Communication method and apparatus

Abstract

The embodiments of the present application relate to the technical field of communications. Disclosed are a communication method and apparatus, which are used for improving the precision of angle measurement. The method comprises: receiving a first reference signal from a first device; and sending a first measurement result to a second device, wherein the first measurement result is a measurement result of the first reference signal, the first measurement result comprises information of a first AoA, the first AoA is an angle of a first path relative to a target coordinate system, the first path is a transmission path between the first device and a third device, a z-axis of the target coordinate system is the same as a z-axis of a GCS, the direction of an x-axis or a y-axis of the target coordinate system is the same as the direction of a projection of a first LoS path in an xy plane of the target coordinate system, the first LoS path is a LoS path between the first device and the third device, and the third device is a receiving end of the first reference signal.

Description

Communication method and device

[0001] This application claims priority to the Chinese patent application filed with the China Patent Office on December 25, 2023, with application number 202311811479.2 and application name “Communication Method and Device,” the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of communication technologies, and in particular to communication methods and devices. Background Art

[0003] With technological advancements, wireless sensing technology is becoming increasingly popular. In wireless sensing, a transmitting device radiates electromagnetic waves to the surrounding environment, sending specific signals. A receiving device then receives the electromagnetic waves and signals reflected from the environment. The transceiver compares and analyzes the correlation between the received and transmitted signals, ultimately deriving relevant information about the surrounding environment.

[0004] In wireless sensing, angle measurement and estimation of the target are particularly important. The specific location of the target can be determined by measuring the angle and distance of the target on a single device; the specific location of the target can also be determined by measuring the angle on multiple devices.

[0005] Therefore, how to improve the angle measurement accuracy is one of the problems that those skilled in the art need to solve urgently.

[0006] Summary of the Invention

[0007] The present application provides a communication method and apparatus for improving angle measurement accuracy. To achieve the above objectives, the present application adopts the following technical solutions:

[0008] In a first aspect, an embodiment of the present application provides a communication (perception or positioning) method, the method comprising: receiving a first reference signal from a first device. Sending a first measurement result to a second device. The first measurement result is a measurement result of the first reference signal, and the first measurement result includes first angle of arrival (AoA) information, the first AoA is the angle of the first path relative to the target coordinate system, the first path is a transmission path between the first device and the third device, the z-axis of the target coordinate system is the same as the z-axis of the global coordinate system (GCS), the x-axis or y-axis of the target coordinate system is the same as the direction of the projection of the first line of sight (LoS) path in the xy plane of the target coordinate system, the first LoS path is the LoS path between the first device and the third device, and the third device is the receiving end of the first reference signal.

[0009] In related technologies, during angle measurement, the transmitting and receiving devices need to establish a local coordinate system (LCS) and then convert it to a GCS. This LCS-to-GCS conversion process introduces additional angle measurement errors. However, the method provided in the embodiments of this application uses the LoS path between the two devices to determine a common local coordinate system, thereby avoiding the additional angle measurement errors introduced by coordinate system conversion and improving angle measurement accuracy.

[0010] Optionally, the first AoA information includes a first horizontal angle of arrival (AAoA) and / or a first vertical angle of arrival (ZAoA). The first AAoA is an angle of a projection of the first path on the xy plane of the target coordinate system relative to the x-axis of the target coordinate system, and the first ZAoA is an angle of the first path relative to the z-axis of the target coordinate system.

[0011] In a possible implementation, reporting the AoA based on the target coordinate system may be replaced by reporting the angle between the first path and the first LoS path and the ZAoA of the first path in the GCS, and the effects of the two are equivalent.

[0012] In a possible implementation, first configuration information may be received from a fourth device, where the first configuration information includes first indication information. The first indication information is used to instruct sending the first AoA information based on the target coordinate system.

[0013] It can be seen that the method provided in the embodiment of the present application can determine to send the first AoA information with the target coordinate system as a reference by receiving the first configuration information, so that the sending device and the receiving device determine a common local coordinate system through the LoS path between the two devices, thereby avoiding the introduction of additional angle measurement errors by the coordinate system conversion, thereby improving the angle measurement accuracy.

[0014] In one possible implementation, first configuration information from a fourth device may be received, where the first configuration information includes configuration information of the first LoS path, where the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0015] It can be seen that the method provided in the embodiment of the present application can determine the LoS path between the transmitting device and the receiving device through the configuration information of the first LoS path, so that a common local coordinate system is determined through the LoS path between the two devices.

[0016] In one possible implementation, the first configuration information may further include direction information of the first LoS path, where the direction information is used to indicate whether the direction of the first LoS path is the first direction or the second direction, where the first direction is the direction of the LoS path from the first device to the third device, and the second direction is the direction of the LoS path from the third device to the first device.

[0017] It can be seen that the method provided in the embodiment of the present application can determine the LoS path between the sending device and the receiving device through information such as the direction information of the first LoS path, so that a common local coordinate system is determined by the LoS path between the two devices.

[0018] In one possible implementation, a second reference signal may be received from the first device. A second measurement result may be sent to the first device, the second device, or the fourth device, where the second measurement result is a measurement result of the second reference signal, and the second measurement result includes at least one first channel coefficient, at least one first delay power spectrum, at least one first precoding matrix indicator (PMI), or at least one item of path information of N paths, where the path information includes a path index, a path index identifier, delay information corresponding to the path, AoA information of the path, and LoS path information of the path, where the LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0019] It can be seen that in the method provided in the embodiment of the present application, the first device, the second device or the fourth device can determine the direction of the LoS path between the third device and the first device through the measurement result of the second reference signal, thereby determining the configuration information of the first LoS path to be sent to the third device, so that the third device determines the accurate LoS path direction.

[0020] In a possible implementation, the configuration information of the first LoS path may be sent to the first device, the second device, or the fourth device.

[0021] It can be seen that the method provided in the embodiment of the present application can send the configuration information of the above-mentioned first LoS path to other devices, so that other devices can determine the LoS path between the sending device and the receiving device through the configuration information of the first LoS path.

[0022] In one possible implementation, a third reference signal may be sent to the first device; and a third measurement result from the first device may be received, where the third measurement result is a measurement result of the third reference signal, and the third measurement result includes at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI, or at least one item of path information of N paths, where the path information includes a path index, a path index identifier, delay information corresponding to the path, AoA information of the path, and LoS path information of the path, where the LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0023] It can be seen that the method provided in the embodiment of the present application can determine the direction of the LoS path between the first device and the third device through the third reference signal, thereby determining the configuration information of the first LoS path sent to the first device, the second device or the fourth device.

[0024] In one possible implementation, first information may be sent to a first device, a second device, or a fourth device, where the first information includes at least one of first accelerometer information, first magnetometer information, or a first angle error. The first accelerometer information is used to indicate whether the third device has an accelerometer and / or the accelerometer accuracy of the third device. The first magnetometer information is used to indicate whether the third device has a magnetometer and / or the magnetometer accuracy of the third device. The first angle error is used to indicate the angle error between the GCS estimated by the third device and the actual GCS.

[0025] In one possible implementation, second information from the first device may be received, where the second information includes at least one of second accelerometer information, second magnetometer information, or a second angle error. The second accelerometer information is used to indicate whether the first device has an accelerometer and / or the accelerometer accuracy of the first device. The second magnetometer information is used to indicate whether the first device has a magnetometer and / or the magnetometer accuracy of the first device. The second angle error is used to indicate the angle error between the GCS estimated by the first device and the actual GCS.

[0026] It can be seen that the method provided in the embodiment of the present application can transmit the first information so that other devices can determine the sensor accuracy of the third device or estimate the accuracy of the GCS. When the accuracy of the estimated GCS is insufficient, for example, the horizontal accuracy of the GCS is insufficient, the method based on the embodiment of the present application can be adopted, that is, reporting angle information based on the target coordinate system.

[0027] In a second aspect, an embodiment of the present application provides a communication (perception or positioning) method, which includes: sending first configuration information to a third device, the first configuration information including first indication information, the first indication information being used to instruct the third device to receive a first reference signal from the first device and report a measurement result; receiving a first measurement result from the third device, the first measurement result being a measurement result of the first reference signal, the first measurement result including first AoA information, the first AoA being an angle of the first path relative to a target coordinate system, the first path being a transmission path between the first device and the third device, the z-axis of the target coordinate system being the same as the z-axis of the global coordinate system GCS, the x-axis or y-axis of the target coordinate system being the same as the direction of the projection of the first LoS path in the xy plane of the target coordinate system, and the first LoS path being the LoS path between the first device and the third device.

[0028] Optionally, the first AoA information includes a first AAoA and / or a first ZAoA, the first AAoA being the angle of the projection of the first diameter on the xy plane of the target coordinate system relative to the x-axis of the target coordinate system, and the first ZAoA being the angle of the first diameter relative to the z-axis of the target coordinate system.

[0029] In a possible implementation manner, the first indication information is further used to instruct the third device to send the first AoA information based on the target coordinate system.

[0030] In one possible implementation, the first configuration information includes configuration information of the first LoS path, and the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0031] In one possible implementation, the first configuration information also includes direction information of the first LoS path, where the direction information is used to indicate whether the direction of the first LoS path is the first direction or the second direction, where the first direction is the LoS path direction from the first device to the third device, and the second direction is the LoS path direction from the third device to the first device.

[0032] In a possible implementation manner, the first reference signal may also be sent to the third device.

