Sensing methods and apparatuses, and sensing system, communication device and storage medium

Abstract

The present disclosure relates to sensing methods and apparatuses, and a sensing system, a communication device and a storage medium. A sensing method comprises: receiving first information, the first information being used for indicating a first moment and a second moment; and sending second information to a first communication device, the second information comprising subspace information obtained after a signal subspace of a channel at the second moment is projected to a noise subspace of the channel at the first moment, wherein the subspace information is used for estimating the sensing quantity of a scatterer or target that changes between the first moment and the second moment. The embodiments of the present disclosure can mitigate or even eliminate interference from known scatterers / targets and instead focus on a scatterer / target that changes within a given period of time, thereby facilitating the triggering of a predefined event on the basis of changes in the scatterer / target, and also facilitating the implementation of soft combination under a collaborative sensing framework, and thus improving the sensing precision.

Description

Perception method, device, system, communication device and storage medium Technical Field

[0001] The present disclosure relates to the field of communication technologies, and in particular to a perception method, apparatus, system, communication equipment, and storage medium. Background Art

[0002] Wireless communication and wireless sensing technologies are highly similar. Integrated sensing and communication (ISAC) can combine wireless communication and wireless sensing, introducing close collaboration between the two, thereby improving spectrum efficiency and reducing network deployment costs.

[0003] Summary of the Invention

[0004] The embodiments of the present disclosure provide a perception method, apparatus, system, communication device, and storage medium.

[0005] According to a first aspect of an embodiment of the present disclosure, a perception method is proposed, the method comprising:

[0006] receiving first information, where the first information is used to indicate a first time and a second time;

[0007] Second information is sent to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment, and the subspace information is used to estimate the perception amount of the scatterer or target that changes between the first moment and the second moment.

[0008] According to a second aspect of an embodiment of the present disclosure, a perception method is proposed, the method comprising:

[0009] receiving second information respectively sent by a plurality of perceptual receivers, where the second information includes subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment;

[0010] Merging a plurality of subspace information;

[0011] The perception amount of the scatterer or target that changes between the first moment and the second moment is determined according to the merging result.

[0012] According to a third aspect of the embodiments of the present disclosure, a perception method is proposed, the method comprising:

[0013] First information is sent to a perceptual receiver, where the first information is used to indicate a first moment and a second moment, and the first information is used by the perceptual receiver to send second information to a first communication device, where the second information includes subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment.

[0014] According to a fourth aspect of an embodiment of the present disclosure, a sensing device is provided, comprising:

[0015] The transceiver module is configured to receive first information, where the first information is used to indicate a first moment and a second moment, and is configured to send second information to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment, and the subspace information is used to estimate the perceived amount of a scatterer or target that changes between the first moment and the second moment.

[0016] According to a fifth aspect of the embodiments of the present disclosure, a sensing device is provided, comprising:

[0017] a transceiver module configured to receive second information respectively sent by the plurality of perceptual receivers, the second information comprising subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment;

[0018] The processing module is configured to merge the plurality of subspace information and to determine the perception amount of the scatterer or target that changes between the first moment and the second moment according to the merging result.

[0019] According to a sixth aspect of an embodiment of the present disclosure, a sensing device is provided, the device comprising:

[0020] The transceiver module is configured to send first information to a perceptual receiver, where the first information is used to indicate a first moment and a second moment, and the first information is used by the perceptual receiver to send second information to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment.

[0021] According to the seventh aspect of the embodiments of the present disclosure, a perception system is proposed, including a perception transmitter and multiple perception receivers, wherein the perception transmitter is configured to implement the perception method proposed in the third aspect of the embodiments of the present disclosure, and the perception receiver is configured to implement the perception method proposed in the first aspect of the embodiments of the present disclosure.

[0022] According to an eighth aspect of an embodiment of the present disclosure, a communication device is provided, including:

[0023] one or more processors;

[0024] The communication device is used to execute the perception method proposed in the first aspect, the second aspect, or the third aspect of the embodiment of the present disclosure.

[0025] According to the ninth aspect of an embodiment of the present disclosure, a storage medium is proposed, which stores instructions. When the instructions are executed on a communication device, the communication device executes the perception method proposed in the first aspect, second aspect, or third aspect of the embodiment of the present disclosure.

[0026] The embodiments of the present disclosure can reduce or even eliminate the interference of known (already perceived or detected) scatterers / targets, and instead focus on scatterers / targets that have changed (newly appeared or disappeared) within a given time period, which is conducive to triggering predefined events based on changes in scatterers / targets, and is also conducive to achieving soft merging under the collaborative perception framework, thereby improving perception accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the following drawings required for describing the embodiments are introduced. The following drawings are merely some embodiments of the present disclosure and do not impose specific limitations on the protection scope of the present disclosure.

[0028] FIG1A is a schematic diagram of the architecture of a perception system provided according to an embodiment of the present disclosure.

[0029] FIG1B is a schematic diagram of the architecture of a perception system provided according to an embodiment of the present disclosure.

[0030] FIG1C is a schematic diagram of the architecture of a perception system provided according to an embodiment of the present disclosure.

[0031] FIG2 is an interactive schematic diagram of a perception method provided according to an embodiment of the present disclosure.

[0032] FIG3 is a flow chart of a perception method according to an embodiment of the present disclosure.

[0033] FIG4 is a flow chart of a perception method according to an embodiment of the present disclosure.

[0034] FIG5 is a flow chart of a perception method according to an embodiment of the present disclosure.

[0035] FIG6 is an interactive schematic diagram of a perception method provided according to an embodiment of the present disclosure.

[0036] FIG7A is a schematic structural diagram of a sensing device according to an embodiment of the present disclosure.

[0037] FIG7B is a schematic structural diagram of a sensing device according to an embodiment of the present disclosure.

[0038] FIG7C is a schematic structural diagram of a sensing device according to an embodiment of the present disclosure.

[0039] FIG8A is a schematic structural diagram of a communication device provided according to an embodiment of the present disclosure.

[0040] FIG8B is a schematic structural diagram of a chip provided according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0041] The embodiments of the present disclosure provide a perception method, apparatus, system, communication device, and storage medium.

[0042] In a first aspect, an embodiment of the present disclosure provides a perception method, the method comprising:

[0043] receiving first information, where the first information is used to indicate a first time and a second time;

[0044] Second information is sent to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment, and the subspace information is used to estimate the perception amount of the scatterer or target that changes between the first moment and the second moment.

[0045] In the above embodiment, by projecting the signal subspace of a channel at one moment onto the noise subspace of a channel at another moment and obtaining the subspace information, it is possible to perceive scatterers or targets that change over a period of time, that is, to determine the perception quantity of the changing scatterers or targets (such as at least one of distance, angle, and speed). This can reduce or even eliminate the interference of known (already perceived or detected) scatterers / targets, and instead focus on scatterers / targets that change (newly appearing or disappearing) within a given time, which is conducive to triggering predefined events based on changes in scatterers / targets, and is also conducive to achieving soft merging under the collaborative perception framework, thereby improving perception accuracy.

[0046] In conjunction with some embodiments of the first aspect, in some embodiments, the subspace information includes at least one of the following:

[0047] described X1 vectors in the column space;

[0048] The first autocorrelation matrix is ​​the The autocorrelation matrix of

[0049] an upper triangular matrix of the first autocorrelation matrix;

[0050] a lower triangular matrix of the first autocorrelation matrix;

[0051] an orthonormal basis of a signal subspace of the first autocorrelation matrix;

[0052] Y1 basis vectors corresponding to Y1 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the first autocorrelation matrix;

[0053] an orthonormal basis of the noise subspace of the first autocorrelation matrix;

[0054] Z1 basis vectors corresponding to the Z1 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the first autocorrelation matrix;

[0055] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is a first covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A second covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0056] The element in row u and column v is:

[0057] The element in row u and column v is:

[0058] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response; is the nth sensor transmitter tThe antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l β ) on the channel frequency domain response; k u is the number of the u-th subcarrier containing the perception reference signal; k v is the number of the vth subcarrier containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; is the number of subcarriers containing the perception reference signal.

[0059] In the above embodiment, the second information includes the subspace information obtained after projection, so the first communication device can estimate the perception quantity of the changed scatterer or target based on the subspace information. In some embodiments, the perception quantity includes distance.

[0060] In conjunction with some embodiments of the first aspect, in some embodiments, the subspace information includes at least one of the following:

[0061] described X2 vectors in the column space of ;

[0062] The second autocorrelation matrix is ​​the The autocorrelation matrix of

[0063] an upper triangular matrix of the second autocorrelation matrix;

[0064] a lower triangular matrix of the second autocorrelation matrix;

[0065] an orthonormal basis of a signal subspace of the second autocorrelation matrix;

[0066] Y2 basis vectors corresponding to the Y2 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the second autocorrelation matrix;

[0067] an orthonormal basis of the noise subspace of the second autocorrelation matrix;

[0068] Z2 basis vectors corresponding to the Z2 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the second autocorrelation matrix;

[0069] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the third covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A fourth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0070] The element in row u and column v is:

[0071] The element in row u and column v is:

[0072] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, lβ ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., N, where N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension.

[0073] In the above embodiment, the second information includes the subspace information obtained after projection, so the first communication device can estimate the perception quantity of the changed scatterer or target based on the subspace information. In some embodiments, the perception quantity includes the horizontal azimuth angle.

[0074] In conjunction with some embodiments of the first aspect, in some embodiments, the subspace information includes at least one of the following:

[0075] described X3 vectors in the column space of ;

[0076] The third autocorrelation matrix is ​​the The autocorrelation matrix of

[0077] an upper triangular matrix of the third autocorrelation matrix;

[0078] a lower triangular matrix of the third autocorrelation matrix;

[0079] An orthonormal basis of the signal subspace of the third autocorrelation matrix;

[0080] Y3 basis vectors corresponding to Y3 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the third autocorrelation matrix;

[0081] An orthonormal basis of the noise subspace of the third autocorrelation matrix;

[0082] Z3 basis vectors corresponding to the Z3 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the third autocorrelation matrix;

[0083] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the fifth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A sixth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0084] The element in row u and column v is:

[0085] The element in row u and column v is:

[0086] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is sent to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., M, where M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension.

