then, using one of the subbands as a reference, estimate the non-correlation factor between the subbands; finally, compensate it to the non-reference subband until the subbands achieve optimal matching.

[0094] As an example, the first communication device processes the data of the first echo signal based on the generalized likelihood algorithm to obtain information such as the first scattering center and the relative distance of the scattering center and the geometric type of the scattering center, and further processes the data of the first echo signal based on the relevant information of the first scattering center to obtain the second scattering center and its related information. The data of the first echo signal is iteratively processed in the above manner until the calculated generalized likelihood ratio is less than a preset error rate threshold. The first communication device can use a geometrical theory of diffraction (GTD) model to fit the data of the first echo signal based on the number of scattering centers and related information obtained from the processing of the first echo signal. The GTD model satisfies the following formula:

[0095] Among them, s(f n ) represents the value of the echo signal in the frequency domain after being fitted by the GTD model, M represents the number of scattering centers, that is, the order of the GTD model, A m is the intensity coefficient of the mth scattering center, i.e., the complex amplitude, αm is the geometric type parameter of the mth scattering center, r m is the relative distance between the mth scattering center and the reference point, f n Represents the frequency of the signal sampling point, f0 is the starting frequency of the signal.

[0096] It can be understood that, when the first information includes perception information acquired based on the first echo signal, the first communication device may directly perform fitting processing on the data of the first echo signal based on the perception information.

[0097] Similarly, the first communications device uses the GTD model to fit the data of the second echo signal based on the number of scattering centers and related information obtained from processing the second echo signal. The signals obtained by fitting the first echo signal and the second echo signal are coherently processed. During the coherent processing, a reference subband is determined based on the identifier "reference" in the first information indicating a frequency band splicing reference signal. Non-correlated factors are then compensated for in the non-reference subbands until the subbands achieve optimal matching.

[0098] After implementing the correlation recovery processing between the first echo signal and the second echo signal, the first communication device uses the data of the two correlated sub-bands to initially estimate the scattering center model parameters, and simultaneously estimates the incoherent parameters and scattering center model parameters based on the initial values ​​of the scattering centers.

[0099] The first communication device reconstructs the missing frequency band using the estimated scattering center model parameters, interpolates the data between the sub-bands, and extrapolates the data outside the sub-bands, thereby obtaining a fused UWB full-band signal.

[0100] It can be understood that the first communication device can be the perception initiator and the second communication device can be the perception responder. When the identities of the two are exchanged, that is, the first communication device is the perception responder and the second communication device is the perception initiator, the frequency band splicing method proposed in this application is also applicable to this situation.

[0101] In this embodiment, both the sensing responder and the sensing initiator in dual-station sensing mode transmit sensing signals, and both the sensing initiator and the sensing responder participate in echo signal processing, thereby achieving better frequency band splicing, improving the accuracy of CIR estimation by the communication device, and enhancing sensing accuracy. Furthermore, because the sensing signals are transmitted bidirectionally between the first and second communication devices, the first communication device can extract more features of targets in the environment based on the spliced ​​UWB signals, thereby improving sensing accuracy.

[0102] In the above embodiment, the first echo signal and the second echo signal are fitted using the same scattering center model. However, the order of the scattering center model corresponding to the first echo signal and the order of the scattering center model corresponding to the second echo signal may not be the same. For example, when the first echo signal is processed based on the generalized likelihood algorithm, M1 scattering centers can be obtained. When the first echo signal is fitted using the GTD model, the order of the GTD model corresponding to the first echo signal is M1. When the second echo signal is processed based on the generalized likelihood algorithm, M2 scattering centers can be obtained. When the second echo signal is fitted using the GTD model, the order of the GTD model corresponding to the second echo signal is M2. M1 and M2 may not be the same.