[0033] In one possible implementation, a second reference signal may also be sent to the third device. A second measurement result from the third device is received, where the second measurement result is a measurement result of the second reference signal, and the second measurement result includes at least one of at least one first channel coefficient, at least one first delay power spectrum, at least one first PMI, or path information of N paths, where the path information includes a path index, a path index identifier, delay information corresponding to the path, AoA information of the path, and LoS path information of the path, where the LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0034] In one possible implementation, configuration information of the first LoS path sent from a third device may also be received, where the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0035] In a possible implementation, a third reference signal from the third device may also be received. A third measurement result is sent to the third device, where the third measurement result is the measurement result of the third reference signal. The third measurement result includes at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI, or at least one of the path information of N paths. The path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0036] In a possible implementation, first information from the third device may also be received, where the first information includes at least one of first accelerometer information, first magnetometer information, or a first angle error. The first accelerometer information is used to indicate whether the third device has an accelerometer and / or the accelerometer accuracy of the third device. The first magnetometer information is used to indicate whether the third device has a magnetometer and / or the magnetometer accuracy of the third device. The first angle error is used to indicate the angle error between the GCS estimated by the third device and the actual GCS.

[0037] In one possible implementation, second information may also be sent to the second device, the third device, or the fourth device, where the second information includes at least one of second accelerometer information, second magnetometer information, or a second angle error. The second accelerometer information is used to indicate whether the first device has an accelerometer and / or the accelerometer accuracy of the first device. The second magnetometer information is used to indicate whether the first device has a magnetometer and / or the magnetometer accuracy of the first device. The second angle error is used to indicate the angle error between the GCS estimated by the first device and the actual GCS.

[0038] In a third aspect, an embodiment of the present application provides a communication (perception or positioning) device, which includes: a receiving unit and a sending unit. The receiving unit is used to receive a first reference signal from a first device. The sending unit is used to send a first measurement result to the second device, wherein the first measurement result is the measurement result of the first reference signal, the first measurement result is the measurement result of the first reference signal, the first measurement result includes first AoA information, the first AoA is the angle of the first path relative to the target coordinate system, the first path is a transmission path between the first device and the third device, the z-axis of the target coordinate system is the same as the z-axis of the GCS, the x-axis or y-axis of the target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the target coordinate system, the first LoS path is the LoS path between the first device and the third device, and the third device is the receiving end of the first reference signal.

[0039] Optionally, the first AoA information includes a first AAoA and / or a first ZAoA, the first AAoA being the angle of the projection of the first diameter on the xy plane of the target coordinate system relative to the x-axis of the target coordinate system, and the first ZAoA being the angle of the first diameter relative to the z-axis of the target coordinate system.

[0040] In a possible implementation, the receiving unit is further used to: receive first configuration information from a fourth device, where the first configuration information includes first indication information, and the first indication information is used to indicate that the first AoA information is sent based on the target coordinate system.

[0041] In a possible implementation, the receiving unit is further used to: receive first configuration information from a fourth device, where the first configuration information includes configuration information of the first LoS path, where the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0042] In one possible implementation, the first configuration information also includes direction information of the first LoS path, where the direction information is used to indicate whether the direction of the first LoS path is the first direction or the second direction, where the first direction is the LoS path direction from the first device to the third device, and the second direction is the LoS path direction from the third device to the first device.

[0043] In a possible implementation manner, the receiving unit is further configured to: receive a second reference signal from the first device.

[0044] In one possible implementation, the sending unit is further used to: send a second measurement result to the first device, the second device or the fourth device, where the second measurement result includes at least one first channel coefficient, at least one first delay power spectrum, at least one first PMI or at least one item of path information of N paths, where the path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path, where the LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0045] In a possible implementation, the sending unit is further used to: send configuration information of the first LoS path to the first device, the second device, or the fourth device, where the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0046] In a possible implementation manner, the sending unit is further configured to: send a third reference signal to the first device.

[0047] In a possible implementation, the receiving unit is further used to: receive a third measurement result from the first device, where the third measurement result is a measurement result of the third reference signal, and the third measurement result includes at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI, or at least one item of path information of N paths, and the path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0048] In a possible implementation, the sending unit is further used to: send first information to the first device, the second device or the fourth device, where the first information includes at least one of first accelerometer information, first magnetometer information or a first angle error, and the first accelerometer information is used to indicate whether the third device has an accelerometer and / or the accelerometer accuracy of the third device, the first magnetometer information is used to indicate whether the third device has a magnetometer and / or the magnetometer accuracy of the third device, and the first angle error is used to indicate the angle error between the GCS estimated by the third device and the actual GCS.

[0049] In a possible implementation, the receiving unit is further used to: receive second information from the first device, the second information including at least one of second accelerometer information, second magnetometer information or second angle error, the second accelerometer information being used to indicate whether the first device has an accelerometer and / or the accelerometer accuracy of the first device, the second magnetometer information being used to indicate whether the first device has a magnetometer and / or the magnetometer accuracy of the first device, and the second angle error being used to indicate the angle error between the GCS estimated by the first device and the actual GCS.

[0050] In a fourth aspect, an embodiment of the present application provides a communication (perception or positioning) device, which includes: a sending unit and a receiving unit. The sending unit is used to send first configuration information to a third device, and the first configuration information includes first indication information. The first indication information is used to instruct the third device to receive the first reference signal from the first device and report the measurement result. The receiving unit is used to receive the first measurement result from the third device, and the first measurement result is the measurement result of the first reference signal. The first measurement result includes first AoA information. The first AoA is the angle of the first path relative to the target coordinate system. The first path is a transmission path between the first device and the third device. The z-axis of the target coordinate system is the same as the z-axis of the global coordinate system GCS. The x-axis or y-axis of the target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the target coordinate system. The first LoS path is the LoS path between the first device and the third device.

[0051] Optionally, the first AoA information includes a first AAoA and / or a first ZAoA, the first AAoA being the angle of the projection of the first diameter on the xy plane of the target coordinate system relative to the x-axis of the target coordinate system, and the first ZAoA being the angle of the first diameter relative to the z-axis of the target coordinate system.

[0052] In a possible implementation manner, the first indication information is further used to instruct the third device to send the first AoA information based on the target coordinate system.

[0053] In one possible implementation, the first configuration information includes configuration information of the first LoS path, and the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0054] In one possible implementation, the first configuration information also includes direction information of the first LoS path, where the direction information is used to indicate whether the direction of the first LoS path is the first direction or the second direction, where the first direction is the LoS path direction from the first device to the third device, and the second direction is the LoS path direction from the third device to the first device.

[0055] In a possible implementation manner, the sending unit is further configured to: send the first reference signal to the third device.

[0056] In a possible implementation manner, the sending unit is further configured to: send a second reference signal to the third device.

[0057] In one possible implementation, the receiving unit is further used to: receive a second measurement result from the third device, where the second measurement result is a measurement result of the second reference signal, and the second measurement result includes at least one first channel coefficient, at least one first delay power spectrum, at least one first PMI, or at least one item of path information of N paths, and the path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0058] In a possible implementation, the receiving unit is further configured to: receive configuration information of the first LoS path sent from a third device, where the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0059] In a possible implementation manner, the receiving unit is further configured to: receive a third reference signal from the third device.

[0060] In a possible implementation, the sending unit is further used to: send a third measurement result to the third device, where the third measurement result is a measurement result of the third reference signal, and the third measurement result includes at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI, or at least one item of path information of N paths, and the path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0061] In a possible implementation, the receiving unit is further used to: receive first information from the third device, where the first information includes at least one of first accelerometer information, first magnetometer information, or a first angle error; the first accelerometer information is used to indicate whether the third device has an accelerometer and / or the accelerometer accuracy of the third device; the first magnetometer information is used to indicate whether the third device has a magnetometer and / or the magnetometer accuracy of the third device; and the first angle error is used to indicate the angle error between the GCS estimated by the third device and the actual GCS.

[0062] In one possible implementation, the sending unit is further used to: send second information to the second device, the third device or the fourth device, where the second information includes at least one of second accelerometer information, second magnetometer information or a second angle error, the second accelerometer information is used to indicate whether the first device has an accelerometer and / or the accelerometer accuracy of the first device, the second magnetometer information is used to indicate whether the first device has a magnetometer and / or the magnetometer accuracy of the first device, and the second angle error is used to indicate the angle error between the GCS estimated by the first device and the actual GCS.

[0063] In the fifth aspect, an embodiment of the present application also provides a communication (perception or positioning) device, which includes: at least one processor, when the above at least one processor executes program code or instructions, it implements the above method in the above first aspect or any possible implementation method thereof.

[0064] Optionally, the communication (sensing or positioning) device may further include at least one memory, and the at least one memory is used to store the program code or instruction.

[0065] In a sixth aspect, embodiments of the present application further provide a chip comprising: an input interface, an output interface, and at least one processor. Optionally, the chip further comprises a memory. The at least one processor is configured to execute code in the memory. When the at least one processor executes the code, the chip implements the method described in the first aspect or any possible implementation thereof.

[0066] Optionally, the chip may also be an integrated circuit.

[0067] In a seventh aspect, an embodiment of the present application further provides a computer-readable storage medium for storing a computer program, wherein the computer program includes methods for implementing the above-mentioned first aspect or any possible implementation thereof.

