Communication method and apparatus

Abstract

A communication method and apparatus, which relate to the technical field of communications. The method comprises: a first node receiving first information, wherein the first information is configured to determine sampling positions of scatterers, wherein the sampling positions of the scatterers comprise a sampling position of a first scatterer and / or a sampling position of a second scatterer, the first scatterer and the second scatterer are scatterers through which different reflections pass in the same self-transmit and others-receive sensing mode, and at least two reflections occur in the self-transmit and others-receive sensing mode; and the first node sending scatterer information, wherein the scatterer information indicates a measured position of the first scatterer and a measured position of the second scatterer, and the measured position of the first scatterer and the measured position of the second scatterer are determined on the basis of the sampling positions of the scatterers.

Description

Communication method and device

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office of China on April 3, 2024, with application number 202410408889.0 and application name “Communication Method and Device”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application relates to the field of communication technology, and in particular to a communication method and device. Background Art

[0003] In a communication system, sensing nodes utilize wireless sensing technology to acquire scatterer information. This scatterer information can indicate the distribution of scatterers in the environment, facilitating communication. For example, scatterer information can be used for environmental reconstruction, channel prediction, and positioning. To expand the sensing range, sensing fusion technology can be employed. Specifically, a sensing node can acquire scatterer information determined by different sensing nodes and then fuse this information to obtain a wider spatial distribution of scatterers.

[0004] However, the accuracy of the above scatterer information is poor, which affects the accuracy of multi-station perception fusion. Summary of the Invention

[0005] In order to solve the above technical problems, the present application provides a communication method and device that can improve fusion efficiency.

[0006] To achieve the above objectives, this application adopts the following technical solutions:

[0007] In the first aspect, a communication method is provided, which can be executed by a first node. Unless otherwise specified, the "first node" in this application can refer to the first node itself (for example, a terminal device, a network device, the network device can be a base station BS, a roadside unit RSU, or a perception management function SMF), or a component in the first node (for example, a processor, a chip, or a chip system, etc.), or a logic module or software that can implement all or part of the functions of the first node. The following description takes the execution subject as the first node as an example. The method includes:

[0008] Receive first information, where the first information is used to determine a scatterer sampling position, where the scatterer sampling position includes a sampling position of a first scatterer and / or a sampling position of a second scatterer, where the first scatterer and the second scatterer are scatterers passed through by different reflections in the same spontaneous reception sensing mode, and where at least two reflections occur in the spontaneous reception sensing mode.

[0009] Scatterer information is sent, where the scatterer information indicates a measurement position of the first scatterer and a measurement position of the second scatterer, where the measurement position of the first scatterer and the measurement position of the second scatterer are determined according to the scatterer sampling position.

[0010] That is to say, for the spontaneous reception perception mode in which at least two reflections occur, different reflections can pass through different scatterers, such as the first scatterer and the second scatterer. The environment reconstruction algorithm can be used to determine the scatterer sampling position, and then the scatterer measurement position can be determined based on the scatterer sampling position, such as the measurement position of the first scatterer and the measurement position of the second scatterer. When the scatterer sampling position is unreasonable, the reconstruction accuracy performance of the environment reconstruction algorithm is limited, resulting in poor accuracy of the scatterer measurement position. In the present application, the scatterer sampling position is determined based on the first information, thereby maximizing the release of the reconstruction accuracy performance of the environment reconstruction algorithm. In this way, the scatterer measurement position determined based on the environment reconstruction algorithm is more accurate, thereby achieving the purpose of improving the multi-station fusion perception field of view with high precision.

[0011] In one possible design, the first scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through for the first reflection during the propagation from the first node to the second node, and the second scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through for the last reflection during the propagation from the first node to the second node.

[0012] It can be understood that the first scatterer is a scatterer on the first node side, and the second scatterer is a scatterer on the second node side.

[0013] In one possible design, the first scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through during the last reflection during the propagation from the second node to the first node, and the second scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through during the first reflection during the propagation from the second node to the first node.

[0014] It can be understood that the first scatterer is a scatterer on the first node side, and the second scatterer is a scatterer on the second node side.

[0015] In one possible design, the first information is determined based on at least one of the following: angular resolution, position information, or prior information.

[0016] The angular resolution indicates the angular resolution of the first node and the angular resolution of the second node. The position information indicates the position of the first node and the position of the second node. The priori information indicates the historical positions of the scatterer, and the historical positions of the scatterer include a first historical position and a second historical position, where the first historical position corresponds to the first node and the second historical position corresponds to the second node.

[0017] The first historical position corresponds to the first node, and it can be understood that the first historical position is a historical measurement position of the scatterer on the first node side.

[0018] The second historical position corresponds to the second node, and it can be understood that the second historical position is a historical measurement position of the scatterer on the second node side.

[0019] In actual measurements, the determination of the scatterer sampling position is affected by factors such as angular resolution (e.g., the angular resolution of the first node and the angular resolution of the second node), node arrangement (e.g., the position of the first node and the position of the second node), and the prior information. Therefore, the first information can be determined with reference to factors such as angular resolution, node arrangement, and the prior information, thereby maximizing the reconstruction accuracy performance of the environment reconstruction algorithm.

[0020] In one possible design, the first information is determined based on a first error value and a second error value.

[0021] The first error value is determined based on at least one of the following: an angular resolution of the first node, or a distance between the position of the first node and a first historical position, the first historical position being a scatterer historical position, and the first historical position corresponding to the first node.

[0022] The first error value can be understood as a reconstruction error of the environment reconstruction using the scatterer on the first node side as a sampling point.

[0023] The second error value is determined based on at least one of the following: an angular resolution of the second node, or a distance between the position of the second node and a second historical position, the second historical position being a scatterer historical position, and the second historical position corresponding to the second node.

[0024] The second error value can be understood as a reconstruction error of the environment reconstruction using the scatterer on the second node side as a sampling point.