[0103] When the orders of the scattering center models corresponding to two echo signals are unequal, the accuracy of the estimated incoherent factors decreases during the correlation recovery process based on the signals obtained by fitting the two echo signals, resulting in poor coherence processing, which in turn affects the frequency band splicing effect and reduces perceptual accuracy. To address this issue, the frequency band splicing method proposed in this application ensures that the model orders of the scattering center models corresponding to the first echo signal and the second echo signal are the same before performing correlation recovery on the signals obtained by fitting the first echo signal and the second echo signal.

[0104] FIG4 is a flow chart of a frequency band splicing method according to an embodiment of the present application. The following describes an implementation of a method in which the first communication device determines an ultra-wideband (UWB) signal based on the second echo signal and the first information, in conjunction with FIG4. It can be understood that step S303 may include steps S401 to S403.

[0105] S401 : Acquire a first fitting signal, where the first fitting signal is a signal obtained by fitting a first echo signal through a first scattering center model.

[0106] S402 , obtaining a second fitting signal, where the second fitting signal is a signal obtained by fitting the second echo signal through a second scattering center model, and the model order in the second scattering center model is the same as the model order in the first scattering center model.

[0107] According to step S303 in the embodiment shown in Figure 3, before the first communication device performs fitting processing on the echo signal through the scattering center model, it is first necessary to obtain the number of scattering centers and related information corresponding to each scattering center based on the echo signal. The number of scattering centers is equivalent to the model order corresponding to the echo signal. When fitting the echo signal through the formula of the scattering center model, the above-obtained number of scattering centers and related information corresponding to each scattering center need to be applied.

[0108] In the above steps S401 and S402, the model order in the formula of the first scattering center model is the number of scattering centers obtained based on the processing of the first echo signal, and the model order in the formula of the second scattering center model is the number of scattering centers obtained based on the processing of the second echo signal. The model order in the first scattering center model is the same as the model order in the second scattering center model, that is, the model orders of the two scattering center models are aligned.

[0109] In some implementation manners, when the number of scattering centers obtained based on the processing of the first echo signal is not equal to the number of scattering centers obtained based on the processing of the second echo signal, the lower one of the two numbers is used as the model order in the first scattering center model and the second scattering center model. As a possible implementation manner, when the number of scattering centers obtained based on the processing of the first echo signal is less than the number of scattering centers obtained based on the processing of the second echo signal, it is equivalent that the model order corresponding to the first echo signal is lower than the model order corresponding to the second echo signal. At this time, the model order of the first scattering center model and the model order of the second scattering center model are the same as the model order corresponding to the first echo signal.

[0110] For example: The first communication device processes the data of the first echo signal based on the generalized likelihood algorithm, obtains M1 scattering centers and the relative distance distribution and geometric type parameter distribution corresponding to the M1 scattering centers. The model order corresponding to the first echo signal is M1, and the model order of the first GTD model used for fitting the first echo signal corresponds to M1 order. Similarly, it can be determined that the model order corresponding to the second echo signal is M2. When M1 < M2, the model order of the second GTD model used for fitting the second echo signal is also M1 order. Considering that when obtaining scattering centers based on the generalized likelihood algorithm, other scattering centers are iteratively obtained based on the first scattering center. When the model order of the second GTD model is M1 order, the remaining (M2 - M1) scattering centers are equivalent to being clipped.

[0111] S403, determine the ultra-wideband UWB signal according to the first fitting signal and the second fitting signal.

[0112] It can be understood that splicing the echo signal and splicing the fitting signals obtained after fitting the echo signal are actually the same thing. In this step, the first communication device performs correlation recovery processing on the first fitting signal and the second fitting signal, uses the correlated sub-band data to estimate the parameters of the scattering center model, and finally uses the estimated model parameters to reconstruct the missing frequency band, and forms the fused UWB signal by means of interpolation and extrapolation. The specific process is the same as that in step S303 and will not be elaborated here.