[0068] In an eighth aspect, an embodiment of the present application further provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to implement the above-mentioned method in the above-mentioned first aspect or any possible implementation thereof. BRIEF DESCRIPTION OF THE DRAWINGS

[0069] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following is a brief introduction to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0070] FIG1 is a schematic diagram of a communication system provided in an embodiment of the present application;

[0071] FIG2 is a flow chart of a communication method provided in an embodiment of the present application;

[0072] FIG3 is a schematic diagram of a target coordinate system provided in an embodiment of the present application;

[0073] FIG4 is a schematic diagram of another target coordinate system provided in an embodiment of the present application;

[0074] FIG5 is a flow chart of another communication method provided in an embodiment of the present application;

[0075] FIG6 is a flow chart of another communication method provided in an embodiment of the present application;

[0076] FIG7 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0077] FIG8 is a schematic structural diagram of another communication device provided in an embodiment of the present application;

[0078] FIG9 is a schematic structural diagram of a chip provided in an embodiment of the present application;

[0079] FIG10 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

[0080] FIG11 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0081] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of them. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the embodiments of this application.

[0082] The term "and / or" in this article is merely a description of the association relationship between associated objects, indicating that three relationships may exist. For example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0083] The terms "first" and "second" and so on in the description and drawings of the embodiments of this application are used to distinguish different objects, or to distinguish different processing of the same object, rather than to describe a specific order of objects.

[0084] Furthermore, the terms "including," "having," and any variations thereof, mentioned in the description of the embodiments of the present application are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus comprising a series of steps or units is not limited to the listed steps or units but may optionally include other steps or units not listed, or may optionally include other steps or units inherent to the process, method, product, or apparatus.

[0085] It should be noted that in the description of the embodiments of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be interpreted as having priority or advantage over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner.

[0086] Wireless sensing means that the sending device can radiate electromagnetic waves to the surrounding environment to send specific signals, and the receiving device can correspondingly receive the electromagnetic waves and signals reflected by the environment. The transceiver can compare and analyze the correlation between the received signal and the sent signal, and then analyze the relevant information of the surrounding environment.

[0087] In wireless sensing, angle measurement and estimation of the target are particularly important. The specific location of the target can be determined by measuring the angle and distance of the target on a single device; the specific location of the target can also be determined by measuring the angle on multiple devices.

[0088] To this end, an embodiment of the present application provides a communication (perception or positioning) method for improving angle measurement accuracy.

[0089] The technical solutions provided in the embodiments of the present application can be applied to various communication, perception and positioning systems. The technical solutions provided in the embodiments of the present application can be applied to fifth generation mobile communication technology (5G) communication systems, future evolution systems or multiple communication convergence systems, etc., and can also be applied to existing communication systems, etc. The application scenarios of the technical solutions provided in the embodiments of the present application may include a variety of scenarios, such as machine to machine (M2M), macro and micro communications, enhanced mobile broadband (eMBB), ultra-high reliability and ultra-low latency communication (ultra-reliable&low latency communication, uRLLC) and massive machine type communication (mMTC). These scenarios may include but are not limited to: scenarios of communication, perception and positioning between terminals, scenarios of communication, perception and positioning between network devices, scenarios of communication, perception and positioning between network devices and terminals, etc.

[0090] FIG1 shows a schematic diagram of a possible, non-limiting communication (perception or positioning) system as described above. As shown in FIG1 , the communication (perception or positioning) system 10 includes at least two terminals 100 and / or at least one network device 110 .

[0091] Exemplarily, the communication (sensing or positioning) system 10 may include a terminal 1 and a terminal 2.

[0092] As another example, the communication (perception or positioning) system 10 may include a terminal 1 , a terminal 2 and a network device 1 .

[0093] As another example, the communication (perception or positioning) system 10 may include terminal 1 , terminal 2 , network device 1 and network device 2 .

[0094] The terminal 100 may also be referred to as a terminal device, user equipment (UE), mobile station, mobile terminal, etc. The terminal can be widely used in various scenarios, such as device-to-device (D2D), vehicle-to-everything (V2X) communication, machine-type communication (MTC), Internet of Things (IOT), virtual reality, augmented reality, industrial control, autonomous driving, telemedicine, smart grid, smart home, smart office, smart wearable, smart transportation, smart city, etc. The terminal can be a mobile phone, a tablet computer, a computer with wireless transceiver function, a wearable device, a vehicle, a drone, a helicopter, an airplane, a ship, a robot, a robotic arm, a smart home device, etc. The embodiments of the present application do not limit the device form of the terminal.

[0095] The network device 110 may be a base station in a radio access network (RAN), an evolved NodeB (eNodeB), an access point (AP), a transmission reception point (TRP), a next-generation NodeB (gNB), a next-generation base station in a sixth-generation (6G) mobile communication system, a base station in a future mobile communication system, or an access node in a mobile hotspot (WiFi) system. The above-mentioned base station may have a separate architecture of a centralized unit (CU) and a distributed unit (DU). The RAN may be connected to a core network (for example, a long-term evolution (LTE) core network or a 5G core network). The CU and DU can be understood as a division of the base station from a logical functional perspective. The CU and DU may be physically separated or deployed together. Multiple DUs may share a single CU. A single DU may also be connected to multiple CUs (not shown in the figure). The CU and DU may be connected via an interface, for example, an F1 interface. The CU and DU may be divided according to the protocol layer of the wireless network. For example, one possible division method is: the CU is used to perform the functions of the radio resource control (RRC) layer, the service data adaptation protocol (SDAP) layer, and the packet data convergence protocol (PDCP) layer, while the DU is used to perform the functions of the radio link control (RLC) layer, the media access control (MAC) layer, the physical layer, etc. It can be understood that the division of the CU and DU processing functions according to this protocol layer is only an example, and can also be divided in other ways. For example, the CU or DU can be divided into functions with more protocol layers. For example, the CU or DU can also be divided into partial processing functions with protocol layers. In one design, part of the functions of the RLC layer and the functions of the protocol layers above the RLC layer are set in the CU, and the remaining functions of the RLC layer and the functions of the protocol layers below the RLC layer are set in the DU. In another design, the functions of the CU or DU can also be divided according to the service type or other system requirements.For example, based on latency, functions that require processing time to meet latency requirements can be placed in the DU, while functions that do not meet these latency requirements can be placed in the CU. In another design, the CU can also have one or more core network functions. One or more CUs can be centrally located or separately located. For example, a CU can be located on the network side for centralized management. A DU can have multiple RF functions, or the RF functions can be remotely located.

[0096] The functions of the CU can be implemented by one entity or by different entities. For example, the functions of the CU can be further divided, for example, the control plane (CP) and the user plane (UP) can be separated, that is, the CU control plane (CU-CP) and the CU user plane (CU-UP). For example, the CU-CP and the CU-UP can be implemented by different functional entities and connected through the E1 interface. The above-mentioned CU-CP and CU-UP can be coupled with the DU to jointly complete the functions of the base station. The CU control plane CU-CP also includes a further divided architecture, that is, the existing CU-CP is further divided into CU-CP1 and CU-CP2. Among them, CU-CP1 includes various radio resource management functions, and CU-CP2 only includes RRC functions and PDCP-C functions (that is, the basic functions of control plane signaling at the PDCP layer).

[0097] Network device 110 may also be a perception server.

[0098] It is understood that this application uses network devices and terminals as examples of the execution entities of the interaction diagrams, but this application does not limit the execution entities of the interaction diagrams. For example, the network device in the method of this application can also be a chip, chip system or processor applied to the network device, or a logical node, logic module or software that can implement all or part of the network device; the terminal in the method of this application can also be a chip, chip system or processor applied to the terminal, or a logical node, logic module or software that can implement all or part of the terminal functions.

[0099] FIG2 shows a communication (perception or positioning) method provided in an embodiment of the present application. The communication method is applicable to a communication (perception or positioning) system including a terminal 1 (i.e., the first device described below), a network device 1 (i.e., the second device described below), a network device 2 (i.e., the fourth device described below), and a terminal 2 (i.e., the third device described below). As shown in FIG2 , the method includes:

[0100] S201. The fourth device sends first configuration information to the third device.

[0101] Correspondingly, the third device receives the first configuration information from the fourth device.

[0102] It can be understood that in the embodiments of the present application, "sending information to... (for example, a terminal)" or the related illustrations in the accompanying drawings can be understood as the destination end of the information being the terminal. It can include sending information directly or indirectly to the terminal. "Receiving information from... (for example, a terminal)" or "receiving information from... (for example, a terminal)", or the related illustrations in the accompanying drawings can be understood as the source end of the information being the terminal, which can include receiving information directly or indirectly from the terminal. The information may be processed as necessary between the source end and the destination end of the information transmission, such as format changes, etc., but the destination end can understand the valid information from the source end. Similar expressions in the embodiments of the present application can be understood similarly and will not be repeated here.

[0103] For example, the fourth device may directly send the first configuration information to the third device, and the fourth device may also indirectly send the first configuration information to the terminal through other devices.

[0104] Among them, the above-mentioned first configuration information includes first indication information, and the above-mentioned first indication information is used to instruct the third device to receive the first reference signal from the first device and report the measurement result. The above-mentioned first measurement result is the measurement result of the first reference signal. The above-mentioned first measurement result includes first AoA information. The above-mentioned first AoA is the angle of the first path relative to the target coordinate system. The above-mentioned first path is a transmission path between the above-mentioned first device and the third device. The z-axis of the above-mentioned target coordinate system is the same as the z-axis of the global coordinate system GCS. The x-axis or y-axis of the above-mentioned target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the above-mentioned target coordinate system. The above-mentioned first LoS path is the LoS path between the above-mentioned first device and the above-mentioned third device.