[0087] In the above embodiment, the second information includes the above subspace information obtained after projection, so the first communication device can estimate the perception quantity of the changed scatterer or target based on the above subspace information. In some embodiments, the above perception quantity includes the vertical azimuth angle.

[0088] In conjunction with some embodiments of the first aspect, in some embodiments, the first information includes at least one of the following:

[0089] Perception type;

[0090] one or more time periods;

[0091] multiple moments;

[0092] third information, used to indicate the first communication device;

[0093] The first moment and the second moment are two moments corresponding to one time period, or the first moment and the second moment are two moments among the multiple moments.

[0094] In conjunction with some embodiments of the first aspect, in some embodiments, the first moment and / or the second moment includes at least one of the following:

[0095] one or more frames;

[0096] one or more subframes;

[0097] one or more time slots;

[0098] One or more Orthogonal Frequency Division Multiplexing (OFDM) symbols.

[0099] In a second aspect, an embodiment of the present disclosure provides a perception method, the method comprising:

[0100] receiving second information respectively sent by a plurality of perceptual receivers, where the second information includes subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment;

[0101] Merging a plurality of subspace information;

[0102] The perception amount of the scatterer or target that changes between the first moment and the second moment is determined according to the merging result.

[0103] In conjunction with some embodiments of the second aspect, in some embodiments, the subspace information includes at least one of the following:

[0104] described X1 vectors in the column space;

[0105] The first autocorrelation matrix is ​​the The autocorrelation matrix of

[0106] an upper triangular matrix of the first autocorrelation matrix;

[0107] a lower triangular matrix of the first autocorrelation matrix;

[0108] an orthonormal basis of a signal subspace of the first autocorrelation matrix;

[0109] Y1 basis vectors corresponding to Y1 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the first autocorrelation matrix;

[0110] an orthonormal basis of the noise subspace of the first autocorrelation matrix;

[0111] Z1 basis vectors corresponding to the Z1 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the first autocorrelation matrix;

[0112] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is a first covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A second covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0113] The element in row u and column v is:

[0114] The element in row u and column v is:

[0115] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response; is the nth sensor transmitter tThe antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l β ) on the channel frequency domain response; k u is the number of the u-th subcarrier containing the perception reference signal; k v is the number of the vth subcarrier containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; is the number of subcarriers containing the perception reference signal.

[0116] In conjunction with some embodiments of the second aspect, in some embodiments, the subspace information includes at least one of the following:

[0117] described X2 vectors in the column space of ;

[0118] The second autocorrelation matrix is ​​the The autocorrelation matrix of

[0119] an upper triangular matrix of the second autocorrelation matrix;

[0120] a lower triangular matrix of the second autocorrelation matrix;

[0121] an orthonormal basis of a signal subspace of the second autocorrelation matrix;

[0122] Y2 basis vectors corresponding to the Y2 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the second autocorrelation matrix;

[0123] an orthonormal basis of the noise subspace of the second autocorrelation matrix;

[0124] Z2 basis vectors corresponding to the Z2 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the second autocorrelation matrix;

[0125] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the third covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A fourth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0126] The element in row u and column v is:

[0127] The element in row u and column v is:

[0128] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is the n of the sensing transmitter tThe antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., N, where N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension.

[0129] In conjunction with some embodiments of the second aspect, in some embodiments, the subspace information includes at least one of the following:

[0130] described X3 vectors in the column space of ;

[0131] The third autocorrelation matrix is ​​the The autocorrelation matrix of

[0132] an upper triangular matrix of the third autocorrelation matrix;

[0133] a lower triangular matrix of the third autocorrelation matrix;

[0134] An orthonormal basis of the signal subspace of the third autocorrelation matrix;

[0135] Y3 basis vectors corresponding to Y3 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the third autocorrelation matrix;

[0136] An orthonormal basis of the noise subspace of the third autocorrelation matrix;

[0137] Z3 basis vectors corresponding to the Z3 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the third autocorrelation matrix;

[0138] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the fifth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A sixth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0139] The element in row u and column v is:

[0140] The element in row u and column v is:

[0141] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is sent to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., M, where M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension.

[0142] In conjunction with some embodiments of the second aspect, in some embodiments, the first moment and / or the second moment includes at least one of the following:

[0143] one or more frames;

[0144] one or more subframes;

[0145] one or more time slots;

[0146] One or more OFDM symbols.

[0147] In a third aspect, an embodiment of the present disclosure provides a perception method, the method comprising:

[0148] First information is sent to a perceptual receiver, where the first information is used to indicate a first moment and a second moment, and the first information is used by the perceptual receiver to send second information to a first communication device, where the second information includes subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment.

[0149] In the above embodiment, the perception transmitter or the core network element may configure the perception receiver through the first information to report the second information to the first communication device.

[0150] In conjunction with some embodiments of the third aspect, in some embodiments, the subspace information includes at least one of the following:

[0151] described X1 vectors in the column space;

[0152] The first autocorrelation matrix is ​​the The autocorrelation matrix of

[0153] an upper triangular matrix of the first autocorrelation matrix;

[0154] a lower triangular matrix of the first autocorrelation matrix;

[0155] an orthonormal basis of a signal subspace of the first autocorrelation matrix;

[0156] Y1 basis vectors corresponding to Y1 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the first autocorrelation matrix;

[0157] an orthonormal basis of the noise subspace of the first autocorrelation matrix;

[0158] Z1 basis vectors corresponding to the Z1 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the first autocorrelation matrix;

[0159] in,

[0160] for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is a first covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A second covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0161] The element in row u and column v is:

[0162] The element in row u and column v is:

[0163] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l β ) on the channel frequency domain response; k u is the number of the u-th subcarrier containing the perception reference signal; k v is the number of the vth subcarrier containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; is the number of subcarriers containing the perception reference signal.

[0164] In conjunction with some embodiments of the third aspect, in some embodiments, the subspace information includes at least one of the following:

[0165] described X2 vectors in the column space of ;

[0166] The second autocorrelation matrix is ​​the The autocorrelation matrix of

[0167] an upper triangular matrix of the second autocorrelation matrix;

[0168] a lower triangular matrix of the second autocorrelation matrix;

[0169] an orthonormal basis of a signal subspace of the second autocorrelation matrix;

[0170] Y2 basis vectors corresponding to the Y2 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the second autocorrelation matrix;

[0171] an orthonormal basis of the noise subspace of the second autocorrelation matrix;

[0172] Z2 basis vectors corresponding to the Z2 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the second autocorrelation matrix;

[0173] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the third covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A fourth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0174] The element in row u and column v is:

[0175] The element in row u and column v is:

[0176] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., N, where N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension.

[0177] In conjunction with some embodiments of the third aspect, in some embodiments, the subspace information includes at least one of the following:

[0178] described X3 vectors in the column space of ;

[0179] The third autocorrelation matrix is ​​the The autocorrelation matrix of

[0180] an upper triangular matrix of the third autocorrelation matrix;

[0181] a lower triangular matrix of the third autocorrelation matrix;

[0182] An orthonormal basis of the signal subspace of the third autocorrelation matrix;

[0183] Y3 basis vectors corresponding to Y3 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the third autocorrelation matrix;

[0184] An orthonormal basis of the noise subspace of the third autocorrelation matrix;

[0185] Z3 basis vectors corresponding to the Z3 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the third autocorrelation matrix;

[0186] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the fifth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A sixth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0187] The element in row u and column v is:

[0188] The element in row u and column v is:

[0189] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is sent to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmittert The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., M, where M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension.

[0190] In conjunction with some embodiments of the third aspect, in some embodiments, the first information includes at least one of the following:

[0191] Perception type;

[0192] one or more time periods;

[0193] multiple moments;

[0194] third information, used to indicate the first communication device;

[0195] The first moment and the second moment are two moments corresponding to one time period, or the first moment and the second moment are two moments among the multiple moments.

[0196] In conjunction with some embodiments of the third aspect, in some embodiments, the first moment and / or the second moment includes at least one of the following:

[0197] one or more frames;

[0198] one or more subframes;

[0199] one or more time slots;

[0200] One or more OFDM symbols.

[0201] In a fourth aspect, an embodiment of the present disclosure provides a sensing device, comprising:

[0202] The transceiver module is configured to receive first information, where the first information is used to indicate a first moment and a second moment, and is configured to send second information to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment, and the subspace information is used to estimate the perceived amount of a scatterer or target that changes between the first moment and the second moment.

[0203] In a fifth aspect, an embodiment of the present disclosure provides a sensing device, comprising:

[0204] a transceiver module configured to receive second information respectively sent by the plurality of perceptual receivers, the second information comprising subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment;

[0205] The processing module is configured to merge the plurality of subspace information and to determine the perception amount of the scatterer or target that changes between the first moment and the second moment according to the merging result.

[0206] In a sixth aspect, an embodiment of the present disclosure provides a sensing device, comprising:

[0207] The transceiver module is configured to send first information to a perceptual receiver, where the first information is used to indicate a first moment and a second moment, and the first information is used by the perceptual receiver to send second information to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment.

[0208] In the seventh aspect, an embodiment of the present disclosure proposes a perception system, comprising a perception transmitter and multiple perception receivers, wherein the perception transmitter is configured to implement the method described in the optional implementation of the third aspect, and the perception receiver is configured to implement the method described in the optional implementation of the first aspect.

[0209] In an eighth aspect, an embodiment of the present disclosure provides a communication device, including:

[0210] one or more processors;

[0211] The communication device is used to execute the method described in the optional implementation of the first aspect, the optional implementation of the second aspect, or the optional implementation of the third aspect.

[0212] In the ninth aspect, an embodiment of the present disclosure proposes a storage medium, which stores instructions. When the instructions are executed on a communication device, the communication device executes the method described in the optional implementation of the first aspect, the optional implementation of the second aspect, or the optional implementation of the third aspect.

[0213] In the tenth aspect, an embodiment of the present disclosure proposes a program product. When the program product is executed by a communication device, the communication device executes the method described in the optional implementation of the first aspect, the optional implementation of the second aspect, or the optional implementation of the third aspect.

[0214] In the eleventh aspect, an embodiment of the present disclosure proposes a computer program, which, when running on a computer, enables the computer to execute the method described in the optional implementation of the first aspect, the optional implementation of the second aspect, or the optional implementation of the third aspect.