[0113] The first communication device may also calculate an error between the first fitting signal and the first echo signal, and an error between the second fitting signal and the second echo signal. In some implementations, when the error between the first fitting signal and the first echo signal is less than or equal to a first threshold, and the error between the second fitting signal and the second echo signal is less than or equal to the first threshold, the first echo signal is fitted using a third scattering center model to obtain a third fitting signal, and the second echo signal is fitted using a fourth scattering center model to obtain a fourth fitting signal, wherein the model order in the third scattering center model is the same as the model order in the fourth scattering center model, and the model order in the third scattering center model is less than the model order in the first scattering center model. The first communication device determines a UWB signal based on the third fitting signal and the fourth fitting signal.

[0114] It is understandable that when the error between the fitting signal and the echo signal is less than or equal to a preset first threshold, it is equivalent to an overfitting problem when the first communication device fits the echo signal using the scattering center model. That is, the number of scattering centers corresponding to the model order in the scattering center model is higher than the number of scattering centers actually existing in the environment. Therefore, it is necessary to reduce the model order of the scattering center model and re-fit the echo signal. Therefore, the model order in the third scattering center model is smaller than the model order in the first scattering center model. At the same time, to ensure that the model orders of the two scattering center models are aligned, the model order in the fourth scattering center model is the same as the model order in the third scattering center model.

[0115] In some implementations, when an error between the first fitting signal and the first echo signal is greater than a first threshold, and an error between the second fitting signal and the second echo signal is greater than the first threshold, the first echo signal is fitted using a fifth scattering center model to obtain a fifth fitting signal, and the second echo signal is fitted using a sixth scattering center model to obtain a sixth fitting signal, wherein the model order in the fifth scattering center model is the same as the model order in the sixth scattering center model, and the model order in the fifth scattering center model is greater than the model order in the first scattering center model. The first communication device determines a UWB signal based on the fifth fitting signal and the sixth fitting signal.

[0116] When the error between the fitting signal and the echo signal is greater than a first threshold, it is equivalent to an underfitting problem when the first communication device fits the echo signal using the scattering center model. That is, the number of scattering centers corresponding to the model order in the scattering center model is lower than the number of scattering centers actually present in the environment. Therefore, it is necessary to increase the model order of the scattering center model and refit the echo signal. Therefore, the model order of the fifth scattering center model is greater than the model order of the first scattering center model. At the same time, to ensure that the model orders of the two scattering center models are aligned, the model order of the fifth scattering center model is the same as the model order of the sixth scattering center model.

[0117] It should be noted that when one of the errors between two fitting signals and their corresponding echo signals is less than or equal to the first threshold and the other error is greater than the first threshold, the first communication device adjusts the model order of the scattering center model corresponding to the echo signal in accordance with the existence of an under-fitting problem.

[0118] It can be understood that the process of adjusting the model order of the scattering center model corresponding to the echo signal in the above implementation method is actually a trial process. After the echo signal is fitted with the new scattering center model, if there is still an underfitting problem or an overfitting problem, the model order of the scattering center model corresponding to the echo signal is further adjusted until the underfitting problem changes to an overfitting problem, or until the overfitting problem changes to an underfitting problem.

[0119] As an example, the error between the fitting signal and the echo signal can be a normalized mean square error. For example, the model orders of the first scattering center model and the second scattering center model are both M1. Calculation shows that the normalized mean square error between the first fitting signal and the first echo signal is greater than a first threshold, and the normalized mean square error between the second fitting signal and the second echo signal is greater than the first threshold. The first communication device processes the echo signal based on the generalized likelihood algorithm to obtain the scattering center and its corresponding related parameters. Therefore, based on the generalized likelihood algorithm, according to the M1th scattering center obtained by processing the first echo signal, the (M1+1)th scattering center and its related parameters can be obtained. The first echo signal is fitted using a GTD model with a model order of M1+1 to obtain a new model fitting signal, and the normalized mean square error between the new model fitting signal and the first echo signal is calculated. If the normalized mean square error is greater than the first threshold, then according to the (M1+1)th scattering center, the (M1+2)th scattering center and related parameters are obtained, and the first echo signal is fitted by the GTD model with a model order of M1+2 to obtain a new model fitting signal, and the normalized mean square error between the new model fitting signal and the first echo signal is calculated until the normalized mean square error between the new model fitting signal and the first echo signal is less than or equal to the second threshold. The above processing method is also applicable to the second echo signal.

