Target sensing method and communication device

Abstract

The present application relates to the technical field of communications, and provides a target sensing method and a communication device. A reference node acquires first reference information, the first reference information indicating multiple carrier phase measurement values that are obtained by means of multiple measurements of a sensing target by the reference node; the reference node sends the first reference information to an operation node, the operation node being different from the sensing target; a sensing node acquires second reference information, the second reference information being used for determining an integer ambiguity parameter of the sensing target; the sensing node sends the second reference information to the operation node; and the operation node determines the location of the sensing target on the basis of the first reference information and the second reference information. According to the present application, the integer ambiguity parameter of the sensing target can be determined on the basis of the first reference information from the reference node and the second reference information from the sensing node, so that the location of the sensing target can be determined.

Description

Target perception method and communication device

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of the People's Republic of China on January 15, 2024, with application number 202410056901.6 and application name "A Target Perception Method and Communication Device", the entire contents of which are incorporated by reference into this application. Technical Field

[0003] The embodiments of the present application relate to the field of communication technology, and in particular to a target perception method and a communication device. Background Art

[0004] Wireless sensing technology analyzes the changes in wireless signals during propagation to obtain the characteristics of the signal propagation space (channel) to achieve scene perception. How to perceive the surrounding environment while achieving communication has become a hot topic in current research.

[0005] Related technologies propose carrier phase ranging schemes that use the carrier frequency and phase information in the transmitted signal to calculate the signal's propagation distance. After the signal is transmitted by the transmitter and reaches the target object, the signal is reflected by the target object and received by the receiver. The signal's propagation distance d is undetermined because d satisfies the following relationship:

[0006] Where f is the carrier frequency; N is a positive integer, representing the number of wavelengths required for the signal to travel from the transmitter to the receiver; Φ is the phase measured by the receiver after receiving the signal; and c is the speed of light. However, since N is unknown, meaning any positive integer N can satisfy the equation, d cannot be determined, resulting in an integer ambiguity problem. Summary of the Invention

[0007] The present application provides a target perception method and a communication device to solve the whole-cycle ambiguity problem.

[0008] In a first aspect, the present application provides a target perception method, which can be executed through the interaction of an operating node, a perception node, and a reference node.

[0009] The operation node may be a terminal device, a network device, a chip, or a circuit. The perception node may be a terminal device, a network device, a chip, or a circuit. The reference node may be a terminal device, a network device, a chip, or a circuit. Optionally, the chip is a chip in a terminal device. Optionally, the circuit is a circuit in a terminal device. Optionally, the chip is a chip in a network device. Optionally, the circuit is a circuit in a network device. This application does not limit this.

[0010] This method can be applied to the 5th generation th Generation, 5G) communication system, 5.5G or future 6G communication system. The method can also be applied to non-terrestrial communication systems, etc., which is not limited in this application. The method is performed as follows:

[0011] The reference node obtains first reference information, which indicates multiple carrier phase measurement values ​​obtained by the reference node through multiple measurements of the perception target; the reference node sends the first reference information to the operation node, which is different from the perception target; accordingly, the operation node receives the first reference information; the perception node obtains second reference information, which is used to determine the integer ambiguity parameter of the perception target; the perception node sends second reference information to the operation node; accordingly, the operation node receives the second reference information; the operation node determines the position of the perception target based on the first reference information and the second reference information.

[0012] In this application, the first reference information indicates multiple carrier phase measurements obtained by a reference node from multiple measurements of a perceived target, and the second reference information is used to determine the integer ambiguity parameters of the perceived target. Based on the first and second reference information, the integer ambiguity parameters of the perceived target can be determined, and the position of the perceived target can be determined based on the integer ambiguity parameters.

[0013] In an optional manner, the first reference information includes at least one of the following:

[0014] Multiple carrier measurement phase values ​​obtained by the reference node measuring the sensing target at different times; or,

[0015] The carrier measurement phase difference value obtained by the reference node measuring the sensing target at adjacent time; or

[0016] The reference node uses the sensing signal to measure the signal transmission distance of the sensing target at different times; or

[0017] The reference node uses the sensing signal to measure the signal transmission delay value of the sensing target at different times.

[0018] The above information can be used to determine multiple carrier phase values ​​obtained by the reference node through multiple measurements of the perception target. The multiple carrier phase values ​​obtained based on the reference node through multiple measurements of the perception target help determine the whole-cycle ambiguity parameters and improve the positioning accuracy of the perception target.

[0019] In an optional manner, the first reference information further includes:

[0020] The position of the reference node, or the identifier of the reference node, the identifier of the reference node is associated with the position of the reference node.

[0021] In this application, the first reference information includes the location of the reference node or the identifier of the reference node, so that the operating node can determine the location of the reference node. Further, the operating node can determine whether to use the reference node to assist in positioning the sensing target based on the location of the reference node.

[0022] In an optional manner, the second reference information includes at least one of the following:

[0023] Candidate values ​​for the integer fuzzy parameters; or,

[0024] A matching value determined by any one of the multiple sensing nodes through matched filtering of the sensing target and a variation range corresponding to the matching value.

[0025] The above information can help determine the whole-cycle ambiguity parameters and improve the positioning accuracy of the perceived target.

[0026] In an optional manner, the second reference information further includes: a carrier measurement phase value obtained by any sensing node among the multiple sensing nodes when measuring the sensing target at different times.

[0027] In this application, the second reference information includes the carrier measurement phase values ​​obtained by multiple perception nodes measuring the perception target at different times, so that after the operating node receives the second reference information, it can determine the integer ambiguity parameters that are adapted to the perception target and improve the positioning accuracy of the perception target.

[0028] In an optional manner, the operating node sends a sensing request message, the sensing request message including: a sensing area, the sensing area including a sensing target. Correspondingly, the reference node and the sensing node receive the sensing request message.

[0029] In this application, after the operating node sends a perception request message, the reference node and the perception node determine which perception area to detect in order to locate the perception target more quickly.

[0030] In an optional manner, the awareness request message further includes at least one of the following:

[0031] Perception task type and measurement frequency of perception targets.

[0032] In this application, the sensing node and the reference node determine the sensing task type in order to obtain the data interacted with the operation node. The sensing node and the reference node determine the measurement frequency of the sensing target to reduce the feedback overhead while ensuring the measurement accuracy.

[0033] In a second aspect, the present application provides a target perception method that can be performed by an operating node, wherein the operating node can be a terminal device, a network device, a chip, or a circuit. Optionally, the chip is a chip in a terminal device. Optionally, the circuit is a circuit in a terminal device. Optionally, the chip is a chip in a network device. Optionally, the circuit is a circuit in a network device. This application does not limit this.

[0034] The method can be applied to 5G communication systems, 5.5G or future 6G communication systems. The method can also be applied to non-terrestrial communication systems, etc., which is not limited in this application. The method is performed as follows:

[0035] The operating node receives first reference information from a reference node, where the first reference information indicates multiple carrier phase measurement values ​​obtained by the reference node through multiple measurements of a perception target, and the operating node is different from the perception target; the operating node receives second reference information from multiple perception nodes, where the second reference information is used to determine the integer ambiguity parameter of the perception target; the operating node determines the position of the perception target based on the first reference information and the second reference information.

[0036] In an optional manner, the first reference information includes at least one of the following:

[0037] Multiple carrier measurement phase values ​​obtained by the reference node measuring the sensing target at different times; or,

[0038] The carrier measurement phase difference value obtained by the reference node measuring the sensing target at adjacent time; or

[0039] The reference node uses the sensing signal to measure the signal transmission distance of the sensing target at different times; or

[0040] The reference node uses the sensing signal to measure the signal transmission delay value of the sensing target at different times.

[0041] In an optional manner, the first reference information further includes:

[0042] The position of the reference node, or the identifier of the reference node, the identifier of the reference node is associated with the position of the reference node.

[0043] In an optional manner, the second reference information includes at least one of the following:

[0044] Candidate values ​​of the integer fuzzy parameter; or, a matching value determined by matched filtering of the perception target by any perception node among the multiple perception nodes and a variation range corresponding to the matching value.

[0045] In an optional manner, the second reference information further includes: a carrier measurement phase value obtained by any sensing node among the multiple sensing nodes when measuring the sensing target at different times.

[0046] In an optional manner, the operating node further sends a sensing request message, where the sensing request message includes: a sensing area, where the sensing area includes a sensing target.

[0047] In an optional manner, the sensing request message further includes at least one of the following: sensing task type, and measurement frequency of the sensing target.

[0048] In a third aspect, the present application provides a target perception method that can be performed via a reference node, wherein the reference node can be a terminal device, a network device, a chip, or a circuit. Optionally, the chip is a chip in a terminal device. Optionally, the circuit is a circuit in a terminal device. Optionally, the chip is a chip in a network device. Optionally, the circuit is a circuit in a network device. This application does not limit this.

[0049] The method can be applied to 5G communication systems, 5.5G or future 6G communication systems. The method can also be applied to non-terrestrial communication systems, etc., which is not limited in this application. The method is performed as follows:

[0050] The reference node obtains first reference information, where the first reference information indicates multiple carrier phase measurement values ​​obtained by the reference node from multiple measurements of a perception target; the reference node sends the first reference information to an operation node, where the operation node is different from the perception target.

[0051] In an optional manner, the first reference information includes at least one of the following:

[0052] Multiple carrier measurement phase values ​​obtained by the reference node measuring the sensing target at different times; or,

[0053] The carrier measurement phase difference value obtained by the reference node measuring the sensing target at adjacent time; or

[0054] The reference node uses the sensing signal to measure the signal transmission distance of the sensing target at different times; or

[0055] The reference node uses the sensing signal to measure the signal transmission delay value of the sensing target at different times.

[0056] In an optional manner, the first reference information further includes:

[0057] The position of the reference node, or the identifier of the reference node, the identifier of the reference node is associated with the position of the reference node.

[0058] In an optional manner, the reference node further receives a sensing request message, where the sensing request message includes: a sensing area, where the sensing area includes a sensing target.

[0059] In an optional manner, the awareness request message further includes at least one of the following:

[0060] Perception task type, measurement frequency of the perception target, the perception task type is used to indicate the position of the perception target.

[0061] In a fourth aspect, the present application provides a target perception method, which can be performed by a perception node, wherein the perception node can be a terminal device, a network device, a chip, or a circuit. Optionally, the chip is a chip in a terminal device. Optionally, the circuit is a circuit in a terminal device. Optionally, the chip is a chip in a network device. Optionally, the circuit is a circuit in a network device. This application does not limit this.

[0062] The method can be applied to 5G communication systems, 5.5G or future 6G communication systems. The method can also be applied to non-terrestrial communication systems, etc., which is not limited in this application. The method is performed as follows:

[0063] The sensing node obtains second reference information, where the second reference information is used to determine an integer fuzzy parameter of the sensing target; the sensing node sends the second reference information to the operating node, where the operating node is different from the sensing target.

[0064] In an optional manner, the second reference information includes at least one of the following:

[0065] Candidate values ​​of the integer fuzzy parameter; or, the matching value determined by the perception node through matched filtering of the perception target and the corresponding variation range of the matching value.