[0215] In a twelfth aspect, an embodiment of the present disclosure provides a chip or a chip system, wherein the chip or chip system includes a processing circuit configured to execute the method described in the optional implementation of the first aspect, the optional implementation of the second aspect, or the optional implementation of the third aspect.

[0216] It is understandable that the aforementioned sensing devices, sensing systems, communication devices, storage media, program products, computer programs, chips, or chip systems are all used to perform the methods proposed in the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved can be referenced to the beneficial effects of the corresponding methods and will not be repeated here.

[0217] The embodiments of the present disclosure provide a perception method, apparatus, system, communication device, and storage medium. In some embodiments, the terms perception method and communication method are interchangeable, and the terms perception system and communication system, synaesthesia system, etc. are interchangeable.

[0218] The embodiments of the present disclosure are not exhaustive and are merely illustrative of some embodiments, and are not intended to be a specific limitation on the scope of protection of the present disclosure. In the absence of contradiction, each step in a certain embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a certain embodiment can also be implemented as an independent embodiment, and the order of the steps in a certain embodiment can be arbitrarily exchanged. In addition, the optional implementation methods in a certain embodiment can be arbitrarily combined; in addition, the embodiments can be arbitrarily combined. For example, some or all steps of different embodiments can be arbitrarily combined, and a certain embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0219] In each embodiment of the present disclosure, unless otherwise specified or provided for by logic, the terms and / or descriptions between the embodiments are consistent and can be referenced by each other. The technical features in different embodiments can be combined to form a new embodiment based on their inherent logical relationships.

[0220] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and are not intended to limit the present disclosure.

[0221] In the embodiments of the present disclosure, unless otherwise specified, elements expressed in the singular, such as "a", "an", "the", "above", "said", "the", "the", etc., may mean "one and only one", or "one or more", "at least one", etc. For example, when using articles such as "a", "an", "the" in English in translation, the noun following the article may be understood as a singular expression or a plural expression.

[0222] In the embodiments of the present disclosure, “plurality” refers to two or more.

[0223] In some embodiments, the terms "at least one," "one or more," "a plurality of," "multiple," etc. may be used interchangeably.

[0224] In some embodiments, descriptions such as "at least one of A and B," "A and / or B," "A in one case, B in another case," or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed); and in some embodiments, A and B (both A and B are executed). The above is also applicable when there are more branches such as A, B, and C.

[0225] In some embodiments, "A or B" and other descriptions may include the following technical solutions depending on the situation: in some embodiments, A (A is executed independently of B); in some embodiments, B (B is executed independently of A); in some embodiments, execution is selected from A and B (A and B are selectively executed). The above is also applicable when there are more branches such as A, B, C, etc.

[0226] The prefixes such as "first" and "second" in the embodiments of the present disclosure are only used to distinguish different description objects and do not constitute any restriction on the position, order, priority, quantity or content of the description objects. For the statement of the description object, please refer to the description in the context of the claims or embodiments, and no unnecessary restriction should be constituted due to the use of prefixes. For example, if the description object is a "field", the ordinal number before the "field" in the "first field" and the "second field" does not limit the position or order between the "fields". "First" and "second" do not limit whether the "fields" they modify are in the same message, nor do they limit the order of the "first field" and the "second field". For another example, if the description object is a "level", the ordinal number before the "level" in the "first level" and the "second level" does not limit the priority between the "levels". For another example, the number of description objects is not limited by the ordinal number and can be one or more. Taking "first device" as an example, the number of "devices" can be one or more. In addition, the objects modified by different prefixes can be the same or different. For example, if the description object is "device", then the "first device" and the "second device" can be the same device or different devices, and their types can be the same or different; for another example, if the description object is "information", then the "first information" and the "second information" can be the same information or different information, and their contents can be the same or different.

[0227] In some embodiments, “including A,” “comprising A,” “used to indicate A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0228] In some embodiments, terms such as "in response to...", "in response to determining...", "in the case of...", "at the time of...", "when...", "if...", "if...", etc. can be used interchangeably.

[0229] In some embodiments, terms such as "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not less than", and "above" can be replaced with each other, and terms such as "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", and "below" can be replaced with each other.

[0230] In some embodiments, devices and equipment can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. In some cases, they can also be understood as "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject", etc.

[0231] In some embodiments, "network" can be interpreted as devices included in the network, such as access network equipment, core network equipment, etc.

[0232] In some embodiments, "access network device (AN device)" may also be referred to as "radio access network device (RAN device)", "base station (BS)", "radio base station", "fixed station", and in some embodiments may also be understood as "node", "access point", "transmission point (TP)", "reception point (RP)", "transmission and / or reception point (TRP)" "panel", "antenna panel", "antenna array", "cell", "macro cell", "small cell", "femto cell", "pico cell", "sector", "cell group", "serving cell", "carrier", "component carrier", "bandwidth part (BWP)", etc.

[0233] In some embodiments, "terminal" or "terminal device" may be referred to as "user equipment (UE)", "user terminal" "mobile station (MS)", "mobile terminal (MT)", subscriber station, mobile unit, subscriber unit, wireless unit, remote unit, mobile device, wireless device, wireless communication device, remote device, mobile subscriber station, access terminal, mobile terminal, wireless terminal, remote terminal, handset, user agent, mobile client, client, etc.

[0234] In some embodiments, obtaining data, information, etc. may comply with the laws and regulations of the country where the data is obtained.

[0235] In some embodiments, data, information, etc. may be obtained with the user's consent.

[0236] In addition, each element, each row, or each column in the table of the embodiment of the present disclosure can be implemented as an independent embodiment, and the combination of any elements, any rows, and any columns can also be implemented as an independent embodiment.

[0237] Figure 1A is a schematic diagram of a perception system according to an embodiment of the present disclosure. As shown in Figure 1A, perception system 100 may include a perception transmitter 101 and multiple perception receivers 102. In some embodiments, the perception system may also be referred to as a communication system, a synaesthesia system, etc., the perception transmitter may be referred to as a transmitter, a communication transmitter, etc., and the perception receiver may be referred to as a receiver, a communication receiver, etc.

[0238] It should be noted that the number of perceptual transmitters 101 and perceptual receivers 102 shown in FIG1A is merely an example and does not limit the embodiments of the present disclosure. In practice, there may be one or more perceptual transmitters 101 and one or more perceptual receivers 102. The perceptual transmitters and perceptual receivers may be located in a communication device. In some embodiments, the communication device may also be referred to as a perceptual device, a synaesthesia device, or the like.

[0239] In some embodiments, the sensing transmitter 101 may be located in a terminal or a network device.

[0240] In some embodiments, the perceptual receiver 102 may be located in a terminal or a network device.

[0241] In some embodiments, the perceptual transmitter 101 and the perceptual receiver 102 may be located in the same device, for example, the perceptual transmitter 101 and the perceptual receiver 102 may be located in the same terminal or the same network device.

[0242] In some embodiments, the perceptual transmitter 101 and the perceptual receiver 102 may be located in different devices respectively, for example, the perceptual transmitter 101 is located in a terminal, and the perceptual receiver 102 is located in another terminal; for example, the perceptual transmitter 101 is located in a terminal, and the perceptual receiver 102 is located in a network device; for example, the perceptual transmitter 101 is located in a network device, and the perceptual receiver 102 is located in another network device; for example, the perceptual transmitter 101 is located in a network device, and the perceptual receiver 102 is located in a terminal.

[0243] In some embodiments, the terminal may include at least one of a mobile phone, a wearable device, an Internet of Things device, a car with sensing capabilities, a smart car, a tablet computer, a computer with wireless transceiver capabilities, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, and a wireless terminal device in a smart home, but is not limited thereto.

[0244] In some embodiments, the network device includes, for example, an access network device, and the access network device may include an evolved NodeB (eNB), a next generation evolved NodeB (ng-eNB), a next generation NodeB (gNB), a node B (NB), a home node B (HNB), a home evolved nodeB (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in other communication systems, and at least one of an access node in a Wi-Fi system, but is not limited thereto.

[0245] In some embodiments, as shown in FIG1B , the sensing system 100 further includes a first communication device 103. In some embodiments, the first communication device 103 may be referred to as a fusion center (FC), configured to process information reported by multiple sensing receivers 102. The first communication device 103 may be a network device, for example, an access network device (e.g., a base station) or a core network device.

[0246] In some embodiments, the core network device may be a single device comprising one or more network units (NEs), or may be a plurality of devices or a group of devices, each comprising all or part of the one or more NEs. NEs may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC).

[0247] In some embodiments, the core network device includes at least one of a first network element and a second network element.

[0248] In some embodiments, the first network element is a unit for positioning and / or location management, such as a location management function (LMF) unit, the name of which is not limited thereto.

[0249] In some embodiments, the second network element is a unit for sensing, such as a sensing management function (SMF) unit, the name of which is not limited thereto.

[0250] It can be understood that the perception system described in the embodiment of the present disclosure is for the purpose of more clearly illustrating the technical solution of the embodiment of the present disclosure, and does not constitute a limitation on the technical solution proposed in the embodiment of the present disclosure. Ordinary technicians in this field can know that with the evolution of the system architecture and the emergence of new business scenarios, the technical solution proposed in the embodiment of the present disclosure is also applicable to similar technical problems.

[0251] The following embodiments of the present disclosure may be applied to the perception system 100 shown in Figures 1A and 1B, or part of the subject, but are not limited thereto. The subjects shown in Figures 1A and 1B are examples. The perception system may include all or part of the subjects shown in Figures 1A and 1B, or may include other subjects other than those shown in Figures 1A and 1B. The number and form of the subjects are arbitrary, and the subjects may be physical or virtual. The connection relationship between the subjects is an example, and the subjects may be connected or disconnected. The connection may be in any manner, directly or indirectly, and wired or wireless.

[0252] The embodiments of the present disclosure can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), future radio access (FRA), new radio access technology (RAT), new radio (NR), new radio access (NX), future generation radio access (FX), Global System for Mobile communications (GSM (registered trademark)), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi (registered trademark)), IEEE 802.16 (WiMAX (registered trademark)), IEEE 802.20, Ultra-WideBand (UWB), Bluetooth (registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X), systems utilizing other communication methods, and next-generation systems based on and extending these methods. Furthermore, multiple systems may be combined (for example, a combination of LTE or LTE-A with 5G).