[0120] In this embodiment, when the UWB signal is obtained by splicing the first echo signal and the second echo signal, the model order of the scattering center model corresponding to the first echo signal and the model order of the scattering center model corresponding to the second echo signal are aligned to ensure the accuracy of the incoherent factor estimated during the correlation processing, thereby improving the frequency band splicing effect and improving the perception accuracy.

[0121] It should be noted that the method for adjusting the model order of the scattering center model to align the model orders in the above embodiment is not only applicable to the dual-station sensing mode scenario, but also to other modes in UWB sensing.

[0122] In some implementations, in the embodiment shown in FIG3 , the second communication device may further perform clipping on the perception information obtained based on the first echo signal, including: merging scattering centers whose relative distance is less than a second threshold, and / or removing scattering centers with excessively low energy. The second communication device may obtain multiple scattering centers and related information based on the first echo signal, including the relative distance between each of the multiple scattering centers and the echo energy corresponding to each scattering center.

[0123] When the relative distance between one scattering center and another scattering center is less than a preset second threshold, the scattering center with a closer relative distance to the second communication device and its related information are retained, and the other scattering center and its related information are removed. The above processing method can be understood as merging the two scattering centers. And / or,

[0124] When the echo energy corresponding to a scattering center is less than a preset third threshold, the scattering center and related information of the scattering center are removed.

[0125] Accordingly, in the first information sent by the second communication device to the first communication device, when the first information includes perception information obtained based on the first echo signal, the relative distance between any two scattering centers in the perception information is greater than or equal to the second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to the third threshold.

[0126] In this implementation, the second communication device cuts off excess scattering centers according to the relative distance and energy of the scattering centers, which can avoid the influence of the excess scattering centers on the frequency band splicing, thereby improving the perception accuracy.

[0127] In some implementations, there is a preset association between the frequency band in which the second perception signal sent by the second communication device in the embodiment shown in FIG3 and the first information. As an example, after a large number of experimental measurements, it is known that the distribution of targets in the environment and the frequency band in which the perception signal is located will affect the frequency band splicing effect. The frequency band splicing method proposed in this application can classify the frequency band in which the first echo signal is located and the geometric type of the scattering center, and preset a corresponding optimal frequency band for each category based on the experimental results. After obtaining the parameter information of the first echo signal and the geometric type corresponding to the scattering center, the second communication device can find the closest classification from the preset classifications, determine the optimal frequency band corresponding to the closest classification based on the preset association relationship, and the second communication device can send the second perception signal on this frequency band.

[0128] In this implementation, when the frequency band of the second perception signal is a preset optimal frequency band, the splicing effect of the UWB signal can be improved when the first echo signal and the second echo signal are spliced, thereby improving the perception accuracy.

[0129] The following simulation experiment introduces the beneficial effects of the frequency band splicing method proposed in this application. In this simulation experiment, the first echo signal is used as the reference signal when performing frequency band splicing. The simulation scenario is set as shown in Table 2:

[0130] Table 2

[0131] Because the first echo signal serves as the reference signal, the simulation scenario includes three scattering centers, located 5.0m, 5.2m, and 5.4m from the second communication device. The full-band bandwidth is 3 GHz, the bandwidth between the first and second echo signals is 0.5 GHz, the gap bandwidth between the two echo signals is 2 GHz, the gap center frequency is 5 GHz, the sampling point frequency interval is 10 MHz, and the communication signal-to-noise ratio is 30 decibels (dB).