[0025] For example, if the first error value is smaller than the second error value, it is considered that the calculation error on the first node side is smaller. When the scatterer on the first node side, such as the first scatterer, is used as a sampling point to determine the measurement position of the scatterer, this method can better release the upper limit of the reconstruction accuracy performance of the environment reconstruction algorithm, thereby more accurately determining the measurement position of the first scatterer and the measurement position of the second scatterer, and achieving higher reconstruction result accuracy.

[0026] For another example, if the second error value is smaller than the first error value, it is considered that the calculation error on the second node side is smaller. When the scatterer on the second node side, such as the second scatterer, is used as a sampling point to determine the measurement position of the scatterer, this method can better release the upper limit of the reconstruction accuracy performance of the environment reconstruction algorithm, thereby more accurately determining the measurement position of the first scatterer and the measurement position of the second scatterer, and achieving higher reconstruction result accuracy.

[0027] For another example, if the first error value is equal to the second error value, it is considered that the calculation errors on the first node and the second node sides are the same or similar. In this case, two rounds of calculations can be performed. For example, in the first round of calculations, the scatterers on the first node side, such as the first scatterer, are used as sampling points to determine the measurement position of the first scatterer and the measurement position of the second scatterer. In the second round of calculations, the scatterers on the second node side, such as the second scatterer, are used as sampling points to determine the measurement position of the first scatterer and the measurement position of the second scatterer. In this way, the calculation results with higher reconstruction result accuracy in the two rounds of calculation results can be retained, thereby achieving higher reconstruction result accuracy.

[0028] In one possible design, the method further includes: sending position information of the second node and / or an angular resolution of the second node. The position information of the second node and the angular resolution of the second node are used to determine the first information, so that the first information can more accurately determine the scatterer sampling position, thereby maximizing the reconstruction accuracy performance of the environment reconstruction algorithm.

[0029] In one possible design, the first information is used to determine a scatterer sampling position, including: the first information is a first value, and the first value indicates the sampling position of the first scatterer. It can be understood that the first value indicates that the scatterer on the first node side is used as the sampling point.

[0030] In one possible design, the first value further indicates that the second position of the second scatterer is determined based on the sampling position of the first scatterer. It can be understood that the first value indicates that the calculation direction is from the first node to the second node.

[0031] In one possible design, the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer, including: the scatterer information indicates the first measurement position of the first scatterer and the second measurement position of the second scatterer, the first measurement position is determined based on the sampling position of the first scatterer and the second position of the second scatterer, and the second measurement position is determined based on the sampling position of the first scatterer and the second position of the second scatterer.

[0032] In one possible design, the first information is used to determine a scatterer sampling position, including: the first information is a second value, and the second value indicates the sampling position of the second scatterer. It can be understood that the second value indicates that the scatterer on the first node side is used as the sampling point.

[0033] In one possible design, the second value further indicates that the first position of the first scatterer is determined based on the sampling position of the second scatterer. It can be understood that the second value indicates that the calculation direction is from the second node to the first node.

[0034] In one possible design, the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer, including: the scatterer information indicates a third measurement position of the first scatterer and a fourth measurement position of the second scatterer, the third measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer, and the fourth measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer.

[0035] In one possible design, the first information is used to determine scatterer sampling positions, including: the first information is a third value, and the third value indicates the sampling positions of the first scatterer and the second scatterer. It can be understood that the third value indicates: using the scatterer on the first node side as a sampling point, and using the scatterer on the second node side as a sampling point.

[0036] In one possible design, the third value further indicates: determining the second position of the second scatterer based on the sampling position of the first scatterer, and determining the first position of the first scatterer based on the sampling position of the second scatterer. It can be understood that the third value indicates two calculation directions: one calculation direction is from the first node to the second node, and the other calculation direction is from the second node to the first node.

[0037] In one possible design, the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer, including: the scatterer information indicates the following four items: the first measurement position of the first scatterer and the second measurement position of the second scatterer, and the third measurement position of the first scatterer and the fourth measurement position of the second scatterer.

[0038] The first measurement position is determined according to the sampling position of the first scatterer and the second position of the second scatterer, and the second measurement position is determined according to the sampling position of the first scatterer and the second position of the second scatterer.

[0039] The third measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer, and the fourth measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer.

[0040] In the second aspect, a communication method is provided, which can be executed by a second node. Unless otherwise specified, the "second node" in this application can refer to the second node itself (for example, a terminal device, a network device, and the network device can be a base station BS, a roadside unit RSU, or a perception management function SMF), or a component in the second node (for example, a processor, a chip, or a chip system, etc.), or a logic module or software that can realize all or part of the functions of the second node. The following description is based on the example that the execution subject is the second node. The method includes:

[0041] Send first information, and the first information is used to determine the sampling position of the scatterer, and the sampling position of the scatterer includes the sampling position of the first scatterer and / or the sampling position of the second scatterer. The first scatterer and the second scatterer are scatterers passed by different reflections in the same spontaneous reception sensing mode, and the spontaneous reception sensing mode has at least two reflections.

[0042] Scatterer information is received, where the scatterer information indicates a measurement position of the first scatterer and a measurement position of the second scatterer, where the measurement position of the first scatterer and the measurement position of the second scatterer are determined based on the scatterer sampling position.

[0043] In one possible design, the first scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through for the first reflection during the propagation from the first node to the second node, and the second scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through for the last reflection during the propagation from the first node to the second node.

[0044] In one possible design, the first scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through during the last reflection during the propagation from the second node to the first node, and the second scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through during the first reflection during the propagation from the second node to the first node.

[0045] In one possible design, the first information is determined based on at least one of the following: angular resolution, position information, or prior information.

[0046] The angular resolution indicates the angular resolution of the first node and the angular resolution of the second node. The position information indicates the position of the first node and the position of the second node. The priori information indicates the historical positions of the scatterer, and the historical positions of the scatterer include a first historical position and a second historical position, where the first historical position corresponds to the first node and the second historical position corresponds to the second node.

[0047] In one possible design, the first information is determined based on a first error value and a second error value.