[0066] In an optional manner, the second reference information further includes: carrier measurement phase values ​​obtained by the sensing node when measuring the sensing target at different times.

[0067] In an optional manner, the sensing node further receives a sensing request message, where the sensing request message includes: a sensing area, where the sensing area includes a sensing target.

[0068] In an optional manner, the awareness request message further includes at least one of the following:

[0069] Perception task type and measurement frequency of perception targets.

[0070] In a fifth aspect, an embodiment of the present application provides a communication device, which may be an operating node, a sensing node, or a reference node. The communication device is capable of implementing the functions of the first to fourth aspects above. For example, the communication device includes modules, units, or means corresponding to the steps involved in the first to fourth aspects above. The functions, units, or means may be implemented through software, or through hardware, or may be implemented through hardware executing the corresponding software implementation.

[0071] In one possible design, the communication device includes a processing unit and a transceiver unit, wherein the transceiver unit can be used to send and receive signals to achieve communication between the communication device and other devices, for example, the transceiver unit is used to receive first reference information; the processing unit can be used to perform some internal operations of the communication device. The transceiver unit can be called an input / output unit, a communication unit, etc., and the transceiver unit can be a transceiver; the processing unit can be a processor. When the communication device is a module (such as a chip) in a communication device, the transceiver unit can be an input / output interface, an input / output circuit, or an input / output pin, etc., and can also be called an interface, a communication interface, or an interface circuit, etc.; the processing unit can be a processor, a processing circuit, or a logic circuit, etc.

[0072] In another possible design, the communication device includes a processor and may also include a transceiver, the transceiver is used to send and receive signals, and the processor executes program instructions to complete the method in any possible design or implementation of the first to fourth aspects above. The communication device may also include one or more memories, the memories are used to couple with the processor, and the memories can store the necessary computer programs or instructions for implementing the functions involved in the first aspect above. The processor can execute the computer program or instructions stored in the memory, and when the computer program or instructions are executed, the communication device implements the method in any possible design or implementation of the first to fourth aspects above.

[0073] In another possible design, the communication device includes a processor, which can be coupled to a memory. The memory can store the necessary computer programs or instructions for implementing the functions of the first aspect. The processor can execute the computer programs or instructions stored in the memory. When the computer programs or instructions are executed, the communication device implements the method of any possible design or implementation of the first to fourth aspects.

[0074] In another possible design, the communication device includes a processor and an interface circuit, wherein the processor is used to communicate with other devices through the interface circuit and execute the method in any possible design or implementation of the first to fourth aspects above.

[0075] It can be understood that in the fifth aspect above, the processor can be implemented by hardware or by software. When implemented by hardware, the processor can be a logic circuit, an integrated circuit, etc.; when implemented by software, the processor can be a general-purpose processor, which is implemented by reading the software code stored in the memory. In addition, the above processors can be one or more, and the memories can be one or more. The memory can be integrated with the processor, or the memory and the processor can be set separately. In the specific implementation process, the memory can be integrated with the processor on the same chip, or can be set on different chips respectively. The embodiment of the present application does not limit the type of memory and the setting method of the memory and the processor.

[0076] In a sixth aspect, an embodiment of the present application provides a communication system, which includes the operating node, reference node and perception node in the above-mentioned first aspect.

[0077] In a seventh aspect, the present application provides a chip system, which includes a processor and may also include a memory, for implementing the method described in the first aspect. The chip system may be composed of a chip or may include a chip and other discrete devices.

[0078] In an eighth aspect, the present application further provides a computer-readable storage medium, in which computer-readable instructions are stored. When the computer-readable instructions are executed on a computer, the computer executes the method in the first aspect.

[0079] In a ninth aspect, the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the methods of each embodiment of the first aspect described above.

[0080] For the technical effects that can be achieved in the above-mentioned second to ninth aspects, please refer to the description of the technical effects that can be achieved by the corresponding possible design schemes in the above-mentioned first aspect, and this application will not repeat them here. BRIEF DESCRIPTION OF THE DRAWINGS

[0081] FIG1 shows a schematic diagram of a communication system provided by an embodiment of the present application;

[0082] FIG2 shows a schematic diagram of carrier phase ranging;

[0083] FIG3 shows a schematic diagram of a dual-base sensing node provided in an embodiment of the present application;

[0084] FIG4 shows a schematic diagram of a single-base sensing node provided in an embodiment of the present application;

[0085] FIG5A shows a schematic flow chart of a target sensing method provided in an embodiment of the present application;

[0086] FIG5B shows a schematic diagram of a target perception application scenario provided by an embodiment of the present application;

[0087] FIG6 shows a schematic diagram of a reference node provided in an embodiment of the present application;

[0088] FIG7 shows a schematic diagram of a sensing node provided in an embodiment of the present application;

[0089] FIG8 shows a schematic diagram of a scenario for determining a perception target provided by an embodiment of the present application;

[0090] FIG9 is a schematic diagram showing a flow chart of a target perception method provided in an embodiment of the present application;

[0091] FIG10 shows a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0092] FIG11 shows a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0093] FIG12 shows a schematic structural diagram of a communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0094] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application will be further described in detail below with reference to the accompanying drawings. The specific operating methods in the method embodiments can also be applied to device embodiments or system embodiments. Among them, in the description of the present application, unless otherwise specified, the meaning of "multiple" is more than two (including two). Therefore, the implementation of the device and the method can refer to each other, and the repetitions will not be repeated.

[0095] The technical solutions provided in the embodiments of the present application can be applied to 5G systems, or to future communication systems (such as 6G) or other similar communication systems. In addition, the technical solutions provided in the embodiments of the present application can be applied to cellular links, public land mobile networks (PLMN), machine to machine (M2M) networks, Internet of Things (IoT) networks or other networks. It can also be applied to links between devices, such as device to device (D2D) links. D2D links can also be called sidelinks, where sidelinks can also be called side links or side links, etc. In the embodiments of the present application, the above terms all refer to links established between devices of the same type, and their meanings are the same. The so-called devices of the same type can be links between terminal devices, links between base stations, links between relay nodes, etc., and the embodiments of the present application do not limit this.

[0096] Figure 1 is a schematic diagram of a wireless communication system applicable to the present application. As shown in Figure 1 , the wireless communication system may include at least one network device, such as network device 111, network device 112, and network device 113. The wireless communication system may also include at least one terminal device, such as terminal device 121, terminal device 122, terminal device 123, terminal device 124, terminal device 125, terminal device 126, and terminal device 127. The communication method between network devices may be backhaul, such as the communication method between network device 111 and network device 112, or the communication method between network device 111 and network device 113. The communication method between network devices and terminal devices may be enhanced mobile broadband (eMBB), such as the communication method between network device 112 and terminal device 121. The communication method between network devices and terminal devices may be multi-site transmission, such as the communication method between network devices 112, network device 113, and terminal device 124. The communication method between terminal devices may be D2D. For example, the communication method between terminal device 122 and terminal device 125.

[0097] A terminal device may be a device capable of receiving scheduling and instruction information from network devices, providing voice and / or data connectivity to a user, or a handheld device with wireless connection capabilities, or other processing devices connected to a wireless modem. The terminal device may communicate with one or more core networks or the Internet via a radio access network (RAN). For example, the terminal device may be a portable, pocket-sized, handheld, computer-built-in, or vehicle-mounted mobile device. The terminal device may also be referred to as a subscriber unit (SU), subscriber station (SS), mobile station (MS), remote station (MS), access point (AP), remote terminal (AP), access terminal (AP), user agent (UA), customer premises equipment (CPE), terminal, user equipment (UE), mobile terminal (MT), etc. The terminal device may also be a wearable device. The terminal device may also be a device in a next-generation communication system. For example, terminal devices in 5G networks or terminal devices in future evolved PLMN networks, terminal devices in NR communication systems, etc.Currently, terminal devices may include: mobile phones, tablet computers, laptop computers, PDAs, customer-premises equipment (CPE), mobile internet devices (MIDs), wearable devices (such as smart watches, smart bracelets, and pedometers), in-vehicle equipment (such as cars, bicycles, electric vehicles, airplanes, ships, trains, and high-speed trains), virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, smart home devices (such as refrigerators, televisions, air conditioners, and electric meters), intelligent robots, workshop equipment, wireless terminals in self-driving vehicles, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, and flying devices (such as intelligent robots, hot air balloons, drones, and airplanes). The terminal device may also be other devices with terminal functions. For example, the terminal device may also be a device that serves as a terminal in D2D communication.

[0098] A network device is an entity on the network side that transmits or receives signals. For example, a transmission reception point (TRP) or a gNB. A network device can be an AP in a wireless local area network (WLAN), a base transceiver station (BTS) in a global system for mobile communication (GSM) or code division multiple access (CDMA), a base station (nodeB, NB) in wideband code division multiple access (WCDMA), or an evolved node B (eNB or eNodeB) in long-term evolution (LTE). A network device can also be a relay station or access point, or a network device in an in-vehicle device, wearable device, or 5G network, or a network device in a future evolved PLMN, or a device such as a gNodeB / gNB in ​​a NR system. In some deployments, a gNB can include a CU and a DU. The CU implements some of the gNB's functions, and the DU implements some of the gNB's functions. For example, the CU is responsible for processing non-real-time protocols and services. For example, it implements radio resource control (RRC), service data adaptation protocol (SDAP), and packet data convergence protocol (PDCP) layer functions. The DU is responsible for processing physical layer protocols and real-time services. For example, it implements radio link control (RLC), medium access control (MAC), and physical (PHY) layer functions. The gNB may also include an active antenna unit (AAU). The AAU implements some physical layer processing functions, RF processing, and active antenna-related functions. Because RRC layer information ultimately becomes PHY layer information, or is converted from PHY layer information, in this architecture, higher-layer signaling (such as RRC layer signaling) can also be considered to be sent by the DU, or by both the DU and the AAU. It is understood that a network device can be a device that includes one or more of a CU node, a DU node, or an AAU node.In addition, the CU may be a network device in an access network (radio access network, RAN), and the CU may be a network device in a core network (core network, CN), which is not limited in this application. In addition, in an embodiment of the present application, the network device provides services for a cell, and the terminal device communicates with the network device through the transmission resources used by the cell (for example, frequency domain resources, or spectrum resources). The cell may be a cell corresponding to a network device (for example, a base station). The cell may belong to a macro base station or a base station corresponding to a small cell. For example, the small cell may include: a metro cell, a micro cell, a pico cell, a femto cell, etc. Since the small cell has the characteristics of small coverage and low transmission power, the small cell can provide high-speed data transmission services. In addition, in other possible cases, the network device may be other devices that provide wireless communication functions for the terminal device. The embodiments of the present application do not limit the specific technology and specific device form adopted by the network device. For example, in an open radio access network (ORAN) system, CU may also be referred to as O-CU (open CU), DU may also be referred to as O-DU, CU-CP may also be referred to as O-CU-CP, CU-UP may also be referred to as O-CU-UP, and RU may also be referred to as O-RU. For the convenience of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples for description. Any of the CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented by a software module, a hardware module, or a combination of a software module and a hardware module.