[0253] Wireless communication and wireless sensing share a high degree of similarity. ISAC can unite these two technologies, fostering close collaboration and benefiting both. This approach improves the effectiveness and reliability of wireless communication, enhances the accuracy of wireless sensing, and increases spectrum efficiency. Furthermore, devices that support both wireless communication and wireless sensing can reduce network deployment costs.

[0254] Wireless sensing typically requires estimating the target's range, azimuth angle (such as horizontal and vertical angles), and velocity. Broadly speaking, sensing also includes wireless tracking and radio frequency identification of the target. To perform sensing, a sensing transmitter typically transmits a dedicated reference signal for sensing. For ease of description, this signal is referred to as a sensing reference signal. Alternatively, the sensing reference signal can be referred to as a sensing signal.

[0255] It is understandable that wireless perception may include multiple perception scenarios, such as perception between terminals, perception between terminals and network devices, perception between network devices and network devices, etc.

[0256] In some embodiments, wireless sensing includes a monostatic mode and a bistatic mode. In the monostatic mode, a sensing transmitter and a sensing receiver are co-located, and the sensing transceiver measures the echo of a sensing reference signal to estimate at least one of the distance, angle, and speed of a sensing target. In the bistatic mode, the sensing transmitter and the sensing receiver are not co-located, and the sensing transmitter transmits a sensing reference signal, and the sensing receiver measures the sensing reference signal to estimate at least one of the distance, angle, and speed of a sensing target (hereinafter referred to as the target).

[0257] From a network perspective, to more accurately perceive scatterers / targets in the real world, collaboration among multiple network nodes (such as base stations and terminals) can significantly improve perception accuracy, a practice known as cooperative sensing. In cooperative sensing, each sensing receiver reports its received signal to a fusion center after processing, or forwards it unprocessed. The fusion center then fuses the information reported by each sensing receiver and calculates the final perception metric, resulting in extremely high perception accuracy. As shown in Figure 1C, Tx-1 to Tx-2 are sensing transmitters, and Rx-1 to Rx-5 are sensing receivers. In some embodiments, the fusion center may include an LMF and / or an SMF.

[0258] In actual application scenarios, the perception environment contains a variety of scatterers / targets. The perception reference signal sent by the perception transmitter is reflected by the scatterers and / or targets before reaching the perception receiver. From the perspective of electromagnetic wave propagation, there is no essential difference between scatterers and targets. The difference is that the perception system is subjectively interested in the targets and not in scatterers other than the perception targets. Scatterers / targets in the perception environment include but are not limited to the following three categories:

[0259] Static scatterers that are not of concern, such as the ground, buildings, walls, etc.

[0260] Scatterers / targets that have been successfully sensed or detected;

[0261] Unknown scatterers / targets, such as intruders, etc.

[0262] In typical cases, you often need to be concerned with scatterers / targets that change over a period of time, for example:

[0263] emerging scatterers / targets;

[0264] disappearing scatterers / targets;

[0265] A target is known to move from one location to another.

[0266] Depending on the specific application, the changes in the scatterers / targets mentioned above often need to trigger some predefined events, such as sending notification messages, alarms, etc. Therefore, a dedicated sensing mechanism can be used to capture or target these scatterers / targets that change over a period of time.

[0267] In some embodiments, each perception receiver can independently calculate the perception quantity. For example, each perception receiver calculates the perception quantity of a scatterer / target that changes over a period of time. In collaborative sensing, if each perception receiver reports its calculated perception quantity to the fusion center, the fusion center can only perform hard merging (such as direct linear averaging) on ​​the individual perception quantities, and cannot perform soft merging. Considering that soft merging outperforms hard merging, the embodiments of the present disclosure propose a perception method that can implement soft merging within the collaborative sensing framework, thereby improving perception accuracy.

[0268] FIG2 is an interactive diagram of a perception method according to an embodiment of the present disclosure. As shown in FIG2 , the method includes:

[0269] Step S2101: A perception transmitter or a second communication device sends first information to a perception receiver.

[0270] In some embodiments, the perceptual receiver receives first information. For example, the perceptual receiver receives first information sent by a perceptual transmitter or a second communication device. The second communication device may be a core network device, for example, the second communication device includes a core network element (such as a LMF and / or SMF).

[0271] In some embodiments, the first information is used to indicate a first moment and a second moment, and the first information is used to sense that the receiver has sent second information to the first communication device. The first communication device may be an access network device or a core network device, for example, the first communication device is a base station, or the first communication device includes a core network element (such as a LMF and / or SMF). The first communication device and the second communication device may be the same device or different devices. The first communication device may be referred to as a fusion center.

[0272] In some embodiments, the name of the first information is not limited, for example, it can be "configuration information" or the like.

[0273] In some embodiments, the first information may include but is not limited to at least one of the following:

[0274] Perception type;

[0275] one or more time periods;

[0276] multiple moments;

[0277] The third information is used to indicate the first communication device.

[0278] In some embodiments, the sensing type may include cooperative differential sensing. For example, sensingType = cooperativeDifferential. Collaborative differential sensing refers to a sensing receiver measuring a sensing reference signal and reporting relevant subspace information to the first communication device. This subspace information is used to estimate the perceived amount of a scatterer or target that changes within a time period or between two moments.

[0279] The first moment and the second moment can be two moments corresponding to a time period. For example, the first moment and the second moment are the start and end moments of a time period, respectively; or the first moment and the second moment are the end and start moments of a time period, respectively; or the first moment and the second moment are two moments within a time period. The first moment and the second moment can be two moments among the above-mentioned multiple moments.

[0280] A time period can be defined by a start time and an end time. Different time periods may have the same start time or the same end time, or there may be overlap between different time periods.

[0281] In some embodiments, the first moment may include at least one of the following:

[0282] One or more frames (frame);

[0283] One or more subframes;

[0284] One or more time slots;

[0285] One or more OFDM symbols.

[0286] In some embodiments, the second moment may include at least one of the following:

[0287] one or more frames;

[0288] one or more subframes;

[0289] one or more time slots;

[0290] One or more OFDM symbols.

[0291] In some embodiments, the first information including a time period can be understood as the first information including a start time and an end time of the time period. The first information including a time can be understood as the first information including at least one of a frame number, a subframe number, a time slot number, and an OFDM symbol number corresponding to the time.

[0292] In some embodiments, the first moment and the second moment may be in the same frame or different frames. The first moment and the second moment may be in the same subframe or different subframes. The first moment and the second moment may be in the same time slot or different time slots.

[0293] In some embodiments, the name of the third information is not limited, and may be, for example, "device indication information," "target device indication," "fusion center indication information," "target fusion center indication," etc. Optionally, the third information may include an identity (ID) of the first communication device, thereby indicating the first communication device.

[0294] In some embodiments, the first information may be carried in at least one of downlink control information (DCI), media access control element (MAC CE), and radio resource control (RRC) signaling.

[0295] In the above embodiment, the perception transmitter or the core network element configures the perception receiver through the first information to report the second information to the first communication device.

[0296] In some embodiments, step S2101 is an optional step. For example, the first information may be predefined by a protocol, or the first information may be a default or default value.

[0297] Step S2102: The perception receiver sends second information to the first communication device.

[0298] In some embodiments, the first communication device receives second information respectively sent by a plurality of perceptual receivers.

[0299] In some embodiments, each sensing receiver that receives the first information obtains second information by measuring the sensing reference signal, and reports the second information to the first communication device.

[0300] In some embodiments, for two moments in time or two moments in time corresponding to a time period, the second information is subspace information obtained by projecting the signal subspace of the channel at one moment onto the noise subspace of the channel at the other moment. Specifically, the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment. This subspace information is used to estimate the perceived amount of a scatterer or target that changes between the first and second moments.

[0301] In some embodiments, the name of the second information is not limited, and may be, for example, “projected subspace information (PSI)”, “subspace information”, etc.

[0302] In some embodiments, the sensing receiver sends the second information to the first communication device via a physical uplink control channel (PUCCH) and / or a physical uplink shared channel (PUSCH).

[0303] In some embodiments, the aforementioned perception quantity includes at least one of the following:

[0304] distance;

[0305] horizontal azimuth;

[0306] vertical azimuth;

[0307] speed.

[0308] For ease of understanding, the above second information is explained below in conjunction with a specific implementation method.

[0309] The sensing receiver first measures and estimates the sensing reference signal to obtain an estimate of the channel frequency domain response at the resource element (RE) where the sensing reference signal is located, which is recorded as a 6-dimensional matrix or 6-dimensional array, that is:

[0310] in:

[0311] M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension;

[0312] N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension;

[0313] P is the number of polarizations of the receiving antenna of the sensing receiver, for example, for cross-polarization, P = 2;

[0314] N t is the number of transmitting antenna ports of the sensing transmitter;

[0315] Indicates a set of subcarrier numbers where the perception reference signal is located, or is described as a set of subcarrier numbers containing the perception reference signal;

[0316] For collection The number of subcarriers included, or described as the number of subcarriers where the perception reference signal is located, or described as the number of subcarriers containing the perception reference signal;

[0317] Indicates a set of numbers of OFDM symbols where the perceptual reference signal is located, or is described as a set of numbers of OFDM symbols containing the perceptual reference signal;

[0318] For collection The number of OFDM symbols included may be described as the number of OFDM symbols where the perceptual reference signal is located, or as the number of OFDM symbols including the perceptual reference signal.

[0319] is the channel frequency domain response matrix An element of t The channel frequency domain response of the antenna port in the mth row, nth column, and pth polarization direction of the receiving antenna array of the sensing receiver on the resource element (k, l) where the sensing reference signal is located. Where 1≤m≤M, 1≤n≤M, 1≤p≤P, 1≤n t ≤N t ,

[0320] The sensing receiver calculates the subspace information based on the channel frequency domain response at the resource element where the sensing reference signal is located.