[0048] The first error value is determined based on at least one of the following: an angular resolution of the first node, or a distance between the position of the first node and a first historical position, the first historical position being a scatterer historical position, and the first historical position corresponding to the first node.

[0049] The second error value is determined based on at least one of the following: an angular resolution of the second node, or a distance between the position of the second node and a second historical position, the second historical position being a scatterer historical position, and the second historical position corresponding to the second node.

[0050] In one possible design, the method further includes: receiving position information of the second node and / or an angular resolution of the second node.

[0051] In a possible design, the first information is used to determine a sampling position of a scatterer, including: the first information is a first value, and the first value indicates the sampling position of the first scatterer.

[0052] In a possible design, the first value further indicates a second position of the second scatterer determined according to a sampling position of the first scatterer.

[0053] In one possible design, the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer, including: the scatterer information indicates the first measurement position of the first scatterer and the second measurement position of the second scatterer, the first measurement position is determined based on the sampling position of the first scatterer and the second position of the second scatterer, and the second measurement position is determined based on the sampling position of the first scatterer and the second position of the second scatterer.

[0054] In one possible design, the first information is used to determine a sampling position of a scatterer, including: the first information is a second value, and the second value indicates the sampling position of the second scatterer.

[0055] In a possible design, the second value further indicates that the first position of the first scatterer is determined according to a sampling position of the second scatterer.

[0056] In one possible design, the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer, including: the scatterer information indicates a third measurement position of the first scatterer and a fourth measurement position of the second scatterer, the third measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer, and the fourth measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer.

[0057] In one possible design, the first information is used to determine a sampling position of a scatterer, including: the first information is a third value, and the third value indicates the sampling position of the first scatterer and the sampling position of the second scatterer.

[0058] In a possible design, the third value further indicates: determining the second position of the second scatterer according to the sampling position of the first scatterer, and determining the first position of the first scatterer according to the sampling position of the second scatterer.

[0059] In one possible design, the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer, including: the scatterer information indicates the following four items: the first measurement position of the first scatterer and the second measurement position of the second scatterer, and the third measurement position of the first scatterer and the fourth measurement position of the second scatterer.

[0060] The first measurement position is determined according to the sampling position of the first scatterer and the second position of the second scatterer, and the second measurement position is determined according to the sampling position of the first scatterer and the second position of the second scatterer.

[0061] The third measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer, and the fourth measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer.

[0062] In a third aspect, a communication device is provided for implementing various methods. The communication device may be the first node in the first aspect, or a device included in the first node, such as a chip or a chip system. Alternatively, the communication device may be the second node in the second aspect, or a device included in the second node, such as a chip or a chip system.

[0063] The communication device includes modules, units, or means corresponding to the implementation method, which can be implemented by hardware, software, or hardware executing corresponding software implementation. The hardware or software includes one or more modules or units corresponding to the functions.

[0064] In some possible designs, the communication device may include a processing module and a transceiver module. The processing module may be configured to implement the processing functionality of any of the above aspects and any possible implementations thereof. The transceiver module may include a receiving module and a transmitting module, respectively configured to implement the receiving functionality and the transmitting functionality of any of the above aspects and any possible implementations thereof.

[0065] In some possible designs, the transceiver module may be composed of a transceiver circuit, a transceiver, a transceiver or a communication interface.

[0066] In a fourth aspect, a communication device is provided, comprising: a processor and a memory; the memory is configured to store computer instructions, and when the processor executes the instructions, the communication device performs the method described in any aspect. The communication device may be the first node described in the first aspect, or a device included in the first node, such as a chip or a chip system. Alternatively, the communication device may be the second node described in the second aspect, or a device included in the second node, such as a chip or a chip system.

[0067] In a fifth aspect, a communication device is provided, comprising: a processor and a communication interface; the communication interface is configured to communicate with a module external to the communication device; and the processor is configured to execute a computer program or instruction to cause the communication device to perform the method described in any aspect. The communication device may be the first node described in the first aspect, or a device included in the first node, such as a chip or a chip system. Alternatively, the communication device may be the second node described in the second aspect, or a device included in the second node, such as a chip or a chip system.

[0068] In a sixth aspect, a communication device is provided, comprising: at least one processor; the processor is configured to execute a computer program or instruction stored in a memory, so that the communication device performs the method described in any aspect. The memory may be coupled to the processor or may be independent of the processor. The communication device may be the first node described in the first aspect. Alternatively, the communication device may be the second node described in the second aspect.

[0069] In a seventh aspect, a communication device is provided, comprising: a processing circuit and an interface circuit; the interface circuit is configured to communicate with a module external to the communication device; and the processing circuit is configured to execute a computer program or instruction to cause the communication device to perform the method described in any aspect. The communication device may be the first node described in the first aspect, or a device included in the first node, such as a chip or a chip system. Alternatively, the communication device may be the second node described in the second aspect, or a device included in the second node, such as a chip or a chip system.

[0070] In an eighth aspect, a communication device is provided, comprising: a logic circuit and an interface circuit; the interface circuit is configured to communicate with a module external to the communication device; and the logic circuit is configured to execute a computer program or instruction to cause the communication device to perform the method described in any aspect. The communication device may be the first node described in the first aspect, or a device included in the first node, such as a chip or a chip system. Alternatively, the communication device may be the second node described in the second aspect, or a device included in the second node, such as a chip or a chip system.

[0071] In the ninth aspect, a computer-readable storage medium is provided, which stores a computer program or instruction, and when the computer program or instruction is run on a communication device, the communication device can execute the method described in the first aspect and any possible design thereof.

[0072] In a tenth aspect, a computer program product comprising instructions is provided, which, when run on a communication device, enables the communication device to execute the method described in the first aspect and any possible design thereof.

[0073] In the eleventh aspect, a communication device is provided (for example, the communication device can be a chip or a chip system), which includes a processor for implementing the functions involved in the first aspect and any possible design thereof, or for implementing the functions involved in the second aspect and any possible design thereof.