[0099] In order to better illustrate the solution of this application, the following technical terms involved in this application are explained:

[0100] 1) Integer fuzzy parameters

[0101] As shown in Figure 2, the signal transmitted by the transmitter (Tx) propagates through space to reach the target, is reflected by the target, and is received by the receiver (Rx). The distance of the target space propagation is d, so d satisfies the following formula 1:

[0102] Where f is the carrier frequency; N is a positive integer, representing the number of wavelengths required for the signal to be transmitted from the transmitter to the receiver; Φ is the phase measured by the receiver after receiving the signal; and c is the speed of light. However, since N is unknown, any positive integer N will suffice, making d impossible to determine. This is known as the integer ambiguity problem. N is the integer ambiguity parameter.

[0103] 2) Perception Node

[0104] A sensing node may also be referred to as a sensing node, signal detection node, or sensing device, without specific limitation here. A sensing node may be a terminal device or a network device as described above, without specific limitation here. A sensing node assists an operating node in locating a sensing target. Multiple sensing nodes (typically no fewer than three) are typically used to assist in locating a sensing target.

[0105] Sensing nodes are divided into dual-base sensing nodes and single-base sensing nodes. Among them, the dual-base sensing node includes two sensing devices, and after one sensing device (signal transmitting sensing node) transmits a signal, it is reflected by the sensing target, and the other sensing device (signal receiving sensing node) receives the signal to obtain a sensing result. Among them, the single-base sensing node includes one sensing device, and after the sensing device transmits a signal, it is reflected by the sensing target, and the sensing device receives the reflected signal to obtain a sensing result. Among them, the sensing result includes: signal transmission distance, relative motion speed of the sensing target, angle of the sensing target relative to the antenna receiving array (that is, the antenna receiving array of the signal receiving sensing node in the sensing node), or signal strength and other information, which is only exemplified here and is not specifically limited. It should be noted that in this application, the dual-base sensing node is understood as one sensing node, and the single-base sensing node is also understood as one sensing node.

[0106] The schematic diagram of the dual-base sensing node can be understood with reference to Figure 3. Figure 3 (a) shows that the sensing target within the sensing area is a car, the sensing node transmitting the signal is the base station, and the sensing node receiving the signal is the user equipment (UE). After the base station transmits the signal, it reflects off the car to produce a reflected signal, which is received by the UE to obtain the sensing result. Figure 3 (b) shows that the sensing target within the sensing area is a car, the sensing node transmitting the signal is the UE, and the sensing node receiving the signal is the base station. After the UE transmits the signal, it reflects off the car to produce a reflected signal, which is received by the base station to obtain the sensing result. Figure 3 (c) shows that the sensing target within the sensing area is a car, the sensing node transmitting the signal is base station 1, and the sensing node receiving the signal is base station 2. After base station 1 transmits the signal, it reflects off the car to produce a reflected signal, which is received by base station 2 to obtain the sensing result. Figure 3 (d) shows that the sensing target within the sensing area is a car, the sensing node transmitting the signal is UE1, and the sensing node receiving the signal is UE2. After UE1 transmits the signal, it reflects off the car to produce a reflected signal, which is received by UE2 to obtain the sensing result. In Figure 3 (e), the sensing node needs to receive instructions from the control device before it can transmit a signal. The control device is the base station, the transmitting sensing node is UE1, the receiving sensing node is UE2, and the sensing target within the sensing area is a car. After the base station issues a signal transmission instruction to UE1, UE1 transmits a signal, which reflects off the car as a reflected signal, which is then received by UE2. UE2 reports the sensing result based on the base station's instruction. In Figure 3 (f), the sensing node needs to receive instructions from the control device before it can transmit a signal. The control device is base station 3, the transmitting sensing node is base station 1, and the receiving sensing node is base station 2. The sensing target within the sensing area is a car. After base station 3 issues a signal transmission instruction to base station 1, base station 1 transmits a signal, which reflects off the car as a reflected signal, which is then received by base station 2. Base station 2 reports the sensing result based on base station 3's instruction.

[0107] Figure 4 illustrates a schematic diagram of a single-base sensing node. Figure 4 (a) shows a car as the sensing target within the sensing area, and a base station as the sensing node. After the base station transmits a signal, it reflects off the car, producing a reflected signal. The reflected signal is then received by the base station to obtain the sensing result. Figure 4 (b) shows a car as the sensing target within the sensing area, and a user equipment (UE) as the sensing node. After the UE transmits a signal, it reflects off the car, producing a reflected signal. The reflected signal is then received by the UE to obtain the sensing result.

[0108] 3) Reference Node

[0109] Reference nodes may also be referred to as auxiliary nodes, signal detection nodes, or reference devices, without specific limitations here. Reference nodes can be the aforementioned terminal devices or network devices, without specific limitations here. Reference nodes assist operating nodes in locating perceived targets. The locations of reference nodes are typically known to operating nodes. Reference nodes include dual-base reference nodes and single-base reference nodes, which can be understood with reference to the perception nodes in 2) above.

[0110] 4) Operation Node

[0111] An operation node may also be referred to as a control node, processing node, control device, or processing device, etc., and is not specifically limited here. An operation node may be the aforementioned terminal device or network device, and is not specifically limited here. An operation node may be a device different from a reference node and a sensing node, or may be one of multiple sensing nodes, and is not specifically limited here. For example, in a scenario of sensing target positioning, one of multiple single-base sensing nodes may be used as an operation node. Alternatively, in a scenario of sensing target positioning, a signal-transmitting sensing node among multiple dual-base sensing nodes may be used as an operation node. Alternatively, in a scenario of sensing target positioning, a signal-receiving sensing node among multiple dual-base sensing nodes may be used as an operation node.

[0112] 5) Perception target

[0113] The sensing target is a passive device that cannot send or receive signals, but can reflect, diffract, or scatter signals. The sensing target can be a vehicle, a tree, an animal, etc. This is only an example and is not intended to be limiting.

[0114] In positioning applications, the device to be located is typically an active device. Therefore, measurements from a base station can be used to locate the active device. However, in perception applications, the target to be perceived is typically a passive device, such as a moving vehicle. Since the target does not receive or transmit signals, the measurement results from the base station are uncorrelated with the target and cannot resolve integer ambiguity in perception ranging.

[0115] Based on this, the present application provides a target perception method to solve the whole-cycle ambiguity problem. Referring to Figure 5A, it can be executed through the interaction of the operating node, the perception node and the reference node. Among them, the operating node (which can be understood with reference to the above 4)) can be a terminal device, a network device, a chip or a circuit. The perception node (which can be understood with reference to the above 2)) can also be a terminal device, a network device, a chip or a circuit. The reference node (which can be understood with reference to the above 3)) can also be a terminal device, a network device, a chip or a circuit. Optionally, the chip is a chip in a terminal device. Optionally, the circuit is a circuit in a terminal device. Optionally, the chip is a chip in a network device. Optionally, the circuit is a circuit in a network device. For example, the operating node is a terminal device, the perception node is a network device, and the reference node is a terminal device; or, the operating node is a terminal device, the perception node is a network device, the reference node is a network device, etc., and the present application does not limit this. Specifically, as can be understood with reference to Figure 5B , base station 1 is an operating node (the operating node can exchange data with UE1, UE2, and base station 2, respectively, for example, exchanging the sensing request messages described below with base station 2). UE1 and UE2 constitute dual-base sensing nodes (UE1 is a sensing node that transmits signals, and UE2 is a sensing node that receives signals). Base station 2 is a single-base reference node, and the vehicle is a sensing target. This is merely an example, and does not specifically limit the operating nodes, sensing nodes, reference nodes, and sensing targets. It should also be noted that the operating nodes, sensing nodes, and reference nodes described above can be combinations of different scenarios. For example, the operating node can be a network device or a terminal device; the sensing node can include a single-base sensing node and / or a dual-base sensing node (see 2 above); and the reference node can include a single-base sensing node and / or a dual-base sensing node (see 3 above). Alternatively, the operating node can be one of the sensing nodes (see 4 above).

[0116] The method can be applied to 5G communication systems, 5.5G or future 6G communication systems. The method can also be applied to non-terrestrial communication systems, etc., which is not limited in this application. There may be multiple sensing nodes and reference nodes. Here, one is used as an example to illustrate the method. The execution is as follows:

[0117] Step 501: A reference node obtains first reference information, where the first reference information indicates a plurality of carrier phase measurement values ​​obtained by the reference node through multiple measurements of a perception target.

[0118] In one embodiment, the reference node broadcasts a sensing signal (also called a detection signal, e.g., a pulse signal). After the sensing signal is reflected by a sensing target (refer to 5 above), the reference node obtains a sensing result. The reference node may obtain first reference information based on the sensing result. The sensing result may include information such as the signal transmission distance, the relative motion speed of the sensing target, the angle of the sensing target relative to the antenna receiving array (i.e., the antenna receiving array of the reference node receiving the signal), or signal strength. This is provided for illustrative purposes only and is not intended to be limiting.

[0119] In another embodiment, a reference node receives a sensing request message from an operating node. The sensing request message includes a sensing area, and the sensing area includes a sensing target. After receiving the sensing request message, the reference node sends a sensing signal to the sensing area, detects the sensing area to determine the sensing target, and obtains first reference information based on a sensing result obtained from a reflected signal of the sensing target.

[0120] Optionally, the sensing request message also includes at least one of the following: a sensing task type and a sensing target measurement frequency. Sensing task types include correcting positioning errors and determining the location of sensing targets. Sensing target measurement frequency includes sensing signal frequency and sensing signal bandwidth. The sensing signal sent by the reference node to the sensing area may use the sensing target measurement frequency. Furthermore, the reference node may filter information in the sensing results based on the sensing task type to determine first reference information. For example, after the reference node sends a sensing signal to the sensing area, the sensing results determined include signal transmission distance, relative motion speed of the sensing target, angle of the sensing target relative to the antenna receiving array, and signal strength. If the sensing task type indicates determining the location of the sensing target, the reference node may use the signal transmission distance, relative motion speed of the sensing target, and angle of the sensing target relative to the antenna receiving array as first reference information. The reference node must determine the sensing task type before it can obtain data exchanged with the operating node. Determining the sensing target measurement frequency by the reference node can reduce feedback overhead while ensuring measurement accuracy. The sensing request message described above may also be instruction information, which can be sent via communication signaling. For example, when the operating node is a network device and the reference node is a terminal device, the communication signaling can be downlink control information (DCI), radio resource control (RRC), and physical downlink shared channel (PDSCH); when the operating node is a terminal device and the reference node is a network device, the communication signaling can be a physical uplink shared channel (PUSCH) and can also be uplink control information (UCI); when the operating node is a network device and the reference node is a network device, the communication signaling can be transmitted through the Xn interface, which is not specifically limited in this application.

[0121] Specifically, the first reference information includes one or more of the following information:

[0122] Information 1: Multiple carrier measurement phase values ​​obtained by the reference node when measuring the sensing target at different times.