[0105] In one possible implementation, the first configuration information includes configuration information of the first LoS path, and the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0106] In one possible implementation, the first configuration information also includes direction information of the first LoS path, where the direction information is used to indicate whether the direction of the first LoS path is the first direction or the second direction, where the first direction is the LoS path direction from the first device to the third device, and the second direction is the LoS path direction from the third device to the first device.

[0107] In a possible implementation manner, the first indication information is further used to instruct the third device to send the first AoA information based on the target coordinate system.

[0108] It can be understood that since the z-axis of the target coordinate system is the same as the z-axis of the GCS, the xy plane of the target coordinate system is the same as the xy plane of the GCS. Therefore, the x-axis or y-axis of the above-mentioned target coordinate system can also be the same as the direction of the projection of the first LoS diameter in the xy plane of the above-mentioned GCS.

[0109] It is understandable that the first indication information may also be used to indicate reporting of the angle between the first path and the first LoS path and the ZAoA of the first path in the GCS, which may have the same effect as reporting the first AoA in the target coordinate system.

[0110] In one possible implementation, the direction of the x-axis of the target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the target coordinate system, or the direction of the x-axis of the target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the target coordinate system rotated clockwise / counterclockwise by a target angle, specifically, it can be rotated clockwise / counterclockwise from above the xy plane of the target coordinate system (i.e., the positive z-axis side), or it can be rotated clockwise / counterclockwise from below the xy plane of the target coordinate system (i.e., the negative z-axis side); the direction of the y-axis of the target coordinate system is the direction of the x-axis of the target coordinate system rotated 90 degrees clockwise / counterclockwise, specifically, it can be rotated clockwise / counterclockwise from above the xy plane of the target coordinate system, or it can be rotated clockwise / counterclockwise from below the xy plane of the target coordinate system.

[0111] In another possible implementation, the direction of the y-axis of the target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the target coordinate system, or the direction of the y-axis of the target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the target coordinate system rotated clockwise / counterclockwise by a target angle, specifically, it can be rotated clockwise / counterclockwise from above the xy plane of the target coordinate system, or it can be rotated clockwise / counterclockwise from below the xy plane of the target coordinate system; the direction of the x-axis of the target coordinate system is the direction of the y-axis of the target coordinate system rotated 90 degrees clockwise / counterclockwise, specifically, it can be rotated clockwise / counterclockwise from above the xy plane of the target coordinate system, or it can be rotated clockwise / counterclockwise from below the xy plane of the target coordinate system.

[0112] In a possible implementation, the target angle may be determined by configuration, for example, the first configuration information includes information of the target angle, or the target angle may be preconfigured or predefined, for example, the standard predefines the target angle to be 0.

[0113] Please refer to Figure 3. In one possible implementation, the x-axis of the above-mentioned target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the above-mentioned target coordinate system, and the y-axis of the above-mentioned target coordinate system is the direction of the above-mentioned first LoS path in the xy plane of the above-mentioned target coordinate system rotated 90 degrees counterclockwise from above the xy plane (i.e., the positive z-axis) in the xy plane of the above-mentioned target coordinate system.

[0114] In one possible implementation, the first AoA information includes a first AAoA and / or a first ZAoA, where the first AAoA is an angle of a projection of the first diameter on the xy plane of the target coordinate system relative to the x-axis of the target coordinate system, and the first ZAoA is an angle of the first diameter relative to the z-axis of the target coordinate system.

[0115] Optionally, the above-mentioned first configuration information may also include direction information of the first LoS path. The specific direction information of the first LoS path is used to indicate whether the first LoS path is the direction of the LoS path from the first device to the third device or the direction of the LoS path from the third device to the first device. It can be found that the target coordinate systems determined under these two configurations have opposite positive x-axis directions.

[0116] Optionally, the above-mentioned first configuration information may also include configuration information of the first reference signal resource, where the above-mentioned first reference signal resource is used to send and / or receive the above-mentioned first reference signal. Specifically, the first reference signal resource is used by the first device to send the first reference signal and by the third device to receive the first reference signal. The third device can determine the time-frequency resources for receiving the first reference signal and / or the sequence information corresponding to the first reference signal (which can also be understood as code domain resources) through the configuration information of the first reference signal resource.

[0117] In one possible implementation, the target coordinate system may also be referred to as a common local coordinate system (CLCS), or may be considered a special global coordinate system. In the embodiments of the present application, a coordinate system may also be understood as a reference system or a reference coordinate system, a global coordinate system may be understood as a global reference system or a global reference coordinate system, a local coordinate system may be understood as a local reference system or a local reference coordinate system, and a common local coordinate system may be understood as a common reference system or a common reference coordinate system.

[0118] In a possible implementation, the third device may be a terminal device or an access network device.

[0119] In a possible implementation, the fourth device may be a terminal device, an access network device, or a core network device. For example, the fourth device may be a device that subsequently sends the first reference signal (generally a terminal device or an access network device), or other devices.

[0120] S202. The first device sends a first reference signal to the third device.

[0121] Correspondingly, the third device receives the first reference signal from the first device.

[0122] In one possible implementation, the first reference signal may be a positioning reference signal (PRS), a perception reference signal, a sounding reference signal (SRS), a channel state information reference signal, a synchronization reference signal, a synchronization reference signal physical broadcast channel block, a demodulation reference, a tracking reference signal or other reference signals.

[0123] Optionally, the first reference signal can be a reference signal between an access network device and a terminal device, or a reference signal between an access network device and an access network device, or a reference signal between a terminal device and a terminal device, such as a reference signal on a side link, a device-to-device (D2D) or a network proximity communication (PC5) link.

[0124] In one possible implementation, the first device may independently determine the resources for sending the first reference signal, i.e., the first reference signal resource in step S201, and then send the configuration information of the first reference signal resource to the third device. Specifically, the first device may send the configuration information of the first reference signal resource directly to the third device. For example, the first device and the fourth device in S201 are the same device, and the configuration information of the first reference signal resource is indicated to the third device through the first configuration information. Alternatively, the first device may forward the configuration information to the third device through other devices. For example, the first device and the fourth device are different devices. After determining the first reference signal resource, the first device first sends the configuration information of the first reference signal resource to the fourth device. Then, as described in S201, the fourth device indicates the configuration information of the first reference signal resource to the third device through the first configuration information.

[0125] In another possible implementation, the configuration information of the first reference signal resource is determined by the fourth device, and then the fourth device indicates the configuration information of the first reference signal resource to the first device and the third device respectively. The first device sends the first reference signal according to the configuration information of the first reference signal resource, and the third device receives the first reference signal according to the configuration information of the first reference signal resource. Under this implementation, the embodiment of the present application also includes the step of the fourth device sending the configuration information of the first reference signal resource to the first device.

[0126] S203: The third device sends the first measurement result to the second device.

[0127] Correspondingly, the second device receives the first measurement result from the third device.

[0128] The first measurement result is a measurement result of the first reference signal, and the first measurement result includes first AoA information, where the first AoA is an AoA in the target coordinate system.

[0129] Exemplarily, after the third device subsequently receives the first reference signal, it can be determined through the measurement result of the first reference signal that the first reference signal is transmitted from the first device to the third device through one or more paths. The third device can determine the first path therefrom and determine the direction of arrival of the first path, thereby determining the AoA of the first path relative to the above-mentioned target reference system, such as the AAoA relative to the target reference information and the ZAoA relative to the target reference system, and then report the result to the second device.

[0130] Optionally, the second device may determine multiple first paths, and for each first path, the second device may determine its AoA relative to the target coordinate system, and then report the AoAs of the multiple first paths relative to the target coordinate system.

[0131] Optionally, the third device may not report the first AoA, but instead report the angle between the first path and the first LoS path and the ZAoA of the first path in the GCS (or the equivalent ZAoA in the target coordinate system), which may have the same effect as reporting the first AoA in the target coordinate system.

[0132] In a possible implementation, the second device and the first device may be the same device, that is, the device that receives the first measurement result and the device that sends the first reference signal are the same device.

[0133] In one possible implementation, the second device and the fourth device may be the same device, that is, the device receiving the first measurement result and the device configuring the third device to perform AoA reporting are the same device. In this case, the second device (that is, the fourth device) and the first device may be the same device or different devices.

[0134] Optionally, the third device may also send a reference signal to the first device, and then the third device determines the second path based on the measurement result of the reference signal, and reports the AoA of the second path relative to the target reference system. The relevant process can refer to steps S201 to S203, which will not be repeated here.

[0135] Please refer to Figure 3. As shown in Figure 4, in the presence of a detection target, the first device can send reference signal 1, and the third device can receive the signal of reference signal 1 after being reflected by the target and determine the AoA at which the reflected signal reaches the third device. The third device sends reference signal 2, and the first device can receive the signal of reference signal 2 after being reflected by the target and determine the AoA at which the reflected signal reaches the first device. Both AoAs are AoAs in the target reference system. If the relative position between the first and third devices can be determined, the position of the reflecting target relative to the first and third devices in the target reference system can be determined.