[0074] In some possible designs, the communication device includes a memory for storing necessary program instructions and data.

[0075] In some possible designs, when the device is a chip system, it can be composed of a chip or include a chip and other discrete devices.

[0076] In the twelfth aspect, a communication system is provided, which includes a first node and a second node, the first node is used to execute the method in the first aspect or any possible design of the first aspect, and the second node is used to execute the method in the second aspect or any possible design of the second aspect.

[0077] It can be understood that when the communication device provided in any one of the third aspect to the twelfth aspect is a chip, the sending action / function of the communication device can be understood as output information, and the receiving action / function of the communication device can be understood as input information.

[0078] Among them, the technical effects brought about by any design method in the second aspect to the twelfth aspect can refer to the technical effects brought about by different design methods in the first aspect, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] FIG1a is a schematic diagram of the architecture of a communication system provided in an embodiment of the present application;

[0080] FIG1b is a schematic diagram of the architecture of another communication system provided in an embodiment of the present application;

[0081] FIG2a is a schematic diagram of a self-transmitting and self-receiving sensing mode provided in an embodiment of the present application;

[0082] FIG2b is a schematic diagram of a spontaneous and other-receiving sensing mode provided in an embodiment of the present application;

[0083] FIG2c is a schematic diagram of another spontaneous and other-receiving sensing mode provided in an embodiment of the present application;

[0084] FIG3a is a flow chart of a link reconstruction algorithm provided in an embodiment of the present application;

[0085] FIG3 b is a schematic diagram of a link reconstruction algorithm provided in an embodiment of the present application;

[0086] FIG4 is a flow chart of a communication method provided in an embodiment of the present application;

[0087] FIG5 is a schematic diagram of a calculation direction provided in an embodiment of the present application;

[0088] FIG6 is a schematic diagram of another calculation direction provided in an embodiment of the present application;

[0089] FIG7 is a schematic structural diagram of a communication device provided in an embodiment of the present application;

[0090] FIG8 is a schematic structural diagram of another communication device provided in an embodiment of the present application;

[0091] FIG9 is a schematic structural diagram of another communication device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0092] The technical solution in this application will be described below with reference to the accompanying drawings.

[0093] In the description of this application, "and / or" in this application is merely a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent three situations: A exists alone, A and B exist at the same time, and B exists alone.

[0094] In the description of this application, unless otherwise specified, "plurality" means two or more than two. "At least one of the following" or similar expressions refers to any combination of these items. For example, at least one of a, b, or c can mean: a, b, c, ab, ac, bc, or abc.

[0095] In the description of this application, the words "first" and "second" are used to distinguish between identical or similar items with substantially the same function and effect. The words "first" and "second" do not limit the quantity or execution order, and the words "first" and "second" do not necessarily mean different.

[0096] In the description of this application, words such as "exemplarily" or "for example" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplarily" or "for example" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplarily" or "for example" is intended to present the relevant concepts in a concrete manner to facilitate understanding.

[0097] The network architecture and business scenarios described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Ordinary technicians in this field will know that with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0098] Figure 1a is a schematic diagram of the architecture of a communication system used in an embodiment of the present application. As shown in Figure 1a, the communication system includes a perception center and perception nodes. The perception center can communicate with the perception nodes via wired or wireless means. Optionally, different perception centers can communicate with each other. Optionally, different perception nodes can communicate with each other.

[0099] The perception center is primarily responsible for aggregating, storing, and accessing perception data. It can be a network device, a perception management function, or a roadside unit (RSU). The network device can be a base station (BS), the perception management function can be a sensing management function (SMF), and the roadside unit can be a roadside unit (RSU).

[0100] The sensing node mainly uses sensing technology to identify scatterers in the environment. The sensing node can be an SMF, a network device, a roadside unit, or a terminal device.

[0101] It should be noted that in this application, both the perception center and the perception node are equipped with a perception module and possess perception capabilities. Alternatively, the perception center and the perception node have completed integrated communication and perception transformation. The integrated communication and perception transformation can be understood as: configuring a perception module and / or configuring a perception algorithm. For example, the completion of the integrated communication and perception transformation of a perception node can be understood as: configuring a perception module and / or configuring a perception algorithm in the perception node.

[0102] It should be noted that in this application, the levels are described as follows:

[0103] First, the level of the perception center is higher than that of the perception node. For example, when one or more perception nodes provide scatterer information to the perception center, it can be understood that the perception center is the upper-level node of the perception node, or the perception node is the lower-level node of the perception center. The perception center can be an SMF or a network device, and the perception node can be an SMF, a network device, or a terminal device.

[0104] Second, in the case of communication between different sensing nodes, take the communication between sensing node 1 and sensing node 2 as an example:

[0105] If sensing node 1 is a terminal device and sensing node 2 is a network device, it can be understood that sensing node 2 is the upper-level node of sensing node 1, or sensing node 1 is the lower-level node of sensing node 2.

[0106] If sensing node 1 and sensing node 2 are network devices (or SMFs), and sensing node 1 provides scatterer information to sensing node 2, it can be understood that sensing node 2 is the upper-level node of sensing node 1, or sensing node 1 is the lower-level node of sensing node 2.

[0107] Figure 1b is a schematic diagram of the architecture of another communication system used in an embodiment of the present application. As shown in Figure 1b, the communication system 1000 includes at least one network device (such as 110a and 110b in Figure 1b) and at least one terminal device (such as 120a-120j in Figure 1b). The terminal device can communicate with the network device wirelessly. Optionally, different network devices can communicate with each other. Optionally, different terminal devices can communicate with each other.