[0123] For example, the reference node is a single-base reference node, and reference node 1 measures the carrier measurement phase value obtained by measuring the sensing target at the first moment, and reference node 1 measures the carrier measurement phase value obtained by measuring the sensing target at the second moment. Alternatively, the reference node is a dual-base reference node, and at the first moment, after the signal transmitting reference node in the reference node sends a sensing signal to the sensing target, the signal receiving reference node receives the reflected sensing signal and measures the carrier measurement phase value; at the second moment, after the signal transmitting reference node in the reference node sends a sensing signal to the sensing target, the signal receiving reference node receives the reflected sensing signal and measures the carrier measurement phase value. This is only an example description and does not specifically limit information 1. (a) in Figure 6 illustrates a situation where a single-base reference node detects a sensing target, and the transmitting end (Tx) of the single-base reference node sends a sensing signal to the sensing target, and after the sensing target reflects the sensing signal, the receiving end (Rx) of the single-base reference node receives it. (b) in Figure 6 illustrates the situation where the dual-base reference node detects the perception target. The signal transmitting reference node in the dual-base reference node sends a perception signal to the perception target. After the perception target reflects the perception signal, the signal receiving reference node of the dual-base reference node receives it.

[0124] Information 2: carrier measurement phase difference value obtained by the reference node when measuring the sensing target at adjacent time points.

[0125] For example, the reference node is a single-base reference node, and the difference between the first carrier measurement phase value obtained by the reference node 1 when measuring the perception target at the first moment and the second carrier measurement phase value obtained by the reference node 1 when measuring the perception target at the second moment (wherein the second moment is an adjacent moment to the first moment). Alternatively, the reference node is a dual-base reference node, and at the first moment, after the signal transmitting reference node in the reference node sends a perception signal to the perception target, the signal receiving reference node receives the reflected perception signal to determine the first carrier measurement phase value; at the second moment, after the signal transmitting reference node in the reference node sends a perception signal to the perception target, the signal receiving reference node receives the reflected perception signal to determine the second carrier measurement phase value, and the carrier measurement phase difference is the difference between the first carrier measurement phase value and the second carrier measurement phase value. This is only an example and does not specifically limit information 2. Using the carrier measurement phase difference value obtained by the reference node measuring the perception target at adjacent moments as the first reference information can reduce feedback overhead and improve the measurement accuracy of the integer ambiguity parameter.

[0126] It should be noted that the reference node may also use the carrier measurement phase difference obtained by measuring the perception target at non-adjacent time points as information 2. For example, the reference node is a single-base reference node, and the difference between a first carrier measurement phase value obtained by reference node 1 measuring the perception target at a first time point and a second carrier measurement phase value obtained by reference node 1 measuring the perception target at a fifth time point (where the fifth time point is not adjacent to the first time point) is used.

[0127] Information 3: The signal transmission distance value obtained by the reference node using the perception signal to measure the perception target at different times.

[0128] For example, if the reference node is a single-base reference node, at a first moment, after the reference node sends a sensing signal to a sensing target, the reference node receives the reflected sensing signal after being reflected by the sensing target, and the signal distance value of the sensing signal transmission is obtained; at a second moment, after the reference node sends a sensing signal to a sensing target, the reference node receives the reflected sensing signal after being reflected by the sensing target, and the signal distance value of the sensing signal transmission is obtained. Alternatively, if the reference node is a dual-base reference node, at a first moment, after the signal-transmitting reference node in the reference node sends a sensing signal to a sensing target, the signal-receiving reference node receives the reflected sensing signal after being reflected by the sensing target, and the sensing signal is transmitted from the signal reference node to the signal receiving reference node after being reflected by the sensing target, and the signal transmission distance over which the sensing signal is transmitted after being reflected by the sensing target and arriving at the signal receiving reference node is obtained; at a second moment, after the signal-transmitting reference node in the reference node sends a sensing signal to a sensing target, the signal-receiving reference node receives the reflected sensing signal after being reflected by the sensing target, and the signal transmission distance over which the sensing signal is transmitted from the signal reference node to the signal receiving reference node after being reflected by the sensing target and arriving at the signal receiving reference node is obtained. This is merely an example and does not specifically limit information 3.

[0129] Information 4: The signal transmission delay value obtained by the reference node using the perception signal to measure the perception target at different times.

[0130] For example, if the reference node is a single-base reference node, at a first moment, after the reference node sends a perception signal to a perception target, the reference node receives the reflected perception signal after being reflected by the perception target, and the signal transmission delay value of the perception signal transmission is determined; at a second moment, after the reference node sends a perception signal to a perception target, the reference node receives the reflected perception signal after being reflected by the perception target, and the signal transmission delay value of the perception signal transmission is determined. Alternatively, if the reference node is a dual-base reference node, at a first moment, after the signal-transmitting reference node sends a perception signal to a perception target, the signal transmission delay value is determined by the signal-receiving reference node receiving the reflected perception signal after being reflected by the perception target; at a second moment, after the signal-transmitting reference node sends a perception signal to a perception target, the signal transmission delay value is determined by the signal-receiving reference node receiving the reflected perception signal after being reflected by the perception target. This is merely an example and does not specifically limit information 4.

[0131] The reference node may use one or more of the above-mentioned information as first reference information. For example, information 1 may be used as first reference information, or information 1 and information 4 may be used as first reference information, without specific limitation herein. The above-mentioned information can be used to determine multiple carrier phase values ​​obtained by the reference node from multiple measurements of the perceived target. These multiple carrier phase values ​​obtained from multiple measurements of the perceived target by the reference node help determine integer ambiguity parameters, thereby improving the positioning accuracy of the perceived target.

[0132] In addition, the first reference information also includes: the location of the reference node, or the identifier of the reference node, where the identifier of the reference node is associated with the location of the reference node. The location of the reference node can be indicated by a cell identifier, a tracking area, or a geographical location in a world coordinate system.

[0133] In one embodiment, the first reference information includes the location of the reference node, and the reference node determines the location of the reference node based on the location of the reference node. In another embodiment, the identifier of the reference node is associated with the location of the reference node, that is, there is an association relationship between the identifier of the reference node and the location of the reference node. The operating node may pre-store the association relationship, and after the operating node receives the identifier of the reference node, it determines the location of the reference node based on the association relationship. Alternatively, the operating node requests the association relationship from other network elements that store the association relationship, and after the operating node receives the identifier of the reference node, it determines the location of the reference node based on the association relationship. Alternatively, after the operating node receives the identifier of the reference node, it sends the identifier of the reference node to other network elements that store the association relationship to obtain the location of the reference node.

[0134] In the present application, the first reference information includes the position of the reference node or the identifier of the reference node, so that the operating node can determine the position of the reference node. Furthermore, the operating node can determine whether to use the reference node to assist in the positioning of the perception target based on the position of the reference node. Specifically, if the position of the reference node overlaps with the position of the perception area, the operating node may use the reference node to assist in the positioning of the perception target; if the position of the reference node does not overlap with the position of the perception area, the operating node may not use the reference node to assist in the positioning of the perception target. In addition, a distance threshold can be set. If the distance between the perception area and the reference node is greater than the distance threshold, the reference node will not be used to assist in the positioning of the perception target. If the distance between the perception area and the test node is less than the distance threshold, the reference node can be used to assist in the positioning of the perception target. You can refer to the following description of which reference nodes are specifically selected to determine the position of the perception target for understanding, which will not be repeated here.

[0135] Step 502: The reference node sends first reference information to the operating node, where the operating node is different from the sensing target.

[0136] Accordingly, the operation node receives the first reference information.

[0137] Specifically, the reference node may send the first reference information via communication signaling. This is merely an example and is not a specific limitation. For example, when the reference node is a network device and the operating node is a terminal device, the communication signaling may be DCI, RRC, or PDSCH; when the reference node is a terminal device and the operating node is a network device, the communication signaling may be PUSCH or UCI; when the reference node is a network device and the operating node is a network device, the communication signaling may be transmitted via an Xn interface, which is not specifically limited in this application.

[0138] In this application, the operating node is different from the sensing target. The operating node is a device that can send and receive signals, which can be a terminal device or a network device. The sensing target cannot send and receive signals, but can reflect signals. In this application, the sensing target and the operating node are different devices, and the sensing target does not need to further process the sensing signal. Even if the sensing target is a passive device (that is, a device that cannot send and receive signals), the solution of this application can be used for positioning.

[0139] Step 503: The sensing node obtains second reference information, where the second reference information is used to determine the integer ambiguity parameter of the sensing target.

[0140] In one embodiment, a sensing node broadcasts a sensing signal. After the sensing signal is reflected by a sensing target, the sensing node obtains a sensing result. The sensing node may then obtain second reference information based on the sensing result. The sensing result may include information such as signal transmission distance, relative speed of the sensing target, the relative position of the sensing target to an antenna receiving array (i.e., the antenna receiving array of the sensing node receiving the signal), or signal strength. This is provided for illustrative purposes only and is not intended to be limiting.

[0141] In another embodiment, a sensing node receives a sensing request message from an operating node. The sensing request message includes a sensing area, which includes a sensing target. After receiving the sensing request message, the sensing node transmits a sensing signal to the sensing area, detects the sensing area to determine the sensing target, and obtains second reference information based on the sensing result obtained from the reflected signal of the sensing target. Optionally, the sensing request message also includes at least one of the following: a sensing task type and a sensing target measurement frequency. Sensing task types include correcting positioning errors and determining the position of the sensing target. The sensing target measurement frequency includes the frequency and bandwidth of the sensing signal. The sensing signal transmitted by the sensing node to the sensing area may use the sensing target measurement frequency.

[0142] In addition, the perception node can filter the information in the perception result based on the perception task type to determine the second reference information. For example, the perception result determined after the perception node sends a perception signal to the perception area includes: signal transmission distance, perception target relative motion speed, perception target relative antenna receiving array (that is, the antenna receiving array of the signal receiving perception node in the perception node), signal strength, and the perception task type is used to indicate the position of the perception target. The perception node can use the signal transmission distance, perception target relative motion speed, and perception target relative antenna receiving array as the second reference information. The perception node can only obtain the data interacting with the operation node after determining the perception task type. The perception node determines the measurement frequency of the perception target to reduce the feedback overhead while ensuring the measurement accuracy. The above-mentioned perception request message can also be indication information, which can be sent through communication signaling, and this application does not specifically limit it here.

[0143] In another implementation, the operating node may pre-agree on which sensing nodes are used to sense the sensing area. The agreed sensing nodes may broadcast a sensing signal. The sensing signal obtains a sensing result after being reflected by the sensing target. The sensing node may obtain the second reference information based on the sensing result.

[0144] Specifically, the second reference information includes: carrier measurement phase values ​​obtained by any one of the multiple sensing nodes measuring the sensing target at different times. The carrier measurement phase values ​​obtained by the multiple sensing nodes measuring the sensing target at different times may be indicated by one or more of the following information:

[0145] Information 1: multiple carrier measurement phase values ​​obtained by multiple sensing nodes measuring the sensing target at different times.

[0146] For example, the carrier measurement phase value obtained by sensing node 1 when measuring the sensing target at the first moment, and the carrier measurement phase value obtained by sensing node 1 when measuring the sensing target at the second moment. The carrier measurement phase value obtained by sensing node 2 when measuring the sensing target at the first moment, and the carrier measurement phase value obtained by sensing node 2 when measuring the sensing target at the second moment. This is merely an example and does not specifically limit information 1.