[0136] It can be seen from the above solutions that the definition of the target coordinate system depends on the determination of the first LoS path. The following introduces four possible methods for the third device to determine the first LoS path.

[0137] Method 1: The third device determines the first LoS path by itself after receiving the first reference signal. For example, after receiving the first reference signal, the third device can determine multiple paths, each path has its corresponding propagation delay and AoA, where the propagation delay can be an absolute propagation delay (i.e., the time from the time the first device sends the first reference signal to the time the third device passes through a certain path and ends to the first reference signal), or a relative propagation delay, such as the delay relative to the starting position or end position of a certain receiving time unit of the third device. Generally speaking, the LoS path is the path with the shortest delay between two devices, so the third device can determine the path with the earliest arrival time from multiple paths, which is the first LoS path. Under this method, the third device can also report relevant parameter information of the first LoS path when reporting the measurement results, such as the delay of the first LoS path, which can be used by the second device or the first device to determine the first LoS path.

[0138] Method 2: The first device can pre-transmit a second reference signal to the third device. The third device can then determine the LoS path based on the second measurement result, similar to the description in Method 1. In this case, the direction of the first LoS path is the direction of the LoS path determined by the measurement result of the second reference signal. In this method, the first configuration information can also include identification information for the second reference signal. If multiple second reference signals are pre-transmitted between the first and third devices, this information indicates to the third device which reference signal's measurement result to use in determining the LoS path.

[0139] Method three: The third device can receive the configuration information of the first LoS path, for example, included in the first configuration information, and the third device determines the first LoS path based on the configuration information of the first LoS path. Specifically, the first device can send a second reference signal to the third device in advance, and after receiving the second reference signal, the third device can send a second measurement result to the first device, the second device, or the fourth device, where the second measurement result is the measurement result of the second reference signal. The device that receives the second measurement result determines the LoS path based on the second measurement result. When the device has stronger computing and processing capabilities, it can use some better-performing algorithms to assist the third device in determining a more accurate LoS path. After determining the relevant parameters of the LoS path, the configuration information of the first LoS path is sent to the third device.

[0140] In one possible implementation, the second reference signal may be a PRS, a perception reference signal, an SRS, a channel state information reference signal, a synchronization reference signal, a synchronization reference signal physical broadcast channel block, a demodulation reference, a tracking reference signal or other reference signals.

[0141] Optionally, the second reference signal can be a reference signal between the access network device and the terminal device, or a reference signal between the access network device and the access network device, or a reference signal between the terminal device and the terminal device, such as a reference signal on a side link, D2D or PC5 link.

[0142] In one possible implementation, the second measurement result includes at least one first channel coefficient, at least one first delay power spectrum, at least one first PMI, or at least one item of path information of N paths. The path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0143] In one possible implementation, the configuration information of the first LoS path includes at least one of the AoA information associated with the first LoS path, the delay information associated with the first LoS path, the precoding vector corresponding to the first LoS path, the path index information associated with the first LoS path, the identification information of the first LoS path, or the timestamp associated with the first LoS path.

[0144] When the second measurement result includes at least one first channel coefficient, the first channel coefficient can be a channel coefficient vector or channel coefficient matrix on multiple frequency domain units and / or multiple time units and / or multiple antenna units. The device receiving the second measurement result can determine the delay of different paths based on the first channel coefficient (it can be the absolute delay from the first device sending the second reference signal to the third device receiving the second reference signal, or it can be the relative delay of the third device receiving the second reference signal relative to the starting or ending position of a reference time unit, for example, the reference time unit is the time unit where the second reference signal is located, and the time unit can be a symbol, time slot, frame, subframe, and the same applies to the following), AoA (for example, it can be the angle relative to the local coordinate system of the antenna panel of the third device), Doppler frequency, amplitude, phase, power and other information. The configuration information of the first LoS path can indicate at least one of the following information associated with the first LoS path: delay, AoA (for example, it can be the angle relative to the local coordinate system of the antenna panel of the third device), Doppler frequency, amplitude, phase, or power and other information. For example, when a delay is indicated in the configuration information for a first LoS path, the third device can use this delay information to determine the responses of different antennas at that delay when subsequently receiving a first reference signal, thereby more accurately determining the direction of the LoS path based on the first reference signal. For another example, when an AoA is indicated in the configuration information for a first LoS path, the third device can determine the direction of the first LoS path based on the AoA.

[0145] When the second measurement result includes at least one first delay power (or energy, amplitude, or coefficient) spectrum, the device receiving the second measurement result can determine the delays of different paths based on the first delay power spectrum and determine the delay of the first LoS path from it. The configuration information of the first LoS path can indicate the associated delay information of the first LoS path. The third device can determine the response of different antennas under the delay based on this delay when subsequently receiving the first reference signal, thereby more accurately determining the direction of the LoS path based on the first reference signal. The optional delay power spectrum can be the delay power spectrum of multiple antennas. The device receiving the second measurement result can independently combine, average, filter, and other operations on the multiple delay power spectra.

[0146] When the second measurement result includes at least one PMI (in this case, the second reference signal is generally a reference signal of multiple antenna ports), the above-mentioned PMI may be a PMI that performs spatial domain compression, or a PMI that performs spatial and frequency domain compression, or other types of PMI. The device receiving the second measurement result can determine the departure angles of different paths on the first device side based on at least one PMI, and determine the departure angle corresponding to the first LoS path therefrom. The configuration information of the first LoS path can indicate a precoding vector (or equivalently, a departure angle). The third device can determine the responses of different antennas at the departure angle based on the precoding vector information when subsequently receiving the first reference signal (usually the first reference signal is required to be a reference signal of multiple antenna ports), thereby more accurately determining the direction of the LoS path based on the first reference signal. When the above-mentioned PMI includes a PMI that performs frequency domain compression, the device receiving the second measurement result can also determine the delay associated with different paths based on at least one PMI, and therefore can also indicate the delay information in the configuration information of the first LoS path, which will not be repeated here.

[0147] Optionally, the configuration information of the first LoS path may also indicate the above multiple items, and the third device may combine the multiple items of information to more accurately determine the first LoS path.

[0148] When the second measurement result includes path information for N paths, the N path information may be N path information determined independently by the third device, wherein the path AoA information may include the path AoA, the path AoA may include the path AAoA and / or the path ZAoA, and the path AoA may be an AoA referenced to a local coordinate system (LCS) or an AoA referenced to a GCS. The device receiving the second measurement result may determine which of the N path information is the LoS path, and then indicate the index, identifier, or other information in the path information of the LoS path in the configuration information of the first LoS path. The third device may determine which of the reported paths is the first LoS path based on the configuration information of the first LoS path.

[0149] In addition, in the above description, the first device may send multiple second reference signals to the third device, and the third device may also report multiple second measurement results. Different LoS paths may be determined based on different second reference signals and second measurement results. In order to ensure that all devices have a consistent understanding of the LoS path, the first configuration information may further include an identifier and index of the second reference signal, an identifier and index of the second measurement result, or a timestamp associated with the first LoS path. The timestamp may correspond to the time when a second reference signal is sent / received or the time when a second measurement result is reported.

[0150] Method 4: The third device may also send a third reference signal to the first device. The first device reports a third measurement result to the third device. The third device determines the first LoS path based on the third measurement result and then sends configuration information of the first LoS path to other devices.

[0151] The above-mentioned third measurement result is the measurement result of the above-mentioned third reference signal. The above-mentioned third measurement result includes at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI or at least one item of path information of N paths. The above-mentioned path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The above-mentioned LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0152] In one possible implementation, the third reference signal may be a PRS, a perception reference signal, an SRS, a channel state information reference signal, a synchronization reference signal, a synchronization reference signal physical broadcast channel block, a demodulation reference, a tracking reference signal or other reference signals.

[0153] Optionally, the third reference signal can be a reference signal between the access network device and the terminal device, or a reference signal between the access network device and the access network device, or a reference signal between the terminal device and the terminal device, such as a reference signal on a side link, D2D or PC5 link.

[0154] This method can be understood as the dual method of Method 3. For its specific details, please refer to the specific description in Method 3 and will not be repeated here.

[0155] For the third device to enable other devices to know its own angle measurement accuracy, the method may further include:

[0156] In a possible implementation, the third device may also send the first information to the first device, the second device, or the fourth device.

[0157] Among them, the above-mentioned first information includes at least one of first accelerometer information, first magnetometer information or first angle error. The above-mentioned first accelerometer information is used to indicate whether the above-mentioned third device has an accelerometer and / or the accelerometer accuracy of the above-mentioned third device. The above-mentioned first magnetometer information is used to indicate whether the above-mentioned third device has a magnetometer and / or the magnetometer accuracy of the above-mentioned third device. The above-mentioned first angle error is used to indicate the angle error between the GCS estimated by the above-mentioned third device and the actual GCS.

[0158] In order for the first device to enable other devices to know the angle measurement accuracy of the first device, the method may further include:

[0159] In a possible implementation, the first device may further send the second information to the second device, the third device, or the fourth device.

[0160] Among them, the above-mentioned second information includes at least one of second accelerometer information, second magnetometer information or second angle error, the above-mentioned second accelerometer information is used to indicate whether the above-mentioned first device has an accelerometer and / or the accelerometer accuracy of the above-mentioned first device, the above-mentioned second magnetometer information is used to indicate whether the above-mentioned first device has a magnetometer and / or the magnetometer accuracy of the above-mentioned first device, and the above-mentioned second angle error is used to indicate the angle error between the GCS estimated by the above-mentioned first device and the actual GCS.