[0108] Optionally, the network device is a network-side device with wireless transceiver functions. The network device may be a device in a radio access network (RAN) that provides wireless communication functions for terminal devices, referred to as a RAN device. The RAN may be an access network in the 3rd Generation Partnership Project (3GPP), for example, 4G, 5G, or the future-oriented 6G network. The RAN may also be an open access network (open RAN, O-RAN or ORAN), a cloud radio access network (CRAN), or a communication network of two or more of the above networks. The RAN device may be a base station, an evolved NodeB (eNodeB), a transmission reception point (TRP), a next-generation base station (next generation nodeB, gNB) in a fifth-generation (5G) mobile communication system, a next-generation base station in a sixth-generation (6G) mobile communication system, a base station in a future mobile communication system, a wireless fidelity (WiFi) system, a long-range radio (LoRa) system, or an access node in a vehicle networking system. RAN equipment can also be a module or unit that performs some of the functions of a base station. For example, it can be a centralized unit (CU), a distributed unit (DU), or a radio unit (RU). The CU here performs the functions of the base station's radio resource control protocol and packet data convergence protocol (PDCP), and can also perform the functions of the service data adaptation protocol (SDAP); the DU performs the functions of the base station's radio link control layer and medium access control (MAC) layer, and can also perform some or all of the physical layer functions. For detailed descriptions of each of the above protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP). The CU and DU can be set up separately, or they can be included in the same network element, such as the baseband unit (BBU).The RU may be included in a radio frequency device or radio frequency unit, for example, a remote radio unit (RRU), an active antenna unit (AAU), or a remote radio head (RRH). In different systems, CU, DU, or RU may have different names, but those skilled in the art will understand their meanings. For example, in an ORAN system, CU may also be called O-CU (Open CU), DU may also be called O-DU, and RU may also be called O-RU. Any of the CU (or CU-CP, CU-UP), DU, and RU in this application may be implemented by a software module, a hardware module, or a combination of a software module and a hardware module. The radio access network device may be a macro base station (such as 110a in Figure 1b), a micro base station or an indoor station (such as 110b in Figure 1b), a relay node, a donor node, etc. The embodiments of this application do not limit the specific technology and specific device form adopted by the radio access network device. For ease of description, network device is referred to as the abbreviation of radio access network device, and base station is used as an example of radio access network device.

[0109] Optionally, the terminal device accesses the core network via a network device. The terminal device includes a device that provides voice and / or data connectivity to the user. Specifically, it includes a device that provides voice to the user, a device that provides data connectivity to the user, or a device that provides both voice and data connectivity to the user. For example, it may include a handheld device with wireless connectivity or a processing device connected to a wireless modem. The terminal device can communicate with the core network via the radio access network, exchange voice or data with the RAN, or exchange voice and data with the RAN. The terminal device may include user equipment (UE), wireless terminal device, mobile terminal device, D2D terminal device, V2X terminal device, machine-to-machine / machine-type communications (M2M / MTC) terminal device, Internet of Things (IoT) terminal device, subscriber unit, subscriber station, mobile station, remote station, access point (AP), remote terminal, access terminal, user terminal, user agent, or user device, etc. For example, it may include a mobile phone (or so-called "cellular" phone), a computer with a mobile terminal device, a portable, pocket-sized, handheld, or computer-built-in mobile device, etc. Examples include personal communication service (PCS) phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, and personal digital assistants (PDAs). Also included are limited devices, such as those with low power consumption, limited storage capacity, or limited computing power. Examples include information sensing devices such as barcode scanners, radio frequency identification (RFID), sensors, global positioning systems (GPS), and laser scanners.

[0110] The various terminal devices introduced above, if located on a vehicle (eg, placed in or installed in a vehicle), can be considered as vehicle-mounted terminal devices, which are also called on-board units (OBUs).

[0111] In the embodiment of the present application, the terminal device may further include a relay. Alternatively, it can be understood that anything that can communicate data with a base station can be considered a terminal device.

[0112] In the embodiments of the present application, the device for implementing the functions of the terminal device can be the terminal device, or it can be a device that can support the terminal device to implement the functions, such as a chip system, which can be installed in the terminal device. In the embodiments of the present application, the chip system can be composed of chips, or it can include chips and other discrete devices. In the technical solutions provided in the embodiments of the present application, the device for implementing the functions of the terminal is a terminal device as an example for description.

[0113] It should be understood that network devices and terminal devices can be fixed or mobile. Network devices and terminal devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on aircraft, balloons, and artificial satellites. The embodiments of this application do not limit the application scenarios of network devices and terminal devices.

[0114] The roles of network devices and terminal devices can be relative. For example, the helicopter or drone 120i in Figure 1b can be configured as a mobile base station. To terminal devices 120j that access the wireless access network through 120i, terminal device 120i is a network device; but to network device 110a, 120i is a terminal device, meaning that communication between 110a and 120i occurs via a wireless air interface protocol. Of course, communication between 110a and 120i can also occur via a base station-to-base station interface protocol. In this case, relative to 110a, 120i is also a network device. Therefore, both network devices and terminal devices can be collectively referred to as communication devices. 110a and 110b in Figure 1b can be referred to as communication devices with network device functionality, and 120a-120j in Figure 1b can be referred to as communication devices with terminal device functionality.

[0115] Network devices and terminal devices, network devices and network devices, and terminal devices and terminal devices can communicate through authorized spectrum, unauthorized spectrum, or both. They can communicate through spectrum below 6 gigahertz (GHz), spectrum above 6 GHz, or spectrum below 6 GHz and spectrum above 6 GHz. The embodiments of the present application do not limit the spectrum resources used for wireless communications.

[0116] In the embodiments of the present application, the functions of the network device may also be performed by a module (such as a chip) in the network device, or by a control subsystem that includes the network device functions. The control subsystem that includes the network device functions here may be a control center in the above-mentioned application scenarios such as smart grid, industrial control, smart transportation, and smart city. The functions of the terminal device may also be performed by a module (such as a chip or a modem) in the terminal device, or by a device that includes the terminal device functions.

[0117] It should be noted that the solutions in the embodiments of the present application can also be applied to other communication systems, and the corresponding names can also be replaced by the names of corresponding functions in other communication systems.