[0321] In some embodiments, the subspace information may include at least one of the following:

[0322] X1 vectors in the column space;

[0323] The first autocorrelation matrix is The autocorrelation matrix of

[0324] Upper triangular matrix of the first autocorrelation matrix;

[0325] The lower triangular matrix of the first autocorrelation matrix;

[0326] An orthonormal basis of the signal subspace of the first autocorrelation matrix;

[0327] Y1 basis vectors corresponding to the Y1 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the first autocorrelation matrix;

[0328] An orthonormal basis of the noise subspace of the first autocorrelation matrix;

[0329] Z1 basis vectors corresponding to the Z1 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the first autocorrelation matrix;

[0330] in:

[0331] for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the first covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is perceived at the first moment, is a second covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0332] The element in row u and column v is:

[0333] The element in row u and column v is:

[0334] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response;

[0335] is the nth sensor transmitter tThe antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response;

[0336] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response;

[0337] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l β ) on the channel frequency domain response;

[0338] k u is the number of the u-th subcarrier containing the perception reference signal;

[0339] k v is the number of the vth subcarrier containing the perception reference signal;

[0340] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the first moment;

[0341] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the second moment;

[0342] M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension;

[0343] N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension;

[0344] P is the number of polarizations of the receiving antenna of the sensing receiver;

[0345] N t is the number of transmitting antenna ports of the sensing transmitter;

[0346] is the number of subcarriers containing the perception reference signal.

[0347] The autocorrelation matrix is

[0348] The first moment may include one or more OFDM symbols containing a perceptual reference signal. In some embodiments, when the first moment includes only one OFDM symbol containing a perceptual reference signal, then It contains only one element, namely The second moment may include one or more OFDM symbols containing a perceptual reference signal. In some embodiments, when the second moment includes only one OFDM symbol containing a perceptual reference signal, then It contains only one element, namely

[0349] It is understandable that when It contains only one element, namely hour, The element in row u and column v is:

[0350] when It contains only one element, namely hour, The element in row u and column v is:

[0351] In some embodiments, by Perform eigenvalue decomposition to obtain

[0352] In some embodiments, by Perform eigenvalue decomposition to obtain

[0353] In some embodiments, the value of X1 may be predefined by a protocol, or the value of X1 may be configured by a sensing transmitter or a core network element (such as a LMF, SMF, etc.).

[0354] In some embodiments, the value of Y1 may be predefined by a protocol, or the value of Y1 may be configured by a sensing transmitter or a core network element (such as LMF, SMF, etc.).

[0355] In some embodiments, the value of Z1 may be predefined by a protocol, or the value of Z1 may be configured by a sensing transmitter or a core network element (such as LMF, SMF, etc.).

[0356] In the above embodiment, the second information includes the above subspace information obtained after projection, so the first communication device can estimate the perception amount of the changed scatterer or target based on the above subspace information. In the above embodiment, the perception amount includes distance.

[0357] In some embodiments, the subspace information may include at least one of the following:

[0358] X2 vectors in the column space of ;

[0359] The second autocorrelation matrix is The autocorrelation matrix of

[0360] Upper triangular matrix of the second autocorrelation matrix;

[0361] The lower triangular matrix of the second autocorrelation matrix;

[0362] An orthonormal basis for the signal subspace of the second autocorrelation matrix;

[0363] Y2 basis vectors corresponding to the Y2 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the second autocorrelation matrix;

[0364] An orthonormal basis of the noise subspace of the second autocorrelation matrix;

[0365] Z2 basis vectors corresponding to the Z2 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the second autocorrelation matrix;

[0366] in:

[0367] for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the third covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is perceived at the first moment, is a fourth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0368] The element in row u and column v is:

[0369] The element in row u and column v is:

[0370] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response;

[0371] is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response;

[0372] is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response;

[0373] is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response;

[0374] is a set of subcarrier numbers containing perception reference signals;

[0375] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the first moment;

[0376] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the second moment;

[0377] M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension;

[0378] P is the number of polarizations of the receiving antenna of the sensing receiver;

[0379] N t is the number of transmitting antenna ports of the sensing transmitter;

[0380] u, v = 1, 2, ..., N, where N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension.

[0381] The autocorrelation matrix is

[0382] It is understandable that when It contains only one element, namely hour, The element in row u and column v is:

[0383] when It contains only one element, namely hour, The element in row u and column v is:

[0384] In some embodiments, by Perform eigenvalue decomposition to obtain

[0385] In some embodiments, by Perform eigenvalue decomposition to obtain

[0386] In some embodiments, the value of X2 may be predefined by a protocol, or the value of X2 may be configured by a sensing transmitter or a core network element (such as LMF, SMF, etc.).

[0387] In some embodiments, the value of Y2 may be predefined by a protocol, or the value of Y2 may be configured by a sensing transmitter or a core network element (such as LMF, SMF, etc.).

[0388] In some embodiments, the value of Z2 may be predefined by a protocol, or the value of Z2 may be configured by a sensing transmitter or a core network element (such as LMF, SMF, etc.).

[0389] In the above embodiment, the second information includes the above subspace information obtained after projection, so the first communication device can estimate the perception amount of the changed scatterer or target based on the above subspace information. In the above embodiment, the perception amount includes the horizontal azimuth angle.

[0390] In some embodiments, the subspace information may include at least one of the following:

[0391] X3 vectors in the column space of ;

[0392] The third autocorrelation matrix is The autocorrelation matrix of

[0393] The upper triangular matrix of the third autocorrelation matrix;

[0394] The lower triangular matrix of the third autocorrelation matrix;

[0395] The orthonormal basis of the signal subspace of the third autocorrelation matrix;

[0396] Y3 basis vectors corresponding to the Y3 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the third autocorrelation matrix;

[0397] The orthonormal basis of the noise subspace of the third autocorrelation matrix;

[0398] Z3 basis vectors corresponding to the Z3 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the third autocorrelation matrix;

[0399] in:

[0400] for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the fifth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is perceived at the first moment, is the sixth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0401] The element in row u and column v is:

[0402] The element in row u and column v is:

[0403] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is sent to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response;

[0404] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response;

[0405] is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is sent to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response;

[0406] is the nth sensor transmitter tThe antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response;

[0407] is a set of subcarrier numbers containing perception reference signals;

[0408] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the first moment;

[0409] is a set of numbers of OFDM symbols containing the perception reference signal corresponding to the second moment;

[0410] N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension;

[0411] P is the number of polarizations of the receiving antenna of the sensing receiver;

[0412] N t is the number of transmitting antenna ports of the sensing transmitter;

[0413] u, v = 1, 2, ..., M, where M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension.

[0414] The autocorrelation matrix is

[0415] It is understandable that when It contains only one element, namely hour, The element in row u and column v is:

[0416] when It contains only one element, namely hour, The element in row u and column v is:

[0417] In some embodiments, by Perform eigenvalue decomposition to obtain

[0418] In some embodiments, by Perform eigenvalue decomposition to obtain

[0419] In some embodiments, the value of X3 may be predefined by a protocol, or the value of X3 may be configured by a sensing transmitter or a core network element (such as LMF, SMF, etc.).

[0420] In some embodiments, the value of Y3 may be predefined by a protocol, or the value of Y3 may be configured by a sensing transmitter or a core network element (such as LMF, SMF, etc.).

[0421] In some embodiments, the value of Z3 may be predefined by a protocol, or the value of Z3 may be configured by a sensing transmitter or a core network element (such as LMF, SMF, etc.).

[0422] In the above embodiment, the second information includes the above subspace information obtained after projection, so the first communication device can estimate the perception amount of the changed scatterer or target based on the above subspace information. In the above embodiment, the perception amount includes the vertical azimuth angle.

[0423] In some embodiments, the perception receiver receives fourth information, which is used to configure the value of at least one of X1, X2, X3, Y1, Y2, Y3, Z1, Z2 and Z3, for example, the fourth information is used to configure the values ​​of X1, X2 and X3, and for example, the fourth information is used to configure the values ​​of Y1, Y2 and Y3, and for example, the fourth information is used to configure the values ​​of Z1, Z2 and Z3.

[0424] In some embodiments, the fourth information may be included in the first information.

[0425] Step S2103: The first communication device merges multiple subspace information.

[0426] Since the sensing receiver reports to the first communication device the relevant subspace information obtained after measuring the sensing reference signal, rather than the final sensing quantity result, the first communication device can combine the subspace information reported by multiple sensing receivers.

[0427] Step S2104: The first communication device determines, based on the merging result, a perception amount of the scatterer or target that changes between the first moment and the second moment.

[0428] Because the second information reported by the perception receiver includes subspace information obtained by projecting the signal subspace of a channel at one time onto the noise subspace of a channel at another time, this subspace information can be used to estimate at least one of distance, angle, and speed using a spectral estimation algorithm. In some embodiments, the first communications device first soft-combines the subspace information from different perception receivers and then performs spectral estimation based on the soft-combining result to estimate the perceived amount of the scatterer or target that changes between the first and second times.

[0429] It should be noted that the implementation method of soft merging and the implementation method of spectrum estimation performed by the first communication device belong to the implementation algorithm of the first communication device, and are specifically related to the topological structure such as the relative relationship between each perception receiver. Therefore, the embodiment of the present disclosure does not limit its specific implementation method. For example, the first communication device can perform one or more processing such as translation, rotation, and symmetric flipping on the subspace information reported by each perception receiver to complete the soft merging of the subspace information. For example, the first communication device estimates the perception amount of the scatterer or target that changes between the first moment and the second moment based on the result of soft merging through a spectrum estimation algorithm (including but not limited to multiple signal classification (MUSIC), estimating signal parameters via rotational invariance techniques (ESPRIT), etc.).

[0430] In the above embodiment, a collaborative differential perception method based on subspace projection is provided, which can perceive scatterers or targets that change over a period of time, that is, determine the perception quantity of the changing scatterers or targets (such as at least one of distance, angle, and speed). This can greatly reduce or even completely eliminate the interference of known (already perceived or detected) scatterers / targets, and instead focus on scatterers / targets that change (newly appearing or disappearing) within a given time, which is conducive to triggering predefined events based on changes in scatterers / targets. At the same time, soft merging can be achieved under the collaborative perception framework, thereby improving perception accuracy.

[0431] In some embodiments, the names of information, etc. are not limited to the names described in the embodiments, and terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "parameter", "domain", "field", "bit", and "data" can be used interchangeably.

[0432] In some embodiments, terms such as "moment", "time point", "time", "time position", "time unit" can be replaced with each other, and terms such as "duration", "period", "time window", "window", "time" can be replaced with each other.