[0132] Figure 5 is a schematic diagram of the effect of fitting the echo signal obtained by fitting the GTD model in the simulation experiment of this application. As shown in Figure 5, the horizontal axis represents the frequency, and the vertical axis represents the real value of the signal in the frequency domain. The first echo signal occupies 3.5GHz to 4GHz, which is equivalent to the lower sideband of the two subbands, and the second echo signal occupies 6GHz to 6.5GHz, which is equivalent to the upper sideband of the two subbands. As can be seen from Figure 5, the fit between the fitting signal and the echo signal is high, indicating that the fitting effect of the upper and lower subbands is good.

[0133] Figure 6 is a comparison diagram of the effects before and after the upper and lower sidebands are processed for correlation recovery in the simulation experiment of this application. The horizontal axis in Figure 6 is the number of sampling points, the vertical axis is the phase of the signal, the first fitting signal is equivalent to the lower sideband, the second fitting signal is equivalent to the upper sideband, (A) in Figure 6 is a phase change diagram of the first fitting signal and the second fitting signal before the correlation recovery process, and (B) in Figure 6 is a phase change diagram of the first fitting signal and the second fitting signal after the correlation recovery process. It can be seen from Figure 6 that when the model order of the first scattering center model and the model order of the second scattering center model are the same, after the first fitting signal and the second fitting signal are processed for correlation recovery, the fitting signal that originally had a very poor correlation can be converted into a fitting signal with a strong correlation.

[0134] Figure 7 is a schematic diagram of the frequency domain effect of the full-band UWB signal obtained by splicing the upper and lower sub-bands in the simulation experiment of this application. The horizontal axis in Figure 7 represents the frequency, and the vertical axis represents the real part of the signal in the frequency domain. The ideal signal is the ultra-wideband UWB signal directly obtained in the simulation experiment without considering sub-band splicing. As shown in Figure 7, the full-band UWB signal obtained by splicing the first fitting signal and the second fitting signal is very consistent with the ideal UWB signal in the frequency domain, indicating that a good splicing effect has been achieved.

[0135] Figure 8 is a schematic diagram of the time domain effect of the full-band UWB signal obtained by splicing the upper and lower sub-bands in the simulation experiment of this application. The horizontal axis in Figure 8 represents the relative distance, and the vertical axis represents the amplitude of the signal in the time domain. As shown in Figure 8, the full-band UWB signal obtained by splicing the first fitting signal and the second fitting signal is also very consistent with the ideal UWB signal in the time domain. At the same time, based on the three peaks of the full-band spliced ​​signal, it can be determined that there are three scattering centers in the environment, and the corresponding horizontal axis coordinates are the relative distances between each scattering center and the second communication device.

[0136] FIG9 is a schematic diagram of the model orders corresponding to different echo signals before and after scattering center clipping when the signal-to-noise ratio is 20 dB in the simulation experiment of this application. As shown in FIG9 , the horizontal axis is the model order, and the vertical axis is the cumulative distribution function of the model order. According to FIG9 (A), if the scattering centers obtained by processing the echo signals are not clipped, the model order corresponding to the first echo signal and the model order corresponding to the second echo signal are likely to be different, and the model order is not stable. According to FIG9 (B), after clipping the scattering centers obtained by processing the echo signals, the influence of the redundant scattering centers on the frequency band splicing can be avoided. Therefore, the model order corresponding to the first echo signal and the model order corresponding to the second echo signal are the same, and the model order is very stable.

[0137] Figure 10 is a schematic diagram of the model orders corresponding to different echo signals before and after scattering center clipping when the signal-to-noise ratio is 30dB in the simulation experiment of this application. Figure 10 is similar to Figure 9. According to (A) in Figure 10, when the signal-to-noise ratio is higher, if the scattering centers obtained by processing the echo signal are not clipped, the model order corresponding to the echo signal will be more unstable. According to (B) in Figure 10, when the signal-to-noise ratio is higher, the clipping of scattering centers proposed in this application can still effectively avoid the influence of redundant scattering centers on frequency band splicing.