[0118] To facilitate understanding of the embodiments of the present application, the following briefly describes the terms used in the embodiments of the present application. It should be understood that these descriptions are only for facilitating understanding of the embodiments of the present application and should not constitute any limitation on the present application.

[0119] 1. Mono-static sensing

[0120] Self-transmission and self-reception is a sensing mode in sensing technology. The self-transmission and self-reception sensing mode can also be called single-base sensing or single-station sensing.

[0121] For example, the processing of the self-transmitting and self-receiving sensing mode is described as follows:

[0122] As shown in Figure 2a, a sensing node transmits a signal, which is reflected by a scatterer. The sensing node then receives the reflected signal and determines the scatterer's location based on the reflected signal. In the self-transmitting and self-receiving sensing mode, the sensing node can be a network device, a sensing management function, or a roadside unit. In this mode, only one reflection occurs.

[0123] The scatterers determined based on the self-transmitting and self-receiving sensing mode can be described as: first-class scatterers. The first-class scatterers can be understood as: scatterers that are passed through once by reflection in the self-transmitting and self-receiving sensing mode.

[0124] In addition, the first type of scatterer may also have other descriptions, such as monostatic scatterer (Mono-static scatter), which is not limited in this application.

[0125] It's important to note that the autonomous sensing mode has a narrow and limited range. For example, this is due to drawbacks such as a short sensing distance, restricted angle of incidence, and limited accuracy. Furthermore, in this mode, base stations are expensive to set up, their number is limited, and they can't be arbitrarily selected for construction, making them difficult to move once built.

[0126] It should be noted that the term "signal" can be understood as a signal for measuring the position of a scatterer. The signal can be a communication signal, such as an orthogonal frequency division multiplexing (OFDM) symbol. The signal can also be described in other ways, such as a perception signal, a measurement signal, a sensing signal, a communication signal, a wireless signal, a radio signal, a radio frequency signal, or a radio frequency signal. In this application, the signal is used as an example for description.

[0127] 2. Bi-static sensing

[0128] Transmitted and received is another sensing mode in sensing technology. Taking two sensing nodes as an example, this sensing mode can also be called dual-base sensing. Taking multiple sensing nodes as an example, this sensing mode can also be called multi-station sensing (Multi-TRP sensing).

[0129] For example, the processing of the spontaneous and other-receiving perception mode is described as follows:

[0130] On the transmitting end, a sensing node sends a signal, which is reflected by a scatterer. On the receiving end, the sensing node receives the reflected signal and determines the location of the scatterer based on the reflected signal. In the autonomous and other-receiving sensing mode, the transmitting sensing node can be a network device or an SMF. The receiving sensing node can be a network device, a terminal device, or an SMF, although this application does not limit this.

[0131] As shown in Figure 2b, in the spontaneous and other-receiving sensing mode, a single reflection may occur, which can also be called a single-bounce reflection. In other words, in the spontaneous and other-receiving sensing mode, only a single reflection occurs. In this case, the scatterers determined based on the spontaneous and other-receiving sensing mode can be described as type II scatterers. Type II scatterers can be understood as scatterers that pass through a single reflection in the spontaneous and other-receiving sensing mode.

[0132] In addition, the second type of scatterer can also be described in other ways, such as a bistatic single-bounce scatterer or a bistatic single-bounce scatterer, which is not limited in this application.

[0133] As shown in Figure 2c, at least two reflections may occur in the spontaneous and other-receiving sensing mode. In other words, two or more reflections occur in the spontaneous and other-receiving sensing mode. In this case, the scatterers determined based on the spontaneous and other-receiving sensing mode fall into two categories:

[0134] One type can be described as a third-type scatterer. The third-type scatterer can be understood as a scatterer that is reflected for the first time in the spontaneous reception sensing mode, or as a first-hop scatterer in the spontaneous reception sensing mode.

[0135] The other type can be described as the fourth type of scatterer. The fourth type of scatterer can be understood as the scatterer that is the last reflected scatterer in the spontaneous reception sensing mode, or as the last-hop scatterer in the spontaneous reception sensing mode.

[0136] Taking the example of two reflections in the spontaneous heter-reception sensing mode, these two reflections can also be called double-bounce reflections. Both the third and fourth types of scatterers can be described as bistatic double-bounce scatterers or bistatic double-hop scatterers. The third type of scatterer can be described as bistatic double-bounce scatter (first-hop scatter). The fourth type of scatterer can be described as bistatic double-bounce scatter (last-hop scatter).

[0137] It's important to note that the range of spontaneous and external reception is significantly improved compared to that of spontaneous and external reception. Furthermore, in the spontaneous and external reception sensing mode, the range determined by the spontaneous and external reception sensing mode based on at least two reflections is generally greater than that determined by the spontaneous and external reception sensing mode based on a single reflection. This improvement is particularly noticeable in the height direction.

[0138] It should be pointed out that in the spontaneous and other-receiving perception mode, if the perception node is a terminal device, it has the advantages of flexible location, wide coverage, and can greatly expand the perception field of view.

[0139] 3. Scatter type and corresponding identifier of scatter type

[0140] In this application, scatterer types are divided into four types according to the perception mode, such as the first type of scatterer, the second type of scatterer, the third type of scatterer, and the fourth type of scatterer mentioned above. It can be understood as follows:

[0141] The first type of scatterer is a scatterer determined by the self-transmitting and self-receiving sensing mode, such as Mono-static scatter, which can be identified by the number '1', as shown in Table 1.

[0142] The second type of scatterer is a scatterer identified by the first spontaneous-receiver sensing mode, where the first spontaneous-receiver sensing mode produces a single reflection. The second type of scatterer can be denoted as a bi-static single-bounce scatter and can be identified by the number '2', as shown in Table 1.

[0143] The third type of scatterer is the scatterer that the first reflection in the second spontaneous reception sensing mode passes through. The second spontaneous reception sensing mode has at least two reflections. Taking the second spontaneous reception sensing mode with two reflections as an example, the third type of scatterer can be denoted as Bi-static Double-bounce Scatter (First-hop Scatter) and can be identified by the number '3', as shown in Table 1.