[0161] By using the aforementioned capability exchange information, the solution of the present invention can be used in situations where the magnetometer has poor accuracy, the accelerometer has high accuracy, and the horizontal angle error between the estimated GCS and the actual GCS is large. The specific decision and judgment can be performed by the first device, the second device, the third device, or the fourth device (for example, as indicated by the first configuration information).

[0162] In related technologies, during angle measurement, the transmitting and receiving devices need to establish an LCS and then convert it to a GCS. This LCS-to-GCS conversion process introduces additional angle measurement errors. However, the method provided in the embodiments of this application uses the LoS path between the two devices to determine a common local coordinate system, thereby avoiding the additional angle measurement errors introduced by coordinate system conversion and improving angle measurement accuracy.

[0163] FIG5 shows another communication (perception or positioning) method provided in an embodiment of the present application. The communication (perception or positioning) method is applicable to a communication (perception or positioning) system of a first device, a second device, and a third device. As shown in FIG5 , the method includes:

[0164] S401. The second device sends first configuration information to the third device.

[0165] Correspondingly, the third device receives the first configuration information from the second device.

[0166] S402. The first device sends a first reference signal to the third device.

[0167] Correspondingly, the third device receives the first reference signal from the first device.

[0168] S403: The third device sends the first measurement result to the second device.

[0169] Correspondingly, the second device receives the first measurement result from the third device.

[0170] The specific implementation of S401 to S403 can refer to the above S201 to S203 and will not be described in detail here.

[0171] FIG6 shows another communication (perception or positioning) method provided in an embodiment of the present application. The communication (perception or positioning) method is applicable to a communication (perception or positioning) system including a first device and a third device. As shown in FIG6 , the method includes:

[0172] S501. A first device sends first configuration information to a third device.

[0173] Correspondingly, the third device receives the first configuration information from the first device.

[0174] S502: The first device sends a first reference signal to the third device.

[0175] Correspondingly, the third device receives the first reference signal from the first device.

[0176] S503: The third device sends the first measurement result to the first device.

[0177] Accordingly, the first device receives the first measurement result from the third device.

[0178] The specific implementation of S501 to S503 can refer to the above S201 to S203, which will not be described in detail here.

[0179] The following will introduce a communication (perception or positioning) device for executing the above-mentioned communication (perception or positioning) method in conjunction with Figures 7 and 8.

[0180] It is understandable that, in order to realize the above functions, the communication (perception or positioning) device includes hardware and / or software modules corresponding to the execution of each function. In combination with the algorithm steps of each example described in the embodiments disclosed herein, the embodiments of the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application in combination with the embodiments, but such implementation should not be considered to exceed the scope of the embodiments of the present application.

[0181] The embodiment of the present application can divide the functional modules of the communication (perception or positioning) device according to the above method example. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware. It should be noted that the division of modules in this embodiment is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0182] In the case of dividing each functional module according to each function, Figure 7 shows a possible composition diagram of the communication (perception or positioning) device involved in the above embodiment. The device can be a terminal device or network device, or a module applied to the terminal device or network device (such as a processor, chip or chip system, etc.), or a logical node, logical module or software that can realize all or part of the functions of the terminal device or network device. As shown in Figure 7, the communication (perception or positioning) device 600 may include: a receiving unit 601 and a sending unit 602.

[0183] The receiving unit 601 is configured to receive a first reference signal from a first device.

[0184] A sending unit 602 is configured to send a first measurement result to a second device, where the first measurement result is a measurement result of the first reference signal. The first measurement result is a measurement result of the first reference signal, and the first measurement result includes first AoA information. The first AoA is an angle of the first path relative to the target coordinate system. The first path is a transmission path between the first device and the third device. The z-axis of the target coordinate system is the same as the z-axis of the GCS. The x-axis or y-axis of the target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the target coordinate system. The first LoS path is the LoS path between the first device and the third device. The third device is a receiving end of the first reference signal.

[0185] Optionally, the first AoA information includes a first AAoA and / or a first ZAoA, the first AAoA being the angle of the projection of the first diameter on the xy plane of the target coordinate system relative to the x-axis of the target coordinate system, and the first ZAoA being the angle of the first diameter relative to the z-axis of the target coordinate system.

[0186] In a possible implementation, the receiving unit 601 is further used to: receive first configuration information from a fourth device, where the first configuration information includes first indication information, and the first indication information is used to indicate that the first AoA information is sent based on the target coordinate system.

[0187] In a possible implementation, the receiving unit 601 is further used to: receive first configuration information from a fourth device, where the first configuration information includes configuration information of the first LoS path, where the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0188] In one possible implementation, the first configuration information also includes direction information of the first LoS path, where the direction information is used to indicate whether the direction of the first LoS path is the first direction or the second direction, where the first direction is the LoS path direction from the first device to the third device, and the second direction is the LoS path direction from the third device to the first device.

[0189] In a possible implementation, the receiving unit 601 is further configured to receive a second reference signal from the first device.

[0190] In one possible implementation, the sending unit 602 is further used to: send a second measurement result to the first device, the second device, or the fourth device, where the second measurement result includes at least one first channel coefficient, at least one first delay power spectrum, at least one first PMI, or at least one item of path information of N paths, where the path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path, where the LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0191] In a possible implementation, the sending unit 602 is further used to: send configuration information of the first LoS path to the first device, the second device, or the fourth device, where the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0192] In a possible implementation, the sending unit 602 is further configured to send a third reference signal to the first device.

[0193] In a possible implementation, the receiving unit 601 is further used to: receive a third measurement result from the first device, where the third measurement result is a measurement result of the third reference signal, and the third measurement result includes at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI, or at least one item of path information of N paths, where the path information includes a path index, a path index identifier, delay information corresponding to the path, AoA information of the path, and LoS path information of the path, where the LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0194] In a possible implementation, the sending unit 602 is further used to: send first information to the first device, the second device or the fourth device, where the first information includes at least one of first accelerometer information, first magnetometer information or a first angle error, and the first accelerometer information is used to indicate whether the third device has an accelerometer and / or the accelerometer accuracy of the third device, the first magnetometer information is used to indicate whether the third device has a magnetometer and / or the magnetometer accuracy of the third device, and the first angle error is used to indicate the angle error between the GCS estimated by the third device and the actual GCS.

[0195] In a possible implementation, the receiving unit 601 is further used to: receive second information from the first device, the second information including at least one of second accelerometer information, second magnetometer information or second angle error, the second accelerometer information being used to indicate whether the first device has an accelerometer and / or the accelerometer accuracy of the first device, the second magnetometer information being used to indicate whether the first device has a magnetometer and / or the magnetometer accuracy of the first device, and the second angle error being used to indicate the angle error between the GCS estimated by the first device and the actual GCS.

[0196] In the case of dividing each functional module according to each function, FIG8 shows a possible composition diagram of the communication (perception or positioning) device involved in the above embodiment. The device can be a terminal device or a network device, or a module (such as a processor, chip or chip system, etc.) applied to the terminal device or network device, or a logical node, logical module or software that can realize all or part of the functions of the terminal device or network device. As shown in FIG8, the communication (perception or positioning) device 700 may include: a sending unit 701 and a receiving unit 702.

[0197] The sending unit 701 is configured to send first configuration information to a third device, where the first configuration information includes first indication information, and the first indication information is used to instruct the third device to receive a first reference signal from the first device and report a measurement result.

[0198] The receiving unit 702 is used to receive a first measurement result from the above-mentioned third device, where the above-mentioned first measurement result is a measurement result of the first reference signal, and the above-mentioned first measurement result includes first AoA information. The above-mentioned first AoA is the angle of the first path relative to the target coordinate system. The above-mentioned first path is a transmission path between the above-mentioned first device and the third device. The z-axis of the above-mentioned target coordinate system is the same as the z-axis of the global coordinate system GCS, the x-axis or the y-axis of the above-mentioned target coordinate system is the same as the direction of the projection of the first LoS path in the xy plane of the above-mentioned target coordinate system, and the above-mentioned first LoS path is the LoS path between the above-mentioned first device and the above-mentioned third device.

[0199] Optionally, the first AoA information includes a first AAoA and / or a first ZAoA, the first AAoA being the angle of the projection of the first diameter on the xy plane of the target coordinate system relative to the x-axis of the target coordinate system, and the first ZAoA being the angle of the first diameter relative to the z-axis of the target coordinate system.

[0200] In a possible implementation manner, the first indication information is further used to instruct the third device to send the first AoA information based on the target coordinate system.

[0201] In one possible implementation, the first configuration information includes configuration information of the first LoS path, and the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0202] In one possible implementation, the first configuration information also includes direction information of the first LoS path, where the direction information is used to indicate whether the direction of the first LoS path is the first direction or the second direction, where the first direction is the LoS path direction from the first device to the third device, and the second direction is the LoS path direction from the third device to the first device.

[0203] In a possible implementation, the sending unit 701 is further configured to: send the first reference signal to the third device.

[0204] In a possible implementation, the sending unit 701 is further configured to: send a second reference signal to the third device.