[0138] Figure 11 is a comparative diagram of the normalized mean square error under different algorithms in the simulation experiment of this application. The horizontal axis in Figure 11 is the normalized mean square error, and the vertical axis is the cumulative distribution function of the normalized mean square error, where the normalized mean square error is the normalized mean square error between the spliced ​​full-band UWB signal and the ideal UWB signal. The generalized likelihood ratio algorithm in Figure 11 is an exemplary algorithm for processing echo signals in the prior art. The scatterer clipping algorithm includes the model order alignment processing and scattering center clipping processing in the above-mentioned embodiment. According to Figure 11, the scatterer clipping algorithm proposed in this application has a much higher accuracy of band splicing than the algorithm based on the generalized likelihood ratio under different signal-to-noise ratios.

[0139] Figure 12 is a schematic diagram of the structure of a frequency band splicing device provided in one embodiment of the present application. As shown in Figure 12, device 1200 of this embodiment may include a transmitting module 1201, a receiving module 1202, and a processing module 1203. Device 1200 may be used to implement the operations performed by the first communication device in the method shown in Figure 3 or Figure 4.

[0140] For example, the sending module 1201 can be used to send a first perception signal, and the first perception signal is used to perceive a target object in the environment.

[0141] The receiving module 1202 can be used to receive first information from the second communication device, the first information includes parameter information of the first echo signal, and the first echo signal is the echo signal of the first perception signal; the receiving module 1202 can also be used to receive a second echo signal, and the second echo signal is the echo signal of the second perception signal.

[0142] The processing module 1203 is configured to determine an ultra-wideband UWB signal according to the second echo signal and the first information.

[0143] Figure 13 is a schematic diagram of the structure of a frequency band splicing device provided in another embodiment of the present application. As shown in Figure 13, the device 1300 of this embodiment may include: a receiving module 1301, a sending module 1302, and a processing module 1303. The device 1300 can be used to implement the operations performed by the second communication device in the method shown in Figure 3.

[0144] For example, the receiving module 1301 may be configured to receive a first echo signal after the first perception signal is reflected or scattered by a target.

[0145] The sending module 1302 can be used to send first information to the first communication device, where the first information includes parameter information of the first echo signal, and the first echo signal is the echo signal of the first perception signal; the sending module 1303 can also be used to send the second perception signal.

[0146] The processing module 1303 may be configured to obtain perception information based on the first echo signal processing.

[0147] In some implementations, the processing module 1303 may also be configured to trim redundant scattering centers based on relative distances and energies of the scattering centers.

[0148] It should be understood that apparatus 1200 and apparatus 1300 are embodied in the form of functional modules. The term "module" may refer to a software module, or may refer to an application-specific integrated circuit, electronic circuit, processor (e.g., a shared processor, a dedicated processor, or a group processor, etc.) and memory for executing one or more software or firmware programs, combined logic circuits, and / or other suitable components that support the described functionality.

[0149] The aforementioned apparatuses 1200 and 1300 have the function of implementing the corresponding processes and / or steps in any of the aforementioned method embodiments; the aforementioned functions may be implemented by software or by hardware executing the corresponding software. The hardware or software may include one or more modules corresponding to the aforementioned functions.

[0150] Figure 14 is a schematic diagram of the structure of a frequency band splicing device provided by another embodiment of the present application. The device 1400 shown in Figure 14 can be used to execute any of the aforementioned methods performed by the frequency band splicing device.

[0151] As shown in Figure 14 , the apparatus 1400 of this embodiment includes a memory 1401, a processor 1402, a communication interface 1403, and a bus 1404. The memory 1401, the processor 1402, and the communication interface 1403 are connected to each other via the bus 1404.

[0152] The memory 1401 may be a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 1401 may store a program. When the program stored in the memory 1401 is executed by the processor 1402, the processor 1402 is configured to execute any of the aforementioned methods.

[0153] The processor 1402 may be a general-purpose central processing unit (CPU), a microprocessor, an application-specific integrated circuit, or one or more integrated circuits to execute related programs.