[0144] The fourth type of scatterer is the scatterer that the last reflection in the second spontaneous reception sensing mode passes through. The second spontaneous reception sensing mode has at least two reflections. Taking the second spontaneous reception sensing mode with two reflections as an example, the fourth type of scatterer can be denoted as Bi-static Double-bounce Scatter (Last-hop Scatter) and can be identified by the number '4', as shown in Table 1.

[0145] Table 1

[0146] It should be understood that Table 1 is an introduction to the scatterer types as a possible example and should not be understood as a limitation of the present application. Of course, the identifiers corresponding to the scatterer types shown in the first column of Table 1 can be replaced with other types, such as letters, symbols, etc., and the present application does not limit this. Of course, the scatterer types involved in different application scenarios are also different, and can include some of the scatterer types in Table 1, and can also include other scatterer types, and can be expanded, and the present application does not limit this.

[0147] 4. Perception Fusion

[0148] Perception fusion technology refers to the process by which a given sensing node can obtain scatterer information determined by different sensing nodes and then fuse this information to obtain the distribution of scatterers over a larger spatial range, thereby expanding the sensing range or improving perception accuracy. Perception fusion technology can also be understood as multi-station sensing (Multi-TRP sensing) fusion, for example, by leveraging the coordination and information complementation of multiple types of nodes to expand the sensing range and improve perception accuracy.

[0149] For example, in the field of environmental reconstruction, point cloud is an important means of describing the environment. A point cloud is a data set (or feature set) of points in a certain coordinate system, which contains rich information, such as the three-dimensional coordinates (X, Y, Z), color, intensity value, time and other information of different points in the point cloud. Point clouds are generally acquired through three-dimensional imaging sensors. Among them, three-dimensional imaging sensors can include binocular cameras, three-dimensional scanners, and red green blue-depth (RGB-D) cameras. In addition, point cloud acquisition methods can include laser detection and ranging (LiDAR), which is mainly used in autonomous driving, surveying and mapping and other fields.

[0150] Exemplarily, the scatterer information may include one or more items in Table 2.

[0151] Table 2

[0152] In Table 2, site information refers to the information of the sensing node, which determines N scatterers (referred to as Scatterer 1, Scatterer 2, ..., Scatterer N) through different sensing modes, such as self-transmission and self-reception, and self-transmission and other-reception. The sensing link identifier refers to the identifier of the link where the line of sight (LOS) is located. The transmitting end identifier refers to the identifier of the sensing node that transmits the signal. The receiving end identifier refers to the identifier of the sensing node that receives the signal. Time refers to the timestamp corresponding to the signal, such as the timestamp of generating, transmitting, or receiving the signal. Direction refers to the transmission direction of the link where the signal is located. Configuration refers to the configuration corresponding to the sensing link, such as bandwidth configuration.

[0153] In Table 2, taking scatterer 1 as an example, scatterer identifier refers to the unique identifier of scatterer 1. 3D coordinates refer to the 3D coordinates of scatterer 1 in the environment. Angle can refer to the angle of departure (AoD). Likelihood is used to characterize the weight corresponding to scatterer 1 in the perception fusion process. Power refers to the power of the signal. Speed ​​refers to the movement speed of scatterer 1. Scatterer type refers to the scatterer type to which scatterer 1 belongs, such as Class I scatterer, Class II scatterer, Class III scatterer, Class IV scatterer, etc. Credibility refers to the accuracy of the location of scatterer 1 at the aforementioned 3D coordinates.

[0154] In Table 2, taking scatterer 2 as an example, when the scatterer type is a third type scatterer (e.g., scatter_type=3), the scatterer information includes a first identifier, which is used to identify a fourth type scatterer corresponding to the third type scatterer. And / or, when the scatterer type is a fourth type scatterer (e.g., scatter_type=4), the scatterer information includes a first identifier, which is used to identify a third type scatterer corresponding to the fourth type scatterer.

[0155] For example, the first identifier can be a number, a letter, a symbol, etc., or a link identifier, which is not limited in this application.

[0156] For example, taking K times of spontaneous other-reception sensing process as an example, each spontaneous other-reception sensing process has at least two reflections, and K is a positive integer greater than or equal to 2.

[0157] During the first spontaneous reception sensing process, the first reflection passes through scatterer 1, which belongs to the third category. The first identifier corresponding to scatterer 1 can be the number '1'. During the first spontaneous reception sensing process, the last reflection passes through scatterer 2, which belongs to the fourth category. The first identifier corresponding to scatterer 2 is the same as the first identifier corresponding to scatterer 1, thereby indicating a corresponding relationship between scatterers 1 and 2, such as belonging to the same scatterer determined during the same spontaneous reception sensing process, to assist in channel recovery.

[0158] During the second autonomous reception sensing process, the first reflection passes through scatterer 3, which belongs to the third category. The first identifier corresponding to scatterer 3 can be the number '2'. During the second autonomous reception sensing process, the last reflection passes through scatterer 4, which belongs to the fourth category. The first identifier corresponding to scatterer 4 is the same as the first identifier corresponding to scatterer 3, thereby indicating a corresponding relationship between scatterers 3 and 4, i.e., they belong to the same scatterer determined during the same autonomous reception sensing process, to assist in channel recovery.

[0159] In addition, the other perception processes in the K-times spontaneous and receiving perception process can be deduced by analogy and will not be elaborated on here.

[0160] Among them, taking scatterer 1 and scatterer 2 as an example, the first identifier can assist in channel recovery, which can be understood as: using the position of the signal transmitting node, the measured position of scatterer 1 (such as the three-dimensional coordinates of scatterer 1), the measured position of scatterer 2 (such as the three-dimensional coordinates of scatterer 2) and the position of the signal receiving node to perform channel recovery.

[0161] In Table 2, N is a positive integer greater than or equal to 1.