[0433] In some embodiments, terms such as "frame", "radio frame", "subframe", "slot", "sub-slot", "mini-slot", and "symbol" may be used interchangeably.

[0434] In some embodiments, "obtain", "get", "get", "receive", "transmit", "bidirectional transmission", "send and / or receive" can be interchangeable, and can be interpreted as receiving from other entities, obtaining from protocols, obtaining from higher layers, obtaining by self-processing, autonomous implementation, etc.

[0435] In some embodiments, terms such as "send", "transmit", "report", "download", "transmit", "bidirectional transmission", "send and / or receive" can be used interchangeably.

[0436] The sensing method involved in the embodiments of the present disclosure may include at least one of steps S2101 to S2104. For example, step S2102 may be implemented as an independent embodiment, step S2101 + step S2102 may be implemented as an independent embodiment, and step S2102 + step S2103 + step S2104 may be implemented as independent embodiments.

[0437] In some embodiments, step S2101 is optional and may be omitted or replaced in different embodiments.

[0438] In some embodiments, step S2103 and step S2104 are optional and may be omitted or replaced in different embodiments. For example, the first communication device may not combine subspace information from different sensing receivers.

[0439] In some embodiments, reference may be made to other optional implementations described before or after the description corresponding to FIG. 2 .

[0440] FIG3 is a flow chart of a perception method according to an embodiment of the present disclosure. As shown in FIG3 , the embodiment of the present disclosure is applied to a perception receiver, and the method includes:

[0441] Step S3101: Obtain first information.

[0442] The optional implementation of step S3101 can refer to the optional implementation of step S2101 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0443] In some embodiments, the cognitive receiver may receive first information sent by the cognitive transmitter, but is not limited thereto and may also receive first information sent by other entities, such as first information sent by a second communication device.

[0444] In some embodiments, the perceptual receiver obtains first information specified by a protocol.

[0445] In some embodiments, the perceptual receiver obtains the first information from upper layer(s).

[0446] In some embodiments, the perceptual receiver performs processing to obtain the first information.

[0447] In some embodiments, the first information may include but is not limited to at least one of the following:

[0448] Perception type;

[0449] one or more time periods;

[0450] multiple moments;

[0451] The third information is used to indicate the first communication device.

[0452] In some embodiments, the first moment and / or the second moment may include at least one of the following:

[0453] one or more frames;

[0454] one or more subframes;

[0455] one or more time slots;

[0456] One or more OFDM symbols.

[0457] In some embodiments, step S3101 may be omitted, and the perception receiver autonomously determines the first information, or the first information is default or acquiescent.

[0458] Step S3102: Send second information to the first communication device.

[0459] The optional implementation of step S3102 can refer to the optional implementation of step S2102 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0460] In some embodiments, the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment.

[0461] In some embodiments, the subspace information includes at least one of the following:

[0462] X1 vectors in the column space;

[0463] The first autocorrelation matrix is The autocorrelation matrix of

[0464] Upper triangular matrix of the first autocorrelation matrix;

[0465] The lower triangular matrix of the first autocorrelation matrix;

[0466] An orthonormal basis of the signal subspace of the first autocorrelation matrix;

[0467] Y1 basis vectors corresponding to the Y1 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the first autocorrelation matrix;

[0468] An orthonormal basis of the noise subspace of the first autocorrelation matrix;

[0469] Z1 basis vectors corresponding to the Z1 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the first autocorrelation matrix;

[0470] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the first covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is perceived at the first moment, is a second covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0471] The element in row u and column v is:

[0472] The element in row u and column v is:

[0473] In some embodiments, the subspace information includes at least one of the following:

[0474] X2 vectors in the column space of ;

[0475] The second autocorrelation matrix is The autocorrelation matrix of

[0476] Upper triangular matrix of the second autocorrelation matrix;

[0477] The lower triangular matrix of the second autocorrelation matrix;

[0478] An orthonormal basis for the signal subspace of the second autocorrelation matrix;

[0479] Y2 basis vectors corresponding to the Y2 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the second autocorrelation matrix;

[0480] An orthonormal basis of the noise subspace of the second autocorrelation matrix;

[0481] Z2 basis vectors corresponding to the Z2 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the second autocorrelation matrix;

[0482] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the third covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is perceived at the first moment, is a fourth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0483] The element in row u and column v is:

[0484] The element in row u and column v is:

[0485] In some embodiments, the subspace information includes at least one of the following:

[0486] X3 vectors in the column space of ;

[0487] The third autocorrelation matrix is The autocorrelation matrix of

[0488] The upper triangular matrix of the third autocorrelation matrix;

[0489] The lower triangular matrix of the third autocorrelation matrix;

[0490] The orthonormal basis of the signal subspace of the third autocorrelation matrix;

[0491] Y3 basis vectors corresponding to the Y3 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the third autocorrelation matrix;

[0492] The orthonormal basis of the noise subspace of the third autocorrelation matrix;

[0493] Z3 basis vectors corresponding to the Z3 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the third autocorrelation matrix;

[0494] in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the fifth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is perceived at the first moment, is the sixth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment;

[0495] The element in row u and column v is:

[0496] The element in row u and column v is:

[0497] The meanings of the various parameters in the above formula have been explained in the above embodiments and will not be repeated here.

[0498] FIG4 is a flow chart of a sensing method according to an embodiment of the present disclosure. As shown in FIG4 , the embodiment of the present disclosure is applied to a sensing transmitter or a second communication device, and the method includes:

[0499] Step S4101: Send the first information.

[0500] The optional implementation of step S4101 can refer to the optional implementation of step S2101 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0501] In some embodiments, the first information is used to indicate a first moment and a second moment, and the first information is used for a perception receiver to send second information to the first communications device. The second information includes subspace information obtained by projecting a signal subspace of a channel at the second moment onto a noise subspace of the channel at the first moment. The subspace information is used to estimate a perceived amount of a scatterer or target that changes between the first moment and the second moment.

[0502] In the above embodiment, the perceptual transmitter or the second communication device configures the perceptual receiver through the first information to report the second information to the first communication device.

[0503] FIG5 is a flow chart of a sensing method according to an embodiment of the present disclosure. As shown in FIG5 , the embodiment of the present disclosure is applied to a first communication device, and the method includes:

[0504] Step S5101: Receive second information respectively sent by multiple sensing receivers.

[0505] The optional implementation of step S5101 can refer to the optional implementation of step S2102 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0506] In some embodiments, the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment.

[0507] Step S5102: Merge multiple subspace information.

[0508] The optional implementation of step S5102 can refer to the optional implementation of step S2103 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0509] Step S5103: Determine the perception amount of the scatterer or target that changes between the first moment and the second moment according to the merging result.

[0510] The optional implementation of step S5103 can refer to the optional implementation of step S2104 in Figure 2 and other related parts in the embodiment involved in Figure 2, which will not be repeated here.

[0511] In some embodiments, step S5102 and step S5103 are optional steps. For example, the first communication device does not combine subspace information from different sensing receivers.

[0512] FIG6 is an interactive diagram of a perception method according to an embodiment of the present disclosure. As shown in FIG6 , the method includes:

[0513] Step S6101: A sensing transmitter or a core network element configures at least one sensing receiver to perform collaborative differential sensing.

[0514] In some embodiments, the above configuration includes at least one of the following:

[0515] Sensing type, such as cooperative differential sensing, for example, sensingType=cooperativeDifferential;

[0516] one or more time periods;

[0517] multiple moments;

[0518] The target fusion center indication may be, for example, an identity (ID) of a fusion center.

[0519] In some embodiments, a time period is determined by two time points (a starting time and an ending time).

[0520] In some embodiments, a moment in time is determined by at least one of:

[0521] One or more frame numbers;

[0522] One or more subframe numbers;

[0523] One or more time slot numbers;

[0524] One or more OFDM symbol numbers.

[0525] In some embodiments, the above configuration is completed by at least one of DCI, MAC CE, and RRC signaling.

[0526] Step S6102: The perception receiver sends subspace projection information to the target fusion center according to the configuration.

[0527] In some embodiments, each perceptual receiver that receives the above configuration measures the configured perceptual reference signal, calculates projected subspace information (PSI), and reports it to a target fusion center. Optionally, the target fusion center may be a base station. Alternatively, the target fusion center may be a local mobile service (LMF) or a local mobile service (SMF). For example, the perceptual receiver reports the PSI to the LMF or SMF. Terms such as subspace projection information and subspace information may be used interchangeably in this description.

[0528] Optionally, the sensing receiver may report PSI via PUCCH and / or PUSCH.

[0529] Optionally, for two moments or two moments corresponding to a time period (e.g., respectively denoted as l α and l β ), PSI is the information of the subspace obtained by projecting the signal subspace of one channel at one moment into the noise subspace of another channel at another moment.

[0530] Alternatively, the PSI can be U n (l α ) is l α The standard orthogonal basis of the noise subspace used to estimate the perceptual quantity at time t, U s (l β ) is l βThe standard orthogonal basis of the signal subspace used to estimate the perception quantity at time.

[0531] Optionally, you can choose to span the above matrix The row space or null space of X vectors as PSI, or you can choose the above matrix The X vectors in the column space of are used as PSI. The value of X can be predefined by the protocol or configured by the sensing transmitter or core network element (such as LMF, SMF, etc.).

[0532] Among them, ★ is a wildcard. s (l) is the diagonal matrix composed of the eigenvalues ​​of the signal subspace, Λ n (l) is the diagonal matrix composed of the eigenvalues ​​of the noise subspace.

[0533] For distance perception, in:

[0534] For horizontal azimuth perception, in:

[0535] For vertical azimuth perception,

[0536] Alternatively, PSI can be the above matrix The autocorrelation matrix of Either the upper triangular matrix of the autocorrelation matrix or the lower triangular matrix of the autocorrelation matrix.

[0537] Optionally, a standard orthogonal basis of the signal subspace of the autocorrelation matrix may be selected as the PSI. Optionally, basis vectors corresponding to Y eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the autocorrelation matrix may be selected as the PSI, where the value of Y may be predefined by the protocol or configured by the sensing transmitter or core network element (such as LMF, SMF, etc.).