[0147] Information 2: The carrier measurement phase difference value obtained by the sensing node when measuring the sensing target at adjacent times.

[0148] For example, the difference between the third carrier measurement phase value obtained by sensing node 1 measuring the sensing target at the first moment and the fourth carrier measurement phase value obtained by sensing node 1 measuring the sensing target at the second moment. The difference between the fifth carrier measurement phase value obtained by sensing node 2 measuring the sensing target at the first moment and the sixth carrier measurement phase value obtained by sensing node 2 measuring the sensing target at the second moment. This is merely an example and does not specifically limit information 2. Using the carrier measurement phase differences obtained by sensing nodes measuring the sensing target at adjacent moments as the second reference information can reduce feedback overhead and improve the measurement accuracy of integer ambiguity parameters.

[0149] It should be noted that the sensing node may also use the carrier measurement phase difference obtained by measuring the sensing target at non-adjacent time points as information 2. For example, if the sensing node is a single-base sensing node, the difference between a first carrier measurement phase value obtained by sensing node 1 measuring the sensing target at a first time point and a second carrier measurement phase value obtained by sensing node 1 measuring the sensing target at a fifth time point (where the fifth time point is not adjacent to the first time point) is used.

[0150] The sensing nodes 1 and 2 in the above-mentioned information 1 and information 2 may be single-base sensing nodes or dual-base sensing nodes, which is not specifically limited here and can be understood with reference to FIG7 . FIG7 (a) illustrates a situation where a single-base sensing node detects a sensing target. The transmitter (Tx) of the single-base sensing node sends a sensing signal to the sensing target. After the sensing target reflects the sensing signal, the receiver (Rx) of the single-base sensing node receives it. FIG7 (b) illustrates a situation where a dual-base sensing node detects a sensing target. The signal-transmitting sensing node in the dual-base sensing node sends a sensing signal to the sensing target. After the sensing target reflects the sensing signal, the signal-receiving sensing node of the dual-base sensing node receives it.

[0151] Information 3: The signal transmission distance value obtained by the sensing node using the sensing signal to measure the sensing target at different times.

[0152] For example, if the sensing node is a single-base sensing node, at the first moment, sensing node 1 sends a sensing signal to the sensing target. After being reflected by the sensing target, the sensing node receives the reflected sensing signal and senses the signal distance value of the signal transmission. At the second moment, sensing node 1 sends a sensing signal to the sensing target. After being reflected by the sensing target, the sensing node receives the sensing signal and senses the signal distance value of the signal transmission. At the first moment, sensing node 2 sends a sensing signal to the sensing target. After being reflected by the sensing target, the sensing node receives the sensing signal and senses the signal distance value of the signal transmission. At the second moment, sensing node 2 sends a sensing signal to the sensing target. After being reflected by the sensing target, the sensing node receives the sensing signal and senses the signal distance value of the signal transmission.

[0153] Alternatively, the sensing node is a dual-base sensing node. At a first moment, after a signal-transmitting sensing node in sensing node 1 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node to the signal-receiving sensing node after reflection from the sensing target. At a second moment, after a signal-transmitting sensing node in sensing node 1 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node to the signal-receiving sensing node. At a first moment, after a signal-transmitting sensing node in sensing node 2 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node to the signal-receiving sensing node. At a second moment, after a signal-transmitting sensing node in sensing node 2 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node to the signal-receiving sensing node after reflection from the sensing target.

[0154] Alternatively, the sensing nodes include both dual-base sensing nodes and single-base sensing nodes. Sensing node 1 is a dual-base sensing node, and sensing node 2 is a single-base sensing node. At a first moment, after a signal-transmitting sensing node in sensing node 1 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node, through reflection from the sensing target, to the signal-receiving sensing node. At a second moment, after a signal-transmitting sensing node in sensing node 1 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node, through reflection from the sensing target, to the signal-receiving sensing node. At a first moment, after a sensing node 2 transmits a sensing signal to a sensing target, the sensing node receives the sensing signal after reflection from the sensing target and then senses the signal distance value of the signal transmission. At a second moment, after a sensing node 2 transmits a sensing signal to a sensing target, the sensing node receives the sensing signal after reflection from the sensing target and then senses the signal distance value of the signal transmission.

[0155] Information 3 is only illustrative and not limiting.

[0156] Information 4: The signal transmission delay value obtained by the sensing node using the sensing signal to measure the sensing target at different times.

[0157] For example, if the sensing node is a single-base sensing node, at the first moment, sensing node 1 sends a sensing signal to the sensing target. After the sensing signal is reflected by the sensing target, sensing node 1 receives the sensing signal and senses the signal transmission delay of the signal transmission. At the second moment, sensing node 1 sends a sensing signal to the sensing target. After the sensing signal is reflected by the sensing target, sensing node 1 receives the sensing signal and senses the signal transmission delay of the signal transmission. At the first moment, sensing node 2 sends a sensing signal to the sensing target. After the sensing signal is reflected by the sensing target, sensing node 2 receives the sensing signal and senses the signal transmission delay of the signal transmission. At the second moment, sensing node 2 sends a sensing signal to the sensing target. After the sensing signal is reflected by the sensing target, sensing node 2 receives the sensing signal and senses the signal transmission delay of the signal transmission.

[0158] Alternatively, the sensing node is a dual-base sensing node. At a first moment, after a signal-transmitting sensing node in sensing node 1 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node to the signal-receiving sensing node after reflection from the sensing target. At a second moment, after a signal-transmitting sensing node in sensing node 1 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node to the signal-receiving sensing node. At a first moment, after a signal-transmitting sensing node in sensing node 2 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node to the signal-receiving sensing node. At a second moment, after a signal-transmitting sensing node in sensing node 2 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node to the signal-receiving sensing node after reflection from the sensing target.

[0159] Alternatively, the sensing nodes include both dual-base sensing nodes and single-base sensing nodes. Sensing node 1 is a dual-base sensing node, and sensing node 2 is a single-base sensing node. At a first moment, after a signal-transmitting sensing node in sensing node 1 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node, through reflection from the sensing target, to the signal-receiving sensing node. At a second moment, after a signal-transmitting sensing node in sensing node 1 transmits a sensing signal to a sensing target, the sensing signal is reflected by the sensing target and then received by a signal-receiving sensing node. The sensing signal travels a signal transmission distance from the signal-transmitting sensing node, through reflection from the sensing target, to the signal-receiving sensing node. At a first moment, after a sensing node 2 transmits a sensing signal to a sensing target, the sensing node receives the sensing signal after reflection from the sensing target and then senses the signal transmission delay of the signal transmission. At a second moment, after a sensing node 2 transmits a sensing signal to a sensing target, the sensing node receives the sensing signal after reflection from the sensing target and then senses the signal transmission delay of the signal transmission.

[0160] The information 4 is only illustrative and not limited here.

[0161] The sensing node may use one or more of the above-mentioned information as second reference information. For example, information 1 may be used as the second reference information, or information 1 and information 4 may be used as the second reference information, without specific limitation. The above-mentioned information can be used to determine multiple carrier phase values ​​obtained by the sensing node from multiple measurements of the sensing target, thereby improving data processing efficiency. It should be noted that the carrier phase measurement values ​​obtained by the sensing node and the reference node are obtained by measuring the sensing target at the same time, or by the sensing node and the reference node when the sensing target is at the same location. The aforementioned same time can also be understood as a time within the allowable time error range. For example, if the time error is 100 μs, time 1 and a time within the range of [time 1 - 100 μs, time 1 + 100 μs] can be understood as the same time. The aforementioned same location can also be understood as a location within the allowable distance error range. For example, if the distance error is 1 cm, geographic location 1 and a location within the range of [geographic location - 1 cm, geographic location + 1 cm] can be understood as the same location. For example, at time 1, the sensing node measures the sensing target and obtains a carrier phase measurement value. The reference node also measures the sensing target and obtains a carrier phase measurement value at time 1. In addition, to ensure that the sensing node and the reference node synchronize their measurements, the operating node can send trigger signals to the sensing node and the reference node, respectively, so that the reference information fed back by the sensing node and the reference node is the measurement information at the same time within the allowable error range.

[0162] In addition, the second reference information also includes the following information:

[0163] Information 1: candidate values ​​of integer fuzzy parameters or candidate intervals of integer fuzzy parameters.

[0164] For example, the candidate values ​​of the integer ambiguity parameters estimated by the perception node based on experience, or the candidate values ​​of the integer ambiguity parameters estimated by the perception node based on the matching value determined by the matched filtering of the perception target, are only exemplified here.

[0165] Information 2: Matching values ​​determined by multiple perception nodes through matched filtering of the perception target and the corresponding variation range of the matching values.

[0166] The variation range can be the matching value plus the value determined by the variation interval. For example, if the matching value is A and the variation interval is -∝ to +∝, then the variation range is A-∝ to A+∝. The variation range is a variable interval. For example, if the matching value is A and the variation range is -∝ to +∝, then the candidate parameters for the integer ambiguity are determined between A-∝ and A+∝. ∝ is the error parameter.

[0167] The above information 1 or information 2 can be used to determine the integer ambiguity parameters of the perceived target, thereby improving the positioning accuracy of the perceived target.

[0168] The execution order of the above steps 501 and 503 is that the steps 501 and 503 can be executed simultaneously, or step 501 can be executed first and then step 503, or step 503 can be executed first and then step 501. This application does not specifically limit this.

[0169] Step 504: The sensing node sends second reference information to the operating node.

[0170] Correspondingly, the operating node receives the second reference information respectively sent by the plurality of sensing nodes.

[0171] Specifically, the sensing node may send the first reference information via communication signaling. This is merely an example and is not a specific limitation. For example, when the sensing node is a network device and the operating node is a terminal device, the communication signaling may be DCI, RRC, or PDSCH; when the sensing node is a terminal device and the operating node is a network device, the communication signaling may be PUSCH or UCI; when the operating node is a network device and the reference node is a network device, the communication signaling may be transmitted via an Xn interface, which is not specifically limited in this application.

[0172] Step 505: The operating node determines the position of the sensing target based on the first reference information and the second reference information.

[0173] Specifically, the operating node obtains a first phase difference value based on the first reference information, where the first phase difference value is the difference between a first phase value measured by the reference node for the perceived target at the first moment and a second phase value measured for the perceived target at the second moment; the operating node predicts the position information of the perceived target at the second moment based on the target integer ambiguity parameter, where the target integer ambiguity parameter minimizes the error between the first phase difference value and the second phase difference value, and the second phase difference value is the difference between the first phase value estimated based on the position information of the perceived target at the first moment and the second phase value estimated based on the position information of the perceived target at the second moment, wherein the target integer ambiguity parameter is determined based on the second reference information.

[0174] In this application, the first reference information indicates multiple carrier phase measurements obtained by a reference node from multiple measurements of a perceived target, and the second reference information is used to determine the integer ambiguity parameters of the perceived target. Based on the first and second reference information, the integer ambiguity parameters of the perceived target can be determined, and the position of the perceived target can be determined based on the integer ambiguity parameters.