[0205] In one possible implementation, the receiving unit 702 is further used to: receive a second measurement result from the third device, where the second measurement result is a measurement result of the second reference signal, and the second measurement result includes at least one first channel coefficient, at least one first delay power spectrum, at least one first PMI, or at least one item of path information of N paths, and the path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0206] In a possible implementation, the receiving unit 702 is further configured to: receive configuration information of the first LoS path sent from a third device, where the configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

[0207] In a possible implementation, the receiving unit 702 is further configured to receive a third reference signal from the third device.

[0208] In a possible implementation, the sending unit 701 is further used to: send a third measurement result to the third device, where the third measurement result is a measurement result of the third reference signal, and the third measurement result is a measurement result of the third reference signal. The third measurement result includes at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI, or at least one item of path information of N paths. The path information includes a path index, a path index identifier, delay information corresponding to the path, AoA information of the path, and LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

[0209] In a possible implementation, the receiving unit 702 is further used to: receive first information from the third device, where the first information includes at least one of first accelerometer information, first magnetometer information, or a first angle error; the first accelerometer information is used to indicate whether the third device has an accelerometer and / or the accelerometer accuracy of the third device; the first magnetometer information is used to indicate whether the third device has a magnetometer and / or the magnetometer accuracy of the third device; and the first angle error is used to indicate the angle error between the GCS estimated by the third device and the actual GCS.

[0210] In a possible implementation, the sending unit 701 is further used to: send second information to the second device, the third device or the fourth device, where the second information includes at least one of second accelerometer information, second magnetometer information or a second angle error, and the second accelerometer information is used to indicate whether the first device has an accelerometer and / or the accelerometer accuracy of the first device, the second magnetometer information is used to indicate whether the first device has a magnetometer and / or the magnetometer accuracy of the first device, and the second angle error is used to indicate the angle error between the GCS estimated by the first device and the actual GCS.

[0211] The present application also provides a chip. FIG9 shows a schematic diagram of the structure of a chip 800. The chip 800 includes one or more processors 801 and an interface circuit 802. Optionally, the chip 800 may also include a bus 803.

[0212] The processor 801 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above communication (sensing or positioning) method can be completed by the hardware integrated logic circuit in the processor 801 or the software instruction.

[0213] Optionally, the processor 801 may be a general-purpose processor, a digital signal processing (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The methods and steps disclosed in the embodiments of the present application may be implemented or executed. The general-purpose processor may be a microprocessor or any conventional processor.

[0214] The interface circuit 802 can be used to send or receive data, instructions or information. The processor 801 can use the data, instructions or other information received by the interface circuit 802 to process it, and can send the processing completion information through the interface circuit 802.

[0215] Optionally, the chip also includes a memory, which may include a read-only memory and a random access memory, and provides operating instructions and data to the processor. Part of the memory may also include a non-volatile random access memory (NVRAM).

[0216] Optionally, the memory stores an executable software module or a data structure, and the processor can perform corresponding operations by calling an operation instruction stored in the memory (the operation instruction may be stored in an operating system).

[0217] Optionally, the chip can be used in the communication (perception or positioning) device involved in the embodiments of the present application. Optionally, the interface circuit 802 can be used to output the execution result of the processor 801. Regarding the communication (perception or positioning) method provided in one or more embodiments of the present application, reference can be made to the aforementioned embodiments and will not be repeated here.

[0218] It should be noted that the corresponding functions of the processor 801 and the interface circuit 802 can be implemented through hardware design, software design, or a combination of hardware and software, and there is no limitation here.

[0219] FIG10 is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. The electronic device 900 may be a processor or a chip or functional module in the processor. As shown in FIG10 , the electronic device 900 includes a processor 901 , a transceiver 902 , and a communication line 903 .

[0220] Among them, the processor 901 is used to execute any step of the communication (perception or positioning) method provided in the embodiment of the present application, and in the process of executing any step of the communication (perception or positioning) method provided in the embodiment of the present application, the transceiver 902 and the communication line 903 can be optionally called to complete the corresponding operation.

[0221] Furthermore, the electronic device 900 may further include a memory 904 . The processor 901 , the memory 904 and the transceiver 902 may be connected via a communication line 903 .

[0222] The processor 901 is a processor, a general-purpose processor, a network processor (NP), a digital signal processor (DSP), a microprocessor, a microcontroller, a programmable logic device (PLD), or any combination thereof. The processor 901 may also be other devices with processing functions, such as circuits, devices, or software modules, without limitation.

[0223] The transceiver 902 is used to communicate with other devices or other communication networks, such as Ethernet, radio access networks (RAN), wireless local area networks (WLAN), etc. The transceiver 902 can be a module, a circuit, a transceiver, or any device capable of implementing communication.

[0224] The transceiver 902 is mainly used for sending and receiving commands and information, and may include a transmitter and a receiver for sending and receiving commands and information, respectively. Operations other than sending and receiving commands and information are implemented by the processor.

[0225] The communication line 903 is used to transmit information between the components included in the electronic device 900.

[0226] In one design, the processor can be considered as the logic circuit and the transceiver as the interface circuit.

[0227] The memory 904 is used to store instructions, where the instructions may be computer programs.

[0228] The memory 904 may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. The non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM may be used, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchlink DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). Memory 904 may also be a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compact disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage media or other magnetic storage devices, etc. It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0229] It should be noted that the memory 904 can exist independently of the processor 901 or can be integrated with the processor 901. The memory 904 can be used to store instructions, program code, or some data. The memory 904 can be located inside the electronic device 900 or outside the electronic device 900, without limitation. The processor 901 is configured to execute the instructions stored in the memory 904 to implement the methods provided in the above embodiments of the present application.

[0230] In one example, the processor 901 may include one or more processors, such as the processor 0 and the processor 1 in FIG. 10 .

[0231] As an optional implementation, the electronic device 900 includes multiple processors. For example, in addition to the processor 901 in FIG. 10 , it may also include a processor 907 .

[0232] As an optional implementation, the electronic device 900 further includes an output device 905 and an input device 906. For example, the input device 906 is a keyboard, a mouse, a microphone, a joystick, or the like, and the output device 905 is a display screen, a speaker, or the like.

[0233] It should be pointed out that the electronic device 900 can be a chip system or a device with a similar structure as shown in Figure 10. Among them, the chip system can be composed of chips, or it can include chips and other discrete devices. The actions, terms, etc. involved in the various embodiments of this application can refer to each other without limitation. The message names or parameter names in the messages exchanged between the various devices in the embodiments of this application are only an example. Other names can also be used in the specific implementation without limitation. In addition, the component structure shown in Figure 10 does not constitute a limitation on the electronic device 900. In addition to the components shown in Figure 10, the electronic device 900 may include more or fewer components than those shown in Figure 10, or combine certain components, or arrange the components differently.

[0234] The processor and transceiver described in this application can be implemented on an integrated circuit (IC), an analog IC, a radio frequency integrated circuit, a mixed-signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CMOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0235] Figure 11 is a structural diagram of a communication (perception or positioning) device provided in an embodiment of the present application. The communication (perception or positioning) device can be applied to the scenario shown in the above method embodiment. For ease of explanation, Figure 11 only shows the main components of the communication (perception or positioning) device, including a processor 1001, a memory 1002, a control circuit 1003, and an input-output device 1004. The processor 1001 is mainly used to process communication protocols and communication data, execute software programs, and process software program data. The memory 1002 is mainly used to store software programs and data. The control circuit 1003 is mainly used for power supply and transmission of various electrical signals. The input-output device 1004 is mainly used to receive data input by the user and output data to the user.

[0236] When the communication (perception or positioning) device is a processor 1001, the control circuit 1003 can be a mainboard, the memory 1002 includes a hard disk, RAM, ROM and other media with storage functions, the processor 1001 can include a baseband processor 1001 and a central processing unit, the baseband processor is mainly used to process the communication protocol and communication data, the central processing unit is mainly used to control the entire communication (perception or positioning) device, execute software programs, and process software program data, the input and output device 1004 includes a display screen, a keyboard and a mouse, etc.; the control circuit 1003 can further include or be connected to a transceiver circuit or transceiver, such as a network cable interface, etc., for sending or receiving data or signals, such as data transmission and communication with other devices. Furthermore, it can also include an antenna for sending and receiving wireless signals for data / signal transmission with other devices.

[0237] An embodiment of the present application also provides a communication (perception or positioning) device, which includes: at least one processor, when the at least one processor executes program code or instructions, it implements the above-mentioned related method steps to implement the communication (perception or positioning) method in the above-mentioned embodiment.

[0238] Optionally, the apparatus may further include at least one memory configured to store the program code or instruction.

[0239] An embodiment of the present application also provides a computer storage medium, which stores computer instructions. When the computer instructions are executed on a communication (perception or positioning) device, the communication (perception or positioning) device executes the above-mentioned related method steps to implement the communication (perception or positioning) method in the above-mentioned embodiment.

[0240] An embodiment of the present application also provides a computer program product. When the computer program product is run on a computer, it enables the computer to execute the above-mentioned related steps to implement the communication (perception or positioning) method in the above-mentioned embodiment.

[0241] The embodiments of the present application also provide a communication (perception or positioning) device, which can be a chip, an integrated circuit, a component, or a module. Specifically, the device may include a connected processor and a memory for storing instructions, or the device may include at least one processor for retrieving instructions from an external memory. When the device is running, the processor may execute instructions to cause the chip to perform the communication (perception or positioning) method in each of the above method embodiments.