[0538] Optionally, a standard orthogonal basis of the noise subspace of the autocorrelation matrix may be selected as the PSI. Optionally, basis vectors corresponding to the Z eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the autocorrelation matrix may be selected as the PSI, where the value of Z may be predefined by the protocol or configured by the sensing transmitter or core network element (such as LMF, SMF, etc.).

[0539] The above embodiment proposes a collaborative differential perception method based on subspace projection, which has the following advantages: it can greatly reduce or even completely eliminate the interference of known (already perceived or detected) scatterers / targets, and instead focus on scatterers / targets that have changed (newly appeared or disappeared) within a given time, and can achieve soft merging under the collaborative perception framework, thereby improving perception accuracy.

[0540] In the embodiments of the present disclosure, some or all of the steps and their optional implementations may be arbitrarily combined with some or all of the steps in other embodiments, or may be arbitrarily combined with the optional implementations of other embodiments.

[0541] In some embodiments, an embodiment of the present disclosure provides a communication device, comprising: one or more processors; wherein the communication device is used to execute the steps performed by the perceptual receiver, the perceptual transmitter, the first communication device or the second communication device in any of the above methods.

[0542] In some embodiments, the present disclosure provides a perception system, comprising a perception transmitter and multiple perception receivers, wherein the perception receiver is configured to implement the steps performed by the perception receiver in any of the above methods, and the perception transmitter is configured to implement the steps performed by the perception transmitter in any of the above methods.

[0543] In some embodiments, an embodiment of the present disclosure provides a storage medium storing instructions. When the instructions are executed on a communication device, the communication device executes the steps performed by the perception receiver, the perception transmitter, the first communication device or the second communication device in any of the above methods.

[0544] The embodiments of the present disclosure further provide an apparatus for implementing any of the above methods. For example, an apparatus is provided, comprising units or modules for implementing each step performed by a terminal in any of the above methods. For another example, another apparatus is provided, comprising units or modules for implementing each step performed by a network device (e.g., an access network device, a core network function node, a core network device, etc.) in any of the above methods.

[0545] It should be understood that the division of the various units or modules in the above device is merely a division of logical functions. In actual implementation, they may be fully or partially integrated into a physical entity, or they may be physically separated. In addition, the units or modules in the device may be implemented in the form of a processor calling software: for example, the device includes a processor, the processor is connected to a memory, and the memory stores instructions. The processor calls the instructions stored in the memory to implement any of the above methods or implement the functions of the various units or modules of the above device, wherein the processor is, for example, a general-purpose processor, such as a central processing unit (CPU) or a microprocessor, and the memory is a memory within the device or a memory outside the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits, and the functions of some or all of the units or modules can be realized by designing the hardware circuits. The above-mentioned hardware circuits can be understood as one or more processors; for example, in one implementation, the above-mentioned hardware circuit is an application-specific integrated circuit (ASIC), and the functions of some or all of the above units or modules are realized by designing the logical relationship of the components in the circuit; for example, in another implementation, the above-mentioned hardware circuit can be realized by a programmable logic device (PLD). Taking a field programmable gate array (FPGA) as an example, it can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, thereby realizing the functions of some or all of the above units or modules. All units or modules of the above devices can be realized in the form of software called by the processor, or in the form of hardware circuits, or in part by software called by the processor, and the rest by hardware circuits.

[0546] In the embodiments of the present disclosure, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction reading and execution capabilities, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationship of the hardware circuit. The logical relationship of the above-mentioned hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and implementing the hardware circuit configuration can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be a hardware circuit designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), etc.

[0547] FIG7A is a schematic diagram of the structure of the perception device proposed in an embodiment of the present disclosure. As shown in FIG7A , the perception device 7100 may include: at least one of a transceiver module 7101, a processing module 7102, etc. In some embodiments, the transceiver module 7101 is configured to receive first information, the first information being used to indicate a first moment and a second moment, and is configured to send second information to a first communication device, the second information including subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment, the subspace information being used to estimate the perception amount of the scatterer or target that changes between the first moment and the second moment. Optionally, the transceiver module is used to execute at least one of the communication steps such as sending and / or receiving (such as step S2102, but not limited thereto) executed by the perception receiver in any of the above methods, which will not be repeated here. Optionally, the processing module is used to execute at least one of the other steps executed by the perception receiver in any of the above methods, which will not be repeated here.

[0548] FIG7B is a schematic diagram of the structure of the sensing device proposed in an embodiment of the present disclosure. As shown in FIG7B , the sensing device 7200 may include: a transceiver module 7201, a processing module 7202, etc. In some embodiments, the transceiver module 7201 is configured to receive second information respectively sent by multiple sensing receivers, wherein the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment. The processing module 7202 is configured to merge the multiple subspace information and to determine the perception amount of the scatterer or target that changes between the first moment and the second moment based on the merged result. Optionally, the transceiver module 7201 is used to perform at least one of the communication steps such as sending and / or receiving performed by the first communication device in any of the above methods, which will not be repeated here. Optionally, the processing module 7202 is used to perform at least one of the other steps (such as step S2103 and step S2104, but not limited to these) performed by the first communication device in any of the above methods, which will not be repeated here.

[0549] Figure 7C is a schematic diagram of the structure of the perception device proposed in an embodiment of the present disclosure. As shown in Figure 7C, the perception device 7300 may include: at least one of a transceiver module 7301, a processing module 7302, etc. In some embodiments, the transceiver module 7301 is configured to send first information to the perception receiver, the first information being used to indicate a first moment and a second moment, and the first information being used for the perception receiver to send second information to the first communication device, the second information including subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment. Optionally, the transceiver module 7301 is used to execute at least one of the communication steps such as sending and / or receiving (for example, step S2101, but not limited thereto) performed by the perception transmitter or the second communication device in any of the above methods, which will not be repeated here. Optionally, the processing module 7302 is used to execute at least one of the other steps performed by the perception transmitter or the second communication device in any of the above methods, which will not be repeated here.

[0550] In some embodiments, the transceiver module may include a transmitting module and / or a receiving module, and the transmitting module and the receiving module may be separate or integrated. Optionally, the transceiver module may be interchangeable with the transceiver.

[0551] In some embodiments, the processing module can be a single module or can include multiple submodules. Optionally, the multiple submodules each execute all or part of the steps required to be executed by the processing module. Optionally, the processing module can be interchangeable with the processor.

[0552] Figure 8A is a schematic diagram of the structure of a communication device 8100 proposed in an embodiment of the present disclosure. Communication device 8100 can be a network device (e.g., an access network device, a core network device, etc.), a terminal (e.g., a user equipment, etc.), a chip, a chip system, or a processor that supports a network device to implement any of the above methods, or a chip, a chip system, or a processor that supports a terminal to implement any of the above methods. Communication device 8100 can be used to implement the methods described in the above method embodiments. For details, please refer to the description of the above method embodiments.

[0553] As shown in Figure 8A, the communication device 8100 includes one or more processors 8101. The processor 8101 can be a general-purpose processor or a dedicated processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication device (such as a base station, a baseband chip, a terminal device, a terminal device chip, a DU or a CU, etc.), execute programs, and process program data. The communication device 8100 is used to perform any of the above methods.

[0554] In some embodiments, the communication device 8100 further includes one or more memories 8102 for storing instructions. Optionally, all or part of the memories 8102 may be located outside the communication device 8100.

[0555] In some embodiments, the communication device 8100 further includes one or more transceivers 8103. When the communication device 8100 includes one or more transceivers 8103, the transceiver 8103 performs at least one of the communication steps such as sending and / or receiving in the above method (for example, step S2101 and step S2102, but not limited thereto), and the processor 8101 performs at least one of the other steps (for example, step S2103 and step S2104, but not limited thereto).

[0556] In some embodiments, a transceiver may include a receiver and / or a transmitter. The receiver and transmitter may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, and transceiver circuit may be used interchangeably; the terms transmitter, transmitting unit, transmitter, and transmitting circuit may be used interchangeably; and the terms receiver, receiving unit, receiver, and receiving circuit may be used interchangeably.

[0557] In some embodiments, the communication device 8100 may include one or more interface circuits 8104. Optionally, the interface circuit 8104 is connected to the memory 8102. The interface circuit 8104 may be configured to receive signals from the memory 8102 or other devices, and may be configured to send signals to the memory 8102 or other devices. For example, the interface circuit 8104 may read instructions stored in the memory 8102 and send the instructions to the processor 8101.

[0558] The communication device 8100 described in the above embodiment may be a network device or a terminal, but the scope of the communication device 8100 described in the present disclosure is not limited thereto, and the structure of the communication device 8100 may not be limited by FIG. 8A. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: 1) an independent integrated circuit IC, or a chip, or a chip system or subsystem; (2) a collection of one or more ICs, optionally, the above IC collection may also include a storage component for storing data or programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, an intelligent terminal device, a cellular phone, a wireless device, a handheld device, a mobile unit, an in-vehicle device, a network device, a cloud device, an artificial intelligence device, etc.; (6) others, etc.

[0559] FIG8B is a schematic diagram of the structure of a chip 8200 according to an embodiment of the present disclosure. If the communication device 8100 can be a chip or a chip system, please refer to the schematic diagram of the structure of the chip 8200 shown in FIG8B , but the present disclosure is not limited thereto.

[0560] The chip 8200 includes one or more processors 8201 , and the chip 8200 is configured to execute any of the above methods.

[0561] In some embodiments, the chip 8200 further includes one or more interface circuits 8202. Optionally, the interface circuit 8202 is connected to the memory 8203. The interface circuit 8202 can be used to receive signals from the memory 8203 or other devices, and can be used to send signals to the memory 8203 or other devices. For example, the interface circuit 8202 can read instructions stored in the memory 8203 and send the instructions to the processor 8201.

[0562] In some embodiments, the interface circuit 8202 performs at least one of the communication steps such as sending and / or receiving in the above method (for example, step S2101, step S2102, but not limited to this), and the processor 8201 performs at least one of the other steps (for example, step S2103, step S2104, but not limited to this).

[0563] In some embodiments, terms such as interface circuit, interface, transceiver pin, and transceiver may be used interchangeably.

[0564] In some embodiments, the chip 8200 further includes one or more memories 8203 for storing instructions. Alternatively, all or part of the memories 8203 may be outside the chip 8200.