[0175] It should also be added that in the relevant embodiment of Figure 5A, the operating node (or reference node or perception node) is a base station, its processing operations can be performed by the CU, and the base station's transceiver operations can be performed by the DU or RU; or, the base station's processing operations can be performed by the CU-CP, and the base station's transceiver operations can be performed by the DU or RU.

[0176] Taking the reference node as a base station as an example, the CU can generate first reference information, and the CU can send the first reference information to the DU. The DU can send the first reference information to the operating node, or the DU can send the first reference information to the RU, and the RU sends it to the operating node. Similarly, the DU can receive a perception request message from the operating node and send the perception request message (for example, including the frequency of the perception signal and the bandwidth of the perception signal) to the CU. The CU determines the frequency and bandwidth of the perception signal based on the perception request message. Alternatively, the RU receives a perception request message from the operating node and sends the perception request message of the operating node to the DU.

[0177] For another example, the CU-CP may generate first reference information, and the CU-CP may send the first reference information to the DU. The DU may send the first reference information to the operating node, or the DU may send the first reference information to the RU, which in turn sends the information to the operating node. Similarly, the DU may receive a perception request message from the operating node, and send the perception request message (for example, including the frequency of the perception signal and the bandwidth of the perception signal) to the CU-CP. The CU-CP determines the frequency and bandwidth of the perception signal based on the perception request message. Alternatively, the RU may receive a perception request message from the operating node, and send the perception request message of the operating node to the DU.

[0178] Of course, CU, DU, RU, and CU-CP can also perform other operations, which will not be listed one by one in this application.

[0179] Furthermore, in the O-RAN scenario, the operations performed by the above CU can be performed by the O-CU, the operations performed by the DU can be performed by the O-DU, the operations performed by the RU can be performed by the O-RU, and the operations performed by the CU-CP can be performed by the O-CU-CP.

[0180] To clarify step 505, refer to Figure 8 below. For example, a sensing node is a dual-base sensing node, a reference node is a single-base reference node, and the sensing target is a car. The locations of the dual-base sensing nodes and the single-base reference node are all known. The sensing nodes are BS1, BS2, and BS3, where BS1 and BS2 form a dual-base sensing node, and BS1 and BS3 form a dual-base sensing node. The reference node is a sensing reference unit (SRU), and the operating node is BS1.

[0181] The signal transmitted by BS1 is reflected by the car and received by BS2. The measurement equations of BS1 and BS2 can be expressed by the following formula 2:

[0182] Among them, a 12 (t1) represents the phase of a certain path (usually the path with the strongest signal) corresponding to the car reflection signal measured by BS2 at time t1; r 12 (t1) represents the distance of the path at time t1 (BS1 to car to BS2); m 12 is an integer representing the integer ambiguity of ranging; λ represents the wavelength of the perceived signal; w 12 (t1) represents the corresponding measurement noise.

[0183] Similarly, the measurement equations for BS1 and BS3 can be expressed by the following formula 3:

[0184] Among them, a 13 (t1) represents the phase of a certain path (usually the path with the strongest signal) corresponding to the car reflection signal measured by BS3 at time t1; r 13 (t1) represents the distance of the path at time t1 (BS1 to car to BS3); m 13 is an integer representing the integer ambiguity of ranging; λ represents the wavelength of the perceived signal; w 13 (t1) represents the corresponding measurement noise.

[0185] The equation for SRU measurement can be expressed by the following formula 4:

[0186] Among them, a SRU (t1) represents the phase of a certain path (usually the path with the strongest signal) corresponding to the car reflection signal measured by the SRU at time t1; r SRU (t1) represents the distance of the path at time t1 (SRU-car-SRU); m SRU is an integer representing the integer ambiguity of ranging; λ represents the wavelength of the perceived signal; w SRU (t1) represents the corresponding measurement noise.

[0187] Assume that there are N moments in total, and take the phase of a path measured by SRU at time t1 as the reference. n The phase change observed at time SRU is BS1 arbitrarily selects a set of integer fuzzy parameters (This set of integer ambiguity parameters can be determined by BS1 based on the second reference information fed back by BS2 and BS3), K represents the number of dual-base sensing nodes. BS1 can substitute this set of integer ambiguity parameters into the above formula 2 and formula 3 to determine the distance estimate BS1 can estimate the distance of the car at t n Position at the moment Based on the estimated car position, BS1 can calculate SRU-car-SRU at t n Phase of the moment So The phase difference relative to time t1 is BS1 can select a set of integer fuzzy parameters Make If , is the smallest, then the position of the car determined based on this set of integer fuzzy parameters is reliable.

[0188] It should be noted that when determining the location of the perception target in this application, the mutual cooperation of the operating node, multiple perception nodes and reference nodes is required. Among them, the operating node can be a perception node selected from multiple perception nodes. The perception node can be a dual-base perception node or a single-base perception node. The reference node can be a dual-base reference node or a single-base reference node. This application does not specifically limit this. The specific selection of which perception nodes and reference nodes to determine the location of the perception target can be determined based on the attribute information of the perception node and the reference node (location and transceiver capability information, etc.). For example, after the operating node broadcasts a perception request message (the perception request message includes the perception area), perception node 1, perception node 2, perception node 3, perception node 4 and perception node 5 receive the perception request message and respectively feedback their respective location information and transceiver capability information to the operating node. After receiving the perception request message, perception node 6 sends a message to the operating node indicating that it will not participate in auxiliary perception, and there is no need to feedback location information and transceiver capability information to the operating node. If sensing nodes 1, 2, 3, and 5 are all located in cell 1, and sensing node 4 is located in cell 2, and their sensing area is within cell 1 but not within cell 2, the operating node may select candidate sensing nodes from among sensing nodes 1, 2, 3, and 5 for determining the location of the sensing target. If sensing nodes 1, 2, and 5 support transmitting and receiving sensing signals, and sensing node 3 only supports receiving sensing signals, the operating node may select sensing nodes 1, 2, and 5 to determine the location of the sensing target. For example, after the operating node broadcasts a sensing request message (including the sensing area), reference nodes 1 and 2 receive the sensing request message and each provide feedback to the operating node regarding their respective location information and transceiver capability information. After receiving the sensing request message, reference node 3 sends a notification to the operating node indicating that it will not participate in assisted sensing, eliminating the need to provide feedback regarding its location information and transceiver capability information to the operating node. If reference node 1 and reference node 2 are both located in cell 1, and the sensing area is located in cell 1, the operating node may select a candidate reference node from reference node 1 and reference node 2 to determine the location of the sensing target. If reference node 1 supports transmitting and receiving sensing signals, and reference node 2 only supports receiving sensing signals, the operating node may select reference node 1 to determine the location of the sensing target.

[0189] 9 , the example in which the sensing nodes include sensing node 1 (single-base sensing node) and sensing node 2 (including a signal transmitting sensing node and a signal receiving sensing node) (dual-base sensing node); the reference node is a single-base reference node, and the operating node is sensing node 1 is described. Execution is as follows:

[0190] Step 901: Sensing node 1 sends a sensing request message, where the sensing request message includes a sensing area, and the sensing area includes a sensing target.

[0191] Correspondingly, the sensing node 2 and the reference node receive the sensing request message.

[0192] Optionally, the perception request message also includes at least one of the following: the perception task type and the measurement frequency of the perception target can be understood with reference to step 501 in Figure 5A above, and will not be repeated here.

[0193] Step 902A: The reference node sends the location information and transceiver capability information of the reference node to sensor node 1.

[0194] Step 902B: The signal transmitting sensing node sends the location information and transceiver capability information of the signal transmitting sensing node to sensing node 1.

[0195] Step 902C: The signal receiving sensing node sends the location information and transceiver capability information of the signal receiving sensing node to sensing node 1.

[0196] The execution order of step 902A, step 902B and step 902C is not specifically limited here. They can be executed simultaneously, or step 902C can be executed first, then step 902B, and then step 902A, etc. This is only an example and does not specifically limit the execution order.

[0197] Step 903-a: The reference node sends a perception signal to the perception target.

[0198] Step 903-b: The reference node receives the echo signal reflected by the sensing target and determines the first reference information.

[0199] Step 904-a: The signal transmitting sensing node sends a sensing signal to the sensing target.

[0200] Step 904-b: The signal receiving sensing node receives the echo signal reflected by the sensing target and determines the second reference information.

[0201] Step 905 - a : sensing node 1 sends a sensing signal to the sensing target.

[0202] Step 905 - b , the sensing node 1 receives the echo signal reflected by the sensing target and determines the second reference information.

[0203] The order of executing steps 903-a, 903-b, 904-a, 904-b, and 905-a, 905-b is not specifically limited here. Steps 903-a, 904-a, and 905-a can be executed simultaneously. Alternatively, steps 905-a and 905-b can be executed first, followed by steps 904-a and 904-b, and then steps 903-a and 903-b. This is merely an example and does not specifically limit the execution order.

[0204] In addition, the first reference information can be understood with reference to the relevant description in the above step 501. The second reference information can be understood with reference to the relevant description in the above step 503. No further details will be given here.

[0205] Step 906: The reference node sends first reference information to the sensor node 1.

[0206] Step 907: The signal receiving sensing node sends second reference information to sensing node 1.

[0207] Step 908: The sensing node 1 determines the location of the sensing target based on the first reference information and the second reference information (including the information determined by the sensing node 1 and the information determined by the signal receiving sensing node).

[0208] The specific method of determining the position of the perception target can be understood by referring to the description in the above step 505 and the description in FIG8 , which will not be repeated here.

[0209] The above mainly introduces the solution provided by the embodiment of the present application from the perspective of device interaction. It is understandable that, in order to implement the above functions, each device may include a hardware structure and / or software module that performs each function. Those skilled in the art should easily appreciate that, in combination with the units and 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 a hardware or computer software driven hardware manner 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 to be beyond the scope of this application.

[0210] In the embodiments of the present application, the functional units of the device can be divided according to the above method examples. For example, each functional unit can be divided according to each function, or two or more functions can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or software functional units.

[0211] In the case of using an integrated unit, Figure 10 shows a possible exemplary block diagram of a communication device involved in an embodiment of the present application. As shown in Figure 10, the communication device 1000 may include: a processing unit 1001 and a transceiver unit 1002. The processing unit 1001 is used to control and manage the operations of the communication device 1000. The transceiver unit 1002 is used to support communication between the communication device 1000 and other devices. Optionally, the transceiver unit 1002 may include a receiving unit and / or a transmitting unit, respectively, for performing receiving and transmitting operations. Optionally, the communication device 1000 may also include a storage unit for storing program code and / or data of the communication device 1000. The transceiver unit may be referred to as an input / output unit, a communication unit, etc. The transceiver unit may be a transceiver. The processing unit may be a processor. When the communication device is a module (such as a chip) in a communication device, the transceiver unit may be an input / output interface, an input / output circuit, or an input / output pin, etc. The transceiver unit may also be referred to as an interface, a communication interface, or an interface circuit, etc. The processing unit may be a processor, a processing circuit, or a logic circuit, etc. Exemplarily, the communication device may be the aforementioned operation node, reference node, perception node, etc.

[0212] The communication device may be the terminal device in the above embodiment, for example, the terminal device or a communication module in the terminal device, or a circuit or chip responsible for the communication function in the terminal device.