[0242] It should be understood that in the various embodiments of the present application, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0243] Those skilled in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0244] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0245] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0246] The units described above as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, and may be located in one place or distributed across multiple network units. Some or all of these units may be selected based on actual needs to achieve the objectives of this embodiment.

[0247] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0248] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the above methods of each embodiment of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0249] The above description is merely a specific embodiment of the present application, but the scope of protection of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present application should be included in the scope of protection of the present application. Therefore, the scope of protection of the present application should be based on the scope of protection of the claims.

Claims

1. A communication method, characterized in that, Comprising: Receiving a first reference signal from a first device; Sending a first measurement result to a second device, where the first measurement result is a measurement result of the first reference signal, the first measurement result includes first Angle of Arrival (AoA) information, the first AoA is the angle of a first ray relative to a target coordinate system, the first ray is a transmission path between the first device and a third device, the z-axis of the target coordinate system is the same as the z-axis of the Global Coordinate System (GCS), and the x-axis or y-axis of the target coordinate system is in the same direction as the projection of the first Line of Sight (LoS) ray in the xy-plane of the target coordinate system, the first LoS ray is the LoS ray between the first device and the third device, and the third device is the receiving end of the first reference signal.

2. The method according to claim 1, wherein The first AoA information includes a first Azimuth Angle of Arrival (AAoA) and / or a first Zenith Angle of Arrival (ZAoA), the first AAoA is the angle of the projection of the first ray in the xy-plane of the target coordinate system relative to the x-axis of the target coordinate system, and the first ZAoA is the angle of the first ray relative to the z-axis of the target coordinate system.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Receiving first configuration information from a fourth device, where the first configuration information includes first indication information for indicating to send the first AoA information based on the target coordinate system.

4. The method according to claim 1 or 2, characterized in that The method further includes: Receiving first configuration information from a fourth device, where the first configuration information includes configuration information of a first LoS ray, and the configuration information of the first LoS ray includes at least one of a timestamp associated with the first LoS ray, delay information associated with the first LoS ray, ray index information associated with the first LoS ray, identification information of the first LoS ray, AoA information associated with the first LoS ray, or a precoding vector corresponding to the first LoS ray.

5. The method according to claim 3 or 4, characterized in that, The first configuration information further includes direction information of the first LoS ray, and the direction information is used to indicate that the direction of the first LoS ray is a first direction or a second direction, the first direction is the direction of the LoS ray from the first device to the third device, and the second direction is the direction of the LoS ray from the third device to the first device.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Receiving a second reference signal from the first device; Sending a second measurement result to the first device, the second device, or the fourth device, where the second measurement result is a measurement result of the second reference signal, and the second measurement result includes at least one of at least one first channel coefficient, at least one first delay power spectrum, at least one first Precoding Matrix Indicator (PMI), or ray information of N rays, and the ray information includes the index of the ray, the index identification of the ray, delay information corresponding to the ray, AoA information of the ray, LoS ray information of the ray, and the LoS ray information is used to indicate whether the ray is a LoS ray and / or the probability that the ray is a LoS ray.

7. The method according to any one of claims 1 to 3, characterized in that The method further includes: Send the configuration information of the first LoS path to the first device, the second device, or the fourth device, where the configuration information of the first LoS path includes at least one of the timestamp associated with the first LoS path, the delay information associated with the first LoS path, the path index information associated with the first LoS path, the identification information of the first LoS path, the AoA information associated with the first LoS path, or the precoding vector corresponding to the first LoS path.

8. The method according to any one of claims 7, characterized in that, The method further includes: Send a third reference signal to the first device; Receive a third measurement result from the first device, where the third measurement result is the measurement result of the third reference signal, and the third measurement result includes at least one of at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI, or the path information of N paths. The path information includes the index of the path, the index identification of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

9. The method according to any one of claims 1 to 8, characterized in that The method further includes: Send first information to the first device, the second device, or the fourth device, where the first information includes at least one of first accelerometer information, first magnetometer information, or first angle error. The first accelerometer information is used to indicate whether the third device has an accelerometer and / or the accuracy of the accelerometer of the third device. The first magnetometer information is used to indicate whether the third device has a magnetometer and / or the accuracy of the magnetometer of the third device. The first angle error is used to indicate the angle error between the GCS estimated by the third device and the actual GCS.

10. The method according to any one of claims 1 to 9, characterized in that, The method further includes: Receive second information from the first device, where the second information includes at least one of second accelerometer information, second magnetometer information, or second angle error. The second accelerometer information is used to indicate whether the first device has an accelerometer and / or the accuracy of the accelerometer of the first device. The second magnetometer information is used to indicate whether the first device has a magnetometer and / or the accuracy of the magnetometer of the first device. The second angle error is used to indicate the angle error between the GCS estimated by the first device and the actual GCS.

11. A communication method, characterized in that, Includes: Send first configuration information to the third device, where the first configuration information includes first indication information, and the first indication information is used to indicate that the third device receives a first reference signal from the first device and reports a measurement result; Receive a first measurement result from the third device, where the first measurement result is a measurement result of a first reference signal, and the first measurement result includes first AoA information. The first AoA is the angle of a first path with respect to a target coordinate system, the first path is a transmission path between the first device and the third device, the z-axis of the target coordinate system is the same as the z-axis of the global coordinate system GCS, and the x-axis or y-axis of the target coordinate system is in the same direction as the projection of the first LoS path in the xy plane of the target coordinate system. The first LoS path is the LoS path between the first device and the third device.

12. The method according to claim 11, wherein The first AoA information includes a first AAoA and / or a first ZAoA. The first AAoA is the angle of the projection of the first path on the xy plane of the target coordinate system with respect to the x-axis of the target coordinate system, and the first ZAoA is the angle of the first path with respect to the z-axis of the target coordinate system.

13. The method according to claim 11, wherein The first indication information is further used to instruct the third device to send the first AoA information based on the target coordinate system.

14. The method according to claim 11 or 12, characterized in that The first configuration information includes configuration information of the first LoS path. The configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

15. The method according to any one of claims 11 to 14, characterized in that, The first configuration information further includes direction information of the first LoS path. The direction information is used to indicate that the direction of the first LoS path is a first direction or a second direction. The first direction is the direction of the LoS path from the first device to the third device, and the second direction is the direction of the LoS path from the third device to the first device.

16. The method according to any one of claims 11 to 15, characterized in that, The method further includes: Send the first reference signal to the third device.

17. The method according to any one of claims 11 to 16, characterized in that, The method further includes: Send a second reference signal to the third device; Receive a second measurement result from the third device. The second measurement result is a measurement result of the second reference signal, and the second measurement result includes at least one of at least one first channel coefficient, at least one first delay power spectrum, at least one first PMI, or path information of N paths. The path information includes the index of the path, the index identification of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

18. The method according to any one of claims 11 to 13, characterized in that, The method further includes: Receive the configuration information of the first LoS path sent by the third device. The configuration information of the first LoS path includes at least one of a timestamp associated with the first LoS path, delay information associated with the first LoS path, path index information associated with the first LoS path, identification information of the first LoS path, AoA information associated with the first LoS path, or a precoding vector corresponding to the first LoS path.

19. The method according to claim 18, wherein The method further includes: Receive a third reference signal from the third device; Send a third measurement result to the third device, where the third measurement result is the measurement result of the third reference signal, and the third measurement result includes at least one of at least one second channel coefficient, at least one second delay power spectrum, at least one second PMI, or path information of N paths. The path information includes the index of the path, the index identifier of the path, the delay information corresponding to the path, the AoA information of the path, and the LoS path information of the path. The LoS path information is used to indicate whether the path is a LoS path and / or the probability that the path is a LoS path.

20. The method according to any one of claims 11 to 19, characterized in that The method further includes: Receive first information from the third device, where the first information includes at least one of first accelerometer information, first magnetometer information, or first angle error. The first accelerometer information is used to indicate whether the third device has an accelerometer and / or the accuracy of the accelerometer of the third device. The first magnetometer information is used to indicate whether the third device has a magnetometer and / or the accuracy of the magnetometer of the third device. The first angle error is used to indicate the angle error between the GCS estimated by the third device and the actual GCS.

21. The method according to any one of claims 11 to 20, characterized in that, The method further includes: Send second information to the second device, the third device, or the fourth device, where the second information includes at least one of second accelerometer information, second magnetometer information, or second angle error. The second accelerometer information is used to indicate whether the first device has an accelerometer and / or the accuracy of the accelerometer of the first device. The second magnetometer information is used to indicate whether the first device has a magnetometer and / or the accuracy of the magnetometer of the first device. The second angle error is used to indicate the angle error between the GCS estimated by the first device and the actual GCS.

22. A device, comprising at least one processor and a memory, characterized in that, The device is a communication device, a sensing device, or a positioning device. The at least one processor executes the program or instructions stored in the memory to enable the device to implement the method according to any one of claims 1 to 21.

23. A computer-readable storage medium for storing a computer program, characterized in that, When the computer program runs on a computer or a processor, the computer or the processor is enabled to implement the method according to any one of claims 1 to 21.

24. A computer program product comprising instructions, characterized in that, When the instructions run on a computer or a processor, the computer or the processor is enabled to implement the method according to any one of claims 1 to 21.

25. A chip, comprising at least one processor and a memory, characterized in that, The at least one processor executes the program or instructions stored in the memory to implement the method according to any one of claims 1 to 21.

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