[0154] The processor 1402 may also be an integrated circuit chip with signal processing capabilities. In the implementation process, the various related steps in the embodiment of the present application may be completed by hardware integrated logic circuits in the processor 1402 or software instructions.

[0155] The processor 1402 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA), or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The processor 1402 may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present application. The general-purpose processor may be a microprocessor or any conventional processor.

[0156] The steps of the method disclosed in conjunction with the embodiments of the present application can be directly implemented as being executed by a hardware decoding processor, or can be implemented by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium mature in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in memory 1401, and processor 1402 reads the information in memory 1401 and, in combination with its hardware, completes the functions required to be performed by the units included in the device of the present application.

[0157] The communication interface 1403 may use, but is not limited to, a transceiver or other transceiver device to implement communication between the apparatus 1400 and other devices or apparatuses.

[0158] The bus 1404 may include a path for transmitting information between various components of the device 1400 (eg, the memory 1401 , the processor 1402 , and the communication interface 1403 ).

[0159] An embodiment of the present application further provides a computer-readable storage medium, in which computer instructions are stored. When a processor executes the computer instructions, each step of the method in the above embodiment is implemented.

[0160] An embodiment of the present application further provides a computer program product, including computer instructions, which, when executed by a processor, implement the various steps of the method in the above embodiment.

[0161] It should be noted that the modules or components shown in the above embodiments may be one or more integrated circuits configured to implement the above methods, such as one or more application-specific integrated circuits, or one or more microprocessors, or one or more field programmable gate arrays. For another example, when a module is implemented by a processing element calling program code, the processing element may be a general-purpose processor, such as a central processing unit or other processor that can call program code, such as a controller. For another example, these modules may be integrated together and implemented in the form of a system-on-a-chip (SOC).

[0162] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware, software modules or any combination thereof. When software is used for implementation, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable devices. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from a website, computer, server or data center to another website, computer, server or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrations. The available medium can be a magnetic medium (e.g., a floppy disk, a hard disk, a tape), an optical medium (e.g., a DVD), or a semiconductor medium (e.g., a solid-state drive (SSD)).

[0163] Those skilled in the art will readily appreciate other embodiments of the present application after considering the specification and practicing the contents disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present application that follow the general principles of this application and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, and the true scope and spirit of the present application are indicated by the following claims.

[0164] It should be understood that the present application is not limited to the exact structure described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present application is limited only by the appended claims.

Claims

1. A frequency band splicing method, applied to a first communication device, characterized in that: The method comprises: receiving first information from a second communication device, wherein the first information includes parameter information of a first echo signal, and the first echo signal is an echo signal of a first perception signal; receiving a second echo signal, where the second echo signal is an echo signal of a second sensing signal; An ultra-wideband (UWB) signal is determined according to the second echo signal and the first information.

2. The method according to claim 1, characterized in that The parameter information of the first echo signal includes at least one of the following information: the frequency band in which the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier used to indicate a frequency band splicing reference signal.

3. The method according to claim 1 or 2, characterized in that: The first information also includes perception information obtained based on the first echo signal.

4. The method according to claim 3, characterized in that The perception information includes at least one of the following information: the number of scattering centers, the distribution of relative distances between the scattering centers and the communication device that receives the first echo signal, or the distribution of geometric type parameters of the scattering centers.

5. The method according to claim 4, characterized in that The relative distance between any two of the scattering centers is greater than or equal to a second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to a third threshold.

6. The method according to any one of claims 1 to 4, characterized in that The determining an ultra-wideband UWB signal according to the second echo signal and the first information includes: Acquire a first fitting signal, where the first fitting signal is a signal obtained by fitting the first echo signal through a first scattering center model; Acquire a second fitting signal, where the second fitting signal is a signal obtained by fitting the second echo signal through a second scattering center model, and the model order in the second scattering center model is the same as the model order in the first scattering center model; A UWB signal is determined according to the first fitting signal and the second fitting signal.