[0213] In one possible design, when the communication device 1000 is a terminal device or a communication module in a terminal device, the functions of the processing unit 1001 can be implemented by one or more processors. Specifically, the processor can include a modem chip, or a system-on-chip (SoC) chip or SIP chip containing a modem core. The functions of the transceiver unit 1002 can be implemented by a transceiver circuit.

[0214] In one possible design, when the communication device 1000 is a circuit or chip responsible for communication functions in a terminal device, such as a modem chip or a system-on-chip (SoC) chip or SIP chip containing a modem core, the functions of the processing unit 1001 can be implemented by a circuit system including one or more processors or processor cores in the aforementioned chip. The functions of the transceiver unit 1002 can be implemented by an interface circuit or data transceiver circuit on the aforementioned chip.

[0215] When the above-mentioned communication device is a module applied to a base station, the base station module implements the functions of the base station in the above-mentioned method embodiment. The base station module receives information from other modules in the base station (such as a radio frequency module or antenna), and the information is sent by the UE to the base station; or the base station module sends information to other modules in the base station (such as a radio frequency module or antenna), and the information is sent by the base station to the UE. The base station module here can be the baseband chip of the base station, or it can be a DU or other module. The DU here can be an O-DU in the O-RAN architecture.

[0216] In one embodiment, the communication device 1000 is an operating node, wherein the transceiver unit 1002 is used to receive first reference information from a reference node, the first reference information indicating multiple carrier phase measurement values ​​obtained by the reference node from multiple measurements of a perception target, and the operating node is different from the perception target; receive second reference information from multiple perception nodes, the second reference information being used to determine the integer ambiguity parameter of the perception target; and the processing unit 1001 is used to determine the position of the perception target based on the first reference information and the second reference information.

[0217] In an optional manner, the first reference information includes at least one of the following:

[0218] Multiple carrier measurement phase values ​​obtained by the reference node measuring the sensing target at different times; or,

[0219] The carrier measurement phase difference value obtained by the reference node measuring the sensing target at adjacent time; or

[0220] The reference node uses the sensing signal to measure the signal transmission distance of the sensing target at different times; or

[0221] The reference node uses the sensing signal to measure the signal transmission delay value of the sensing target at different times.

[0222] In an optional manner, the first reference information further includes:

[0223] The position of the reference node, or the identifier of the reference node, the identifier of the reference node is associated with the position of the reference node.

[0224] In an optional manner, the second reference information includes at least one of the following:

[0225] Candidate values ​​for the integer fuzzy parameters; or,

[0226] A matching value determined by any one of the multiple sensing nodes through matched filtering of the sensing target and a variation range corresponding to the matching value.

[0227] In an optional manner, the second reference information further includes: a carrier measurement phase value obtained by any sensing node among the multiple sensing nodes when measuring the sensing target at different times.

[0228] In an optional manner, the transceiver unit 1002 is further configured to send a perception request message, where the perception request message includes: a perception area, where the perception area includes a perception target.

[0229] In an optional manner, the awareness request message further includes at least one of the following:

[0230] Perception task type and measurement frequency of perception targets.

[0231] In another embodiment, the communication device 1000 is a reference node, the processing unit 1001 is used to obtain first reference information, the first reference information indicates multiple carrier phase measurement values ​​obtained by the reference node through multiple measurements of the perception target; the transceiver unit 1002 is used to send the first reference information to the operation node, and the operation node is different from the perception target.

[0232] In an optional manner, the first reference information includes at least one of the following:

[0233] Multiple carrier measurement phase values ​​obtained by the reference node measuring the sensing target at different times; or,

[0234] The carrier measurement phase difference value obtained by the reference node measuring the sensing target at adjacent time; or

[0235] The reference node uses the sensing signal to measure the signal transmission distance of the sensing target at different times; or

[0236] The reference node uses the sensing signal to measure the signal transmission delay value of the sensing target at different times.

[0237] In an optional manner, the first reference information further includes:

[0238] The position of the reference node, or the identifier of the reference node, the identifier of the reference node is associated with the position of the reference node.

[0239] In an optional manner, the transceiver unit 1002 is further configured to receive a perception request message, where the perception request message includes: a perception area, where the perception area includes a perception target.

[0240] In an optional manner, the awareness request message further includes at least one of the following:

[0241] Perception task type and measurement frequency of perception targets.

[0242] In another embodiment, the communication device 1000 is a perception node, the processing unit 1001 is used to obtain second reference information, and the second reference information is used to determine the integer ambiguity parameter of the perception target; the transceiver unit 1002 is used to send the second reference information to the operation node, and the operation node is different from the perception target.

[0243] In an optional manner, the second reference information includes at least one of the following:

[0244] Candidate values ​​for the integer fuzzy parameters; or,

[0245] The matching value determined by the perception node for the perception target matching filter and the corresponding variation range of the matching value.

[0246] In an optional manner, the second reference information further includes: carrier measurement phase values ​​obtained by the sensing node when measuring the sensing target at different times.

[0247] In an optional manner, the transceiver unit 1002 is further configured to receive a perception request message, where the perception request message includes: a perception area, where the perception area includes a perception target.

[0248] In an optional manner, the awareness request message further includes at least one of the following:

[0249] Perception task type, measurement frequency of the perception target, the perception task type is used to indicate the position of the perception target.

[0250] Figure 11 is a simplified schematic diagram of the terminal device provided in this application. For ease of understanding and illustration, Figure 11 uses a mobile phone as an example of a terminal device. As shown in Figure 11, the terminal device includes a processor system, memory, radio frequency circuitry, an antenna, and input / output devices.

[0251] In one embodiment, the processor system can be packaged as a single processor chip, such as a SoC chip or a SIP chip. In another embodiment, the processor system can be a system consisting of multiple chips, wherein the baseband processor can be packaged as a single chip, or packaged as a single chip with part or all of the RF processing system. The processor is primarily used to process communication protocols and communication data, control terminal devices, execute software programs, and process software program data.

[0252] Memory is mainly used to store software programs and data.

[0253] Radio frequency circuits are mainly used for conversion between baseband signals and radio frequency signals and for processing radio frequency signals.

[0254] Antennas are mainly used to send and receive radio frequency signals in the form of electromagnetic waves.

[0255] Input and output devices, such as touch screens, display screens, keyboards, etc., are mainly used to receive data input by terminal devices and output data to terminal devices.

[0256] It should be noted that some types of terminal devices may not have input and output devices.

[0257] When data needs to be sent, the processor performs baseband processing on the data to be transmitted and outputs the baseband signal to the RF circuit. The RF circuit then performs RF processing on the baseband signal and transmits it via the antenna in the form of electromagnetic waves. When data is sent to a terminal device, the RF circuit receives the RF signal via the antenna, converts it into a baseband signal, and outputs the baseband signal to the processor, which converts the baseband signal into data and processes it.

[0258] For ease of explanation, Figure 11 shows only one memory and processor. In actual terminal device products, one or more processors and one or more memories may exist. Memory may also be referred to as a storage medium or storage device. The memory may be provided independently of the processor or integrated with the processor, and this is not limited in the present embodiment.

[0259] In the embodiment of the present application, the antenna and radio frequency circuit with transceiver functions can be regarded as the transceiver unit of the terminal device, and the processor with processing function can be regarded as the processing unit of the terminal device.

[0260] As shown in Figure 11, terminal device 1100 includes a transceiver unit 1110 and a processing unit 1120. Transceiver unit 1110 may also be called a transceiver, transceiver, transceiver device, etc. Processing unit 1120 may also be called a processor, processing board, processing module, processing device, etc.

[0261] Alternatively, the device in the transceiver unit 1110 that implements the receiving function may be considered a receiving unit, and the device in the transceiver unit 1110 that implements the transmitting function may be considered a transmitting unit. That is, the transceiver unit 1110 includes a receiving unit and a transmitting unit. The transceiver unit may also be sometimes referred to as a transceiver, a transceiver, or a transceiver circuit. The receiving unit may also be sometimes referred to as a receiver, a receiver, or a receiving circuit. The transmitting unit may also be sometimes referred to as a transmitter, a transmitter, or a transmitting circuit.

[0262] It should be understood that the transceiver unit 1110 is used to perform the sending and receiving operations of the terminal device in the above method embodiment, and the processing unit 1120 is used to perform other operations except the sending and receiving operations on the terminal device in the above method embodiment.

[0263] This application also provides a network device. Figure 12 shows a schematic diagram of the structure of a network device 1200 provided in an embodiment of this application. This network device 1200 can be applied to the system shown in Figure 1. For example, network device 1200 can be a network device in the system shown in Figure 1, configured to perform the functions of the network device in the above-described method embodiment. It should be understood that the following is merely an example, and in future communication systems, network devices may have other forms and configurations.

[0264] For example, in a 5G communication system, the network device 1200 may include a CU, a DU, and an AAU. Compared to the network device in an LTE communication system, which is composed of one or more radio frequency units (such as a remote radio unit (RRU) and one or more building base band units (BBU)),

[0265] The non-real-time portion of the original BBU will be separated and redefined as a CU, responsible for handling non-real-time protocols and services. Some of the BBU's physical layer processing functions will be merged with the original RRU and passive antenna into the AAU. The remaining BBU functions will be redefined as the DU, responsible for handling physical layer protocols and real-time services. In short, the CU and DU are differentiated by the real-time nature of their processing, while the AAU is a combination of the RRU and antenna.

[0266] The CU, DU, and AAU can be deployed separately or together, resulting in a variety of network deployment configurations. One possible deployment configuration, as shown in Figure 12, is consistent with traditional 4G network equipment, with the CU and DU deployed on shared hardware. It should be understood that Figure 12 is merely an example and does not limit the scope of protection of this application. For example, the deployment configuration could also include the DU being deployed in the BBU room, the CU being deployed centrally, or the DU being deployed centrally, with the CU being centralized at a higher level.

[0267] The AAU 1300 can implement transceiver functions and correspond to the transceiver unit 1002 in Figure 10. Optionally, the AAU 1300 can also be called a transceiver, a transceiver circuit, or a transceiver, and can include at least one antenna 1301 and a radio frequency unit 1302. Optionally, the AAU 1300 can include a receiving unit and a transmitting unit. The receiving unit can correspond to a receiver (or a receiver, a receiving circuit), and the transmitting unit can correspond to a transmitter (or a transmitter, a transmitting circuit). The CU and DU 1400 can implement internal processing functions and correspond to the processing unit 1001 in Figure 10. Optionally, the CU and DU 1400 can control network devices and can be called controllers. The AAU, CU, and DU can be physically arranged together or physically separated.

[0268] In addition, the network equipment is not limited to the form shown in Figure 12, but can also be other forms: for example: including a BBU and an adaptive radio unit (ARU), or including a BBU and an AAU; it can also be customer premises equipment (CPE), or it can be other forms, which are not limited in this application.