[0565] The present disclosure also proposes a storage medium having instructions stored thereon, which, when executed on the communication device 8100, causes the communication device 8100 to execute any of the above methods. Optionally, the storage medium is an electronic storage medium. Optionally, the storage medium is a computer-readable storage medium, but is not limited thereto, and may also be a storage medium readable by other devices. Optionally, the storage medium may be a non-transitory storage medium, but is not limited thereto, and may also be a temporary storage medium.

[0566] The present disclosure also provides a program product, which, when executed by the communication device 8100, enables the communication device 8100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0567] The present disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any one of the above methods.

Claims

1. A perception method, characterized in that: The method comprises: receiving first information, where the first information is used to indicate a first time and a second time; Second information is sent to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment, and the subspace information is used to estimate the perception amount of the scatterer or target that changes between the first moment and the second moment.

2. The method according to claim 1, characterized in that The subspace information includes at least one of the following: described X1 vectors in the column space; The first autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the first autocorrelation matrix; a lower triangular matrix of the first autocorrelation matrix; an orthonormal basis of a signal subspace of the first autocorrelation matrix; Y1 basis vectors corresponding to Y1 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the first autocorrelation matrix; an orthonormal basis of the noise subspace of the first autocorrelation matrix; Z1 basis vectors corresponding to the Z1 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the first autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is a first covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A second covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l β ) on the channel frequency domain response; k u is the number of the u-th subcarrier containing the perception reference signal; k v is the number of the vth subcarrier containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; is the number of subcarriers containing the perception reference signal.

3. The method according to claim 1 or 2, characterized in that The subspace information includes at least one of the following: described X2 vectors in the column space of ; The second autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the second autocorrelation matrix; a lower triangular matrix of the second autocorrelation matrix; an orthonormal basis of a signal subspace of the second autocorrelation matrix; Y2 basis vectors corresponding to the Y2 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the second autocorrelation matrix; an orthonormal basis of the noise subspace of the second autocorrelation matrix; Z2 basis vectors corresponding to the Z2 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the second autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the third covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A fourth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., N, where N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension.

4. The method according to any one of claims 1 to 3, characterized in that The subspace information includes at least one of the following: described X3 vectors in the column space of ; The third autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the third autocorrelation matrix; a lower triangular matrix of the third autocorrelation matrix; An orthonormal basis of the signal subspace of the third autocorrelation matrix; Y3 basis vectors corresponding to Y3 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the third autocorrelation matrix; An orthonormal basis of the noise subspace of the third autocorrelation matrix; Z3 basis vectors corresponding to the Z3 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the third autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the fifth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A sixth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is sent to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction. The resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., M, where M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension.

5. A perception method, characterized in that: The method comprises: receiving second information respectively sent by a plurality of perceptual receivers, where the second information includes subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment; Merging a plurality of subspace information; The perception amount of the scatterer or target that changes between the first moment and the second moment is determined according to the merging result.

6. The method according to claim 5, characterized in that The subspace information includes at least one of the following: described X1 vectors in the column space; The first autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the first autocorrelation matrix; a lower triangular matrix of the first autocorrelation matrix; an orthonormal basis of a signal subspace of the first autocorrelation matrix; Y1 basis vectors corresponding to Y1 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the first autocorrelation matrix; an orthonormal basis of the noise subspace of the first autocorrelation matrix; Z1 basis vectors corresponding to the Z1 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the first autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is a first covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A second covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l β ) on the channel frequency domain response; k u is the number of the u-th subcarrier containing the perception reference signal; k v is the number of the vth subcarrier containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; is the number of subcarriers containing the perception reference signal.

7. The method according to claim 5 or 6, characterized in that The subspace information includes at least one of the following: described X2 vectors in the column space of ; The second autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the second autocorrelation matrix; a lower triangular matrix of the second autocorrelation matrix; an orthonormal basis of a signal subspace of the second autocorrelation matrix; Y2 basis vectors corresponding to the Y2 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the second autocorrelation matrix; an orthonormal basis of the noise subspace of the second autocorrelation matrix; Z2 basis vectors corresponding to the Z2 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the second autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the third covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A fourth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., N, where N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension.

8. The method according to any one of claims 5 to 7, characterized in that: The subspace information includes at least one of the following: described X3 vectors in the column space of ; The third autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the third autocorrelation matrix; a lower triangular matrix of the third autocorrelation matrix; An orthonormal basis of the signal subspace of the third autocorrelation matrix; Y3 basis vectors corresponding to Y3 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the third autocorrelation matrix; An orthonormal basis of the noise subspace of the third autocorrelation matrix; Z3 basis vectors corresponding to the Z3 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the third autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the fifth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A sixth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is sent to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., M, where M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension.

9. A perception method, characterized in that: The method comprises: First information is sent to a perceptual receiver, where the first information is used to indicate a first moment and a second moment, and the first information is used by the perceptual receiver to send second information to a first communication device, where the second information includes subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment.

10. The method according to claim 9, characterized in that The subspace information includes at least one of the following: described X1 vectors in the column space; The first autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the first autocorrelation matrix; a lower triangular matrix of the first autocorrelation matrix; an orthonormal basis of a signal subspace of the first autocorrelation matrix; Y1 basis vectors corresponding to Y1 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the first autocorrelation matrix; an orthonormal basis of the noise subspace of the first autocorrelation matrix; Z1 basis vectors corresponding to the Z1 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the first autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is a first covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A second covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k v , l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, nth column and pth polarization direction, in the resource element (k u , l β ) on the channel frequency domain response; is the nth sensor transmitter t indivual The antenna port is connected to the antenna port of the mth row, nth column and pth polarization direction of the receiving antenna array of the sensing receiver, and the resource element (k v , l β ) on the channel frequency domain response; k u is the number of the u-th subcarrier containing the perception reference signal; k v is the number of the vth subcarrier containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; is the number of subcarriers containing the perception reference signal.

11. The method according to claim 9 or 10, characterized in that The subspace information includes at least one of the following: described X2 vectors in the column space of ; The second autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the second autocorrelation matrix; a lower triangular matrix of the second autocorrelation matrix; an orthonormal basis of a signal subspace of the second autocorrelation matrix; Y2 basis vectors corresponding to the Y2 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the second autocorrelation matrix; an orthonormal basis of the noise subspace of the second autocorrelation matrix; Z2 basis vectors corresponding to the Z2 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the second autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the third covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A fourth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, uth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is the n of the sensing transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the mth row, vth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; M is the number of antenna ports of the receiving antenna array of the perception receiver in the vertical dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., N, where N is the number of antenna ports of the receiving antenna array of the sensing receiver in the horizontal dimension.

12. The method according to any one of claims 9-10, characterized in that The subspace information includes at least one of the following: described X3 vectors in the column space of ; The third autocorrelation matrix is ​​the The autocorrelation matrix of an upper triangular matrix of the third autocorrelation matrix; a lower triangular matrix of the third autocorrelation matrix; An orthonormal basis of the signal subspace of the third autocorrelation matrix; Y3 basis vectors corresponding to Y3 eigenvalues ​​with the largest absolute values ​​in the standard orthogonal basis of the signal subspace of the third autocorrelation matrix; An orthonormal basis of the noise subspace of the third autocorrelation matrix; Z3 basis vectors corresponding to the Z3 eigenvalues ​​with the smallest absolute values ​​in the standard orthogonal basis of the noise subspace of the third autocorrelation matrix; in, for The orthonormal basis of the noise subspace is for The orthonormal basis of the signal subspace of is the fifth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the first moment, A sixth covariance matrix corresponding to the channel frequency domain response at the resource element where the reference signal is sensed at the second moment; The element in row u and column v is: The element in row u and column v is: is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is sent to the antenna port of the uth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l α ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the u-th row, n-th column and p-th polarization direction, and the resource element (k, l β ) on the channel frequency domain response; is the nth sensor transmitter t The antenna port of the receiving antenna array of the sensing receiver is connected to the antenna port of the vth row, nth column and pth polarization direction, in the resource element (k, l β ) on the channel frequency domain response; is a set of numbers of subcarriers containing the perception reference signal; is a set of numbers of OFDM symbols corresponding to the first moment and containing the perception reference signal; is the numbered set of OFDM symbols containing the perception reference signal corresponding to the second moment; N is the number of antenna ports of the receiving antenna array of the perception receiver in the horizontal dimension; P is the number of polarizations of the receiving antenna of the perception receiver; N t is the number of transmitting antenna ports of the sensing transmitter; u, v = 1, 2, ..., M, where M is the number of antenna ports of the receiving antenna array of the sensing receiver in the vertical dimension.

13. A sensing device, characterized in that: The device comprises: The transceiver module is configured to receive first information, where the first information is used to indicate a first moment and a second moment, and is configured to send second information to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment, and the subspace information is used to estimate the perceived amount of a scatterer or target that changes between the first moment and the second moment.

14. A sensing device, characterized in that: The device comprises: a transceiver module configured to receive second information respectively sent by the plurality of perceptual receivers, the second information comprising subspace information obtained by projecting a signal subspace of the channel at the second moment onto a noise subspace of the channel at the first moment; The processing module is configured to merge the plurality of subspace information and to determine the perception amount of the scatterer or target that changes between the first moment and the second moment according to the merging result.

15. A sensing device, characterized in that: The device comprises: The transceiver module is configured to send first information to a perceptual receiver, where the first information is used to indicate a first moment and a second moment, and the first information is used by the perceptual receiver to send second information to a first communication device, where the second information includes subspace information obtained by projecting the signal subspace of the channel at the second moment onto the noise subspace of the channel at the first moment.

16. A perception system, characterized in that: The system comprises a perceptual transmitter and a plurality of perceptual receivers, wherein the perceptual transmitter is configured to implement the perceptual method according to any one of claims 9 to 12, and the perceptual receiver is configured to implement the perceptual method according to any one of claims 1 to 4.

17. A communication device, characterized in that: include: one or more processors; The communication device is used to execute the perception method described in any one of claims 1-4, or any one of claims 5-8, or any one of claims 9-12.

18. A storage medium storing instructions, characterized in that: When the instruction is executed on the communication device, the communication device is caused to execute the sensing method according to any one of claims 1 to 4, or any one of claims 5 to 8, or any one of claims 9 to 12.

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