7. The method according to claim 6, characterized in that The model order corresponding to the first echo signal is lower than the model order corresponding to the second echo signal, wherein the model order in the first scattering center model and the model order in the second scattering center model are the same as the model order corresponding to the first echo signal.

8. The method according to claim 6 or 7, characterized in that: The determining of an ultra-wideband (UWB) signal according to the first fitting signal and the second fitting signal comprises: If the error between the first fitting signal and the first echo signal is less than or equal to a first threshold, and the error between the second fitting signal and the second echo signal is less than or equal to the first threshold, the first echo signal is fitted by a third scattering center model to obtain a third fitting signal, and the second echo signal is fitted by a fourth scattering center model to obtain a fourth fitting signal, the model order in the third scattering center model is the same as the model order in the fourth scattering center model, and the model order in the third scattering center model is less than the model order in the first scattering center model; The UWB signal is determined according to the third fitting signal and the fourth fitting signal.

9. The method according to any one of claims 6 to 8, characterized in that The determining of an ultra-wideband (UWB) signal according to the first fitting signal and the second fitting signal comprises: If an error between the first fitting signal and the first echo signal is greater than a first threshold, and an error between the second fitting signal and the second echo signal is greater than the first threshold, the first echo signal is fitted by a fifth scattering center model to obtain a fifth fitting signal, and the second echo signal is fitted by a sixth scattering center model to obtain a sixth fitting signal, wherein a model order in the sixth scattering center model is the same as a model order in the fifth scattering center model, and a model order in the fifth scattering center model is greater than a model order in the first scattering center model; The UWB signal is determined according to the fifth fitting signal and the sixth fitting signal.

10. A frequency band splicing method, applied to a second communication device, characterized in that: The method comprises: Sending first information to a first communication device, where the first information includes parameter information of a first echo signal, where the first echo signal is an echo signal of a first perception signal; Sending a second perception signal.

11. The method according to claim 10, characterized in that The parameter information of the first signal includes at least one of the following information: the frequency band in which the first echo signal is located, the bandwidth of the first echo signal, the frequency difference between the center frequency of the first echo signal and the center frequency of the channel, the number of sampling points of the first echo signal, the real part of the first echo signal, the imaginary part of the first echo signal, or an identifier used to indicate a frequency band splicing reference signal.

12. The method according to claim 10 or 11, characterized in that: The first information also includes perception information obtained based on the first echo signal.

13. The method according to claim 12, characterized in that The perception information includes at least one of the following information: the number of scattering centers, the relative distance distribution between the scattering centers and the second communication device, or the geometric type parameter distribution of the scattering centers.

14. The method according to claim 13, characterized in that The relative distance between any two of the scattering centers is greater than or equal to a second threshold, and / or the energy value corresponding to any one of the scattering centers is greater than or equal to a third threshold.

15. The method according to any one of claims 10 to 14, characterized in that There is a preset association relationship between the frequency band of the second perception signal and the first information.

16. A frequency band splicing device, characterized in that: The frequency band splicing device includes a functional module for implementing the frequency band splicing method according to any one of claims 1 to 9, or includes a functional module for implementing the frequency band splicing method according to any one of claims 10 to 15.

17. A frequency band splicing device, characterized in that: include: Processor and memory; The memory stores computer-executable instructions; The processor executes the computer-executable instructions stored in the memory, so that the frequency band splicing device executes the frequency band splicing method described in any one of claims 1 to 9, or the frequency band splicing method described in any one of claims 10 to 15.

18. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer-executable instructions, which are used to implement the frequency band splicing method according to any one of claims 1 to 10, or the frequency band splicing method according to any one of claims 10 to 15 when executed by a processor.

19. A computer program product, characterized in that The invention comprises a computer program, which, when executed by a processor, implements the frequency band splicing method according to any one of claims 1 to 9, or any one of claims 10 to 15.

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