[0269] In one example, the CU and DU1400 can be composed of one or more single boards, and multiple single boards can jointly support a wireless access network with a single access standard (such as an LTE network), or can respectively support wireless access networks with different access standards (such as an LTE network, a 5G network, a future network or other networks). The CU and DU1400 also include a memory 1401 and a processor 1402. The memory 1401 is used to store necessary instructions and data. The processor 1402 is used to control the first network device to perform necessary actions, such as controlling the network device to execute the operation process of the network device in the above method embodiment. The memory 1401 and the processor 1402 can serve one or more single boards. That is, a memory and a processor can be set separately on each single board. Multiple single boards can also share the same memory and processor. In addition, necessary circuits can also be set on each single board.

[0270] It should be understood that the network device shown in Figure 12 is capable of implementing the network device functions involved in the method embodiment of Figure 5A. The operations and / or functions of each unit in the network device are respectively for implementing the corresponding processes performed by the network device in the method embodiment of the present application. To avoid repetition, detailed description is appropriately omitted here. The structure of the network device illustrated in Figure 12 is only one possible form and should not constitute any limitation on the embodiments of the present application. The present application does not exclude the possibility of other forms of network device structures that may appear in the future.

[0271] The CU and DU 1400 can be used to perform the actions implemented within the network device described in the previous method embodiments, while the AAU 1300 can be used to perform the actions described in the previous method embodiments in which the network device sends or receives data to or from the terminal device. For details, please refer to the description in the previous method embodiments and will not be repeated here.

[0272] An embodiment of the present application further provides a communication system, which includes a terminal device and a network device, wherein the terminal device can serve as a reference node in FIG5A above, or as an operation node in FIG5A above, or as a perception node in FIG5A above, which will not be described in detail here. In addition, the network device can serve as a reference node in FIG5A above, or as an operation node in FIG5A above, or as a perception node in FIG5A above, which will not be described in detail here. For example, as shown in FIG5B above, the operation node is a network device, the perception node is a terminal device, the reference node is a network device, and the like.

[0273] Based on the above embodiments, embodiments of the present application further provide a readable storage medium storing instructions that, when executed, implement the method of any of the above embodiments. The readable storage medium may include a USB flash drive, a mobile hard drive, a read-only memory, a random access memory, a magnetic disk, or an optical disk, among other media capable of storing program code.

[0274] It should be noted that all or part of any features in any embodiment of this application can be freely combined if there is no contradiction, and the combined technical solutions are also within the scope of this application.

[0275] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present application may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, compact disc read-only memory (CD-ROM), optical storage, etc.) containing computer-usable program code.

[0276] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0277] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device that implements the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

[0278] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in one or more processes in the flowchart and / or one or more boxes in the block diagram.

Claims

1. A target perception method, characterized in that, Including: An operation node receives first reference information from a reference node, where the first reference information indicates multiple carrier phase measurement values obtained by the reference node through multiple measurements of a sensing target, and the operation node is different from the sensing target; The operation node receives second reference information from multiple sensing nodes, where the second reference information is used to determine an integer ambiguity parameter of the sensing target; The operation node determines the position of the sensing target based on the first reference information and the second reference information.

2. The method according to claim 1, characterized in that, The first reference information includes at least one of the following: The multiple carrier measurement phase values obtained by the reference node through measurements of the sensing target at different times; or, The carrier measurement phase difference obtained by the reference node through measurements of the sensing target at adjacent times; or, The signal transmission distance value obtained by the reference node through measurements of the sensing target with a sensing signal at different times; or, The signal transmission delay value obtained by the reference node through measurements of the sensing target with a sensing signal at different times.

3. The method according to claim 1 or 2, characterized in that, The first reference information further includes: The position of the reference node, or the identifier of the reference node, where the identifier of the reference node is associated with the position of the reference node.

4. The method according to any one of claims 1 to 3, characterized in that The second reference information includes at least one of the following: Candidate values of the integer ambiguity parameter; or, The matching value determined by any one of the multiple sensing nodes through matched filtering of the sensing target and the variation range corresponding to the matching value.

5. The method according to claim 4, characterized in that, The second reference information further includes: the carrier measurement phase value obtained by any one of the multiple sensing nodes through measurements of the sensing target at different times.

6. According to the method described in any one of claims 1-5, characterized in that, Further including: The operation node sends a sensing request message, where the sensing request message includes: a sensing area, and the sensing area includes the sensing target.

7. The method according to claim 6, wherein The sensing request message further includes at least one of the following: Sensing task type, measurement frequency of the sensing target.

8. A target perception method, characterized in that, Including: The reference node obtains first reference information, where the first reference information indicates multiple carrier phase measurement values obtained by the reference node through multiple measurements of a sensing target; The reference node sends the first reference information to an operation node, and the operation node is different from the sensing target.

9. The method according to claim 8, characterized in that, The first reference information includes at least one of the following: The multiple carrier measurement phase values obtained by the reference node through measurements of the sensing target at different times; or, The carrier measurement phase difference obtained by the reference node through measurements of the sensing target at adjacent times; or, The signal transmission distance value obtained by the reference node through measurements of the sensing target with a sensing signal at different times; or, The signal transmission delay value obtained by the reference node through measurements of the sensing target with a sensing signal at different times.

10. The method according to claim 8 or 9, characterized in that The first reference information further includes: The position of the reference node, or the identifier of the reference node, where the identifier of the reference node is associated with the position of the reference node.

11. According to the method described in any one of claims 8-10, characterized in that, Further including: The reference node receives a sensing request message, where the sensing request message includes: a sensing area, and the sensing area includes the sensing target.

12. The method according to claim 11, wherein The sensing request message further includes at least one of the following: The sensing task type, the measurement frequency of the sensing target, and the sensing task type is used to indicate determining the position of the sensing target.

13. A target perception method, characterized in that, Including: The sensing node acquires second reference information, and the second reference information is used to determine the integer ambiguity parameter of the sensing target; The sensing node sends the second reference information to an operation node, and the operation node is different from the sensing target.

14. The method according to claim 13, wherein The second reference information includes at least one of the following: Candidate values of the integer ambiguity parameter; or, The matching value determined by the sensing node for matching filtering of the sensing target and the change range corresponding to the matching value.

15. The method according to claim 14, characterized in that, The second reference information further includes: the carrier measurement phase values obtained by the sensing node from measuring the sensing target at different times.

16. The method according to any one of claims 13-15, characterized in that, Further including: The sensing node receives a sensing request message, and the sensing request message includes: a sensing area, and the sensing area includes the sensing target.

17. The method according to claim 16, wherein The sensing request message further includes at least one of the following: The sensing task type, the measurement frequency of the sensing target.

18. A communication device, characterized in that, Including: A transceiver unit, configured to receive first reference information from a reference node, where the first reference information indicates a plurality of carrier phase measurement values obtained by the reference node from measuring the sensing target multiple times, and the operation node is different from the sensing target; The transceiver unit is further configured to receive second reference information from a plurality of sensing nodes, and the second reference information is used to determine the integer ambiguity parameter of the sensing target; A processing unit, configured to determine the position of the sensing target based on the first reference information and the second reference information.

19. The device according to claim 18, wherein The first reference information includes at least one of the following: The plurality of carrier measurement phase values obtained by the reference node from measuring the sensing target at different times; or, The carrier measurement phase difference obtained by the reference node from measuring the sensing target at adjacent times; or, The signal transmission distance value obtained by the reference node from measuring the sensing target with a sensing signal at different times; or, The signal transmission delay value obtained by the reference node from measuring the sensing target with a sensing signal at different times.

20. The device according to claim 18 or 19, characterized in that The first reference information further includes: The position of the reference node, or the identifier of the reference node, and the identifier of the reference node is associated with the position of the reference node.

21. The device according to any one of claims 18-20, characterized in that, The second reference information includes at least one of the following: Candidate values of the integer ambiguity parameter; or, The matching value determined by any one of the plurality of sensing nodes for matching filtering of the sensing target and the change range corresponding to the matching value.

22. The device according to claim 21, characterized in that, The second reference information further includes: the carrier measurement phase values obtained by any one of the plurality of sensing nodes from measuring the sensing target at different times.

23. The device according to any one of claims 18-22, characterized in that The transceiver unit is further configured to send a sensing request message, and the sensing request message includes: a sensing area, and the sensing area includes the sensing target.

24. The device according to claim 23, wherein, The sensing request message further includes at least one of the following: The type of sensing task and the measurement frequency of the sensing target.

25. A communication device, characterized in that, Including: A processing unit, configured to obtain first reference information, where the first reference information indicates a plurality of carrier phase measurement values obtained by the reference node through multiple measurements of the sensing target; A transceiver unit, configured to send the first reference information to an operation node, where the operation node is different from the sensing target.

26. The device according to claim 25, characterized in that The first reference information includes at least one of the following: The plurality of carrier measurement phase values obtained by the reference node through measurements of the sensing target at different times; or, The carrier measurement phase difference obtained by the reference node through measurements of the sensing target at adjacent times; or, The signal transmission distance value obtained by the reference node through measurements of the sensing target with a sensing signal at different times; or, The signal transmission delay value obtained by the reference node through measurements of the sensing target with a sensing signal at different times.

27. The device according to claim 25 or 26, characterized in that, The first reference information further includes: The position of the reference node, or the identifier of the reference node, where the identifier of the reference node is associated with the position of the reference node.

28. The apparatus according to any one of claims 25-27, wherein The transceiver unit is further configured to receive a sensing request message, where the sensing request message includes: a sensing area, and the sensing area includes the sensing target.

29. The device according to claim 28, characterized in that, The sensing request message further includes at least one of the following: The type of sensing task and the measurement frequency of the sensing target, where the type of sensing task is used to indicate determining the position of the sensing target.

30. A communication device, characterized in that, Including: A processing unit, configured to obtain second reference information, where the second reference information is used to determine the integer ambiguity parameter of the sensing target; A transceiver unit, configured to send the second reference information to an operation node, where the operation node is different from the sensing target.

31. The device according to claim 30, wherein, The second reference information includes at least one of the following: Candidate values of the integer ambiguity parameter; or, The matching value determined by the sensing node through matched filtering of the sensing target and the variation range corresponding to the matching value.

32. The device according to claim 31, wherein The second reference information further includes: the carrier measurement phase values obtained by the sensing node through measurements of the sensing target at different times.

33. The apparatus according to any one of claims 30-32, wherein The transceiver unit is further configured to receive a sensing request message, where the sensing request message includes: a sensing area, and the sensing area includes the sensing target.

34. The device according to claim 33, characterized in that, The sensing request message further includes at least one of the following: The type of sensing task and the measurement frequency of the sensing target.

35. A communication device, characterized in that, Including: At least one processor and a memory; The memory is configured to store a computer program or instruction; The at least one processor is configured to execute the computer program or instruction so that the method according to any one of claims 1-17 is executed.

36. A chip system, characterized in that, The chip system includes: a processing circuit; the processing circuit is coupled to a storage medium; The processing circuit is configured to execute some or all of the computer programs or instructions in the storage medium, and when the some or all of the computer programs or instructions are executed, it is used to implement the method according to any one of claims 1-17.

37. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed by a computer, cause the method according to any one of claims 1-17 to be executed.

38. A computer program product comprising a computer program or instructions, characterized in that, When the computer program or instructions are run on a computer, the method according to any one of claims 1-17 is caused to be executed.

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