[0162] The scatterer information may include one or more items in Table 2, which can be understood as:

[0163] Taking the example of scatterer information including information of each scatterer from scatterers 1 to scatterers N, for each scatterer, such as scatterer 1, the first information may include one or more of the following: the identifier of scatterer 1, the three-dimensional coordinates of scatterer 1, the angle corresponding to scatterer 1, the likelihood corresponding to scatterer 1, the power corresponding to scatterer 1, the speed of scatterer 1, etc. For scatterer 2, the first information may include one or more of the following: the identifier of scatterer 2, the three-dimensional coordinates of scatterer 2, the angle corresponding to scatterer 2, the likelihood corresponding to scatterer 2, the power corresponding to scatterer 2, the speed of scatterer 2, etc.

[0164] Optionally, the scatterer information may further include one or more of the following: site information, sensing link identifier, transmitting end identifier, receiving end identifier, time, direction, configuration / capability and other information.

[0165] However, the accuracy of the above scatterer information is poor, which affects the accuracy of multi-station perception fusion.

[0166] In view of this, the present application provides a communication method. The method can be applied to the system shown in Figure 1a or Figure 1b. The method includes: a first node receives first information, the first information is used to determine a scatterer sampling position, the scatterer sampling position includes a sampling position of a first scatterer and a sampling position of a second scatterer, the first scatterer and the second scatterer are scatterers passed by different reflections in the same spontaneous reception sensing mode, and the spontaneous reception sensing mode has at least two reflections. Then, the first node sends scatterer information, the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer, and the measurement position of the first scatterer and the measurement position of the second scatterer are determined based on the scatterer sampling position.

[0167] That is to say, for the spontaneous reception perception mode in which at least two reflections occur, different reflections can pass through different scatterers, such as the first scatterer and the second scatterer. The environment reconstruction algorithm can be used to determine the scatterer sampling position, and then the scatterer measurement position can be determined based on the scatterer sampling position, such as the measurement position of the first scatterer and the measurement position of the second scatterer. When the scatterer sampling position is unreasonable, the reconstruction accuracy performance of the environment reconstruction algorithm is limited, resulting in poor accuracy of the scatterer measurement position. In the present application, the scatterer sampling position is determined based on the first information, thereby maximizing the reconstruction accuracy performance of the environment reconstruction algorithm. In this way, the scatterer measurement position determined based on the environment reconstruction algorithm is more accurate, thereby achieving the purpose of improving the multi-station fusion perception field of view with high precision.

[0168] For example, the scatterer sampling positions include the sampling position of the first scatterer. The operation of the perceptual reconstruction algorithm may include: determining the sampling position of the first scatterer, then determining the second position of the second scatterer based on the sampling position of the first scatterer, and determining the measurement positions of the first scatterer and the second scatterer based on the sampling position of the first scatterer and the second position of the second scatterer. In this process, it can be understood that the calculation direction is from the first node to the second node, thereby obtaining a more accurate scatterer measurement position while reducing the calculation error on the first node side.

[0169] For another example, the scatterer sampling position includes the sampling position of the second scatterer. The operation of the perceptual reconstruction algorithm may include: determining the sampling position of the second scatterer, then determining the first position of the first scatterer based on the sampling position of the second scatterer, and determining the measurement positions of the first scatterer and the second scatterer based on the first position of the first scatterer and the sampling positions of the second scatterer. In this process, it can be understood that the calculation direction is from the second node to the first node, thereby obtaining a more accurate scatterer measurement position while reducing the calculation error on the second node side.

[0170] For another example, the scatterer sampling positions include the sampling positions of a first scatterer and the sampling positions of a second scatterer. The perceptual reconstruction algorithm may include two rounds of calculations. The first round of calculations is performed from the first node to the second node, while the second round of calculations is performed from the second node to the first node. This allows the results of both rounds of calculations to retain a more accurate result, thereby obtaining a more accurate scatterer measurement position.

[0171] Before introducing the communication method of this application in detail, first, the spontaneous transmission and reception perception process of this application is introduced:

[0172] In this application, the spontaneous other-reception sensing mode occurs with at least two reflections, such as a double-bounce reflection, as detailed in the glossary section.

[0173] In this application, during the spontaneous and other-reception sensing process, a signal can propagate from a first node to a second node, or from a second node to the first node. During signal propagation, the signal can pass through at least two scatterers. The scatterer on the first node side can be referred to as the first scatterer. Alternatively, the first scatterer can be understood as being associated with the first node. The scatterer on the second node side can be referred to as the second scatterer. Alternatively, the second scatterer can be understood as being associated with the second node.

[0174] The first scatterer is associated with the first node, and the second scatterer is associated with the second node, which can be understood as follows:

[0175] As a possible example, consider the propagation process of a signal from a first node to a second node. The signal first passes through a first scatterer and then a second scatterer. For example, during the propagation process of the signal from the first node to the second node, the scatterer passed by the first reflection is recorded as the first scatterer, and the scatterer passed by the last reflection is recorded as the second scatterer.

[0176] During this process, for the first node, the first signal is sent. The angle at which the signal is sent can be understood as the angle of departure (AoD). For the second node, the second signal is received. The angle at which the signal is received can be understood as the angle of arrival (AoA).

[0177] As another possible example, taking the propagation process of a signal from the second node to the first node as an example, the signal first passes through the second scatterer and then passes through the first scatterer. For example, during the propagation process of the signal from the second node to the first node, the scatterer passed by the first reflection is recorded as the second scatterer, and the scatterer passed by the last reflection is recorded as the first scatterer.

[0178] During this process, for the first node, the first signal is received. The angle of reception of the signal can be understood as AoA. For the second node, the second signal is sent. The angle of transmission of the signal can be understood as AoD.

[0179] In this application, the first node may be a BS, RSU, SMF, or terminal device, etc. Similarly, the second node may also be a BS, RSU, SMF, or terminal device, etc. The following description will be made by taking the case where the first node is a BS and the second node is a terminal device as an example.

[0180] Secondly, the environment reconstruction algorithm and calculation direction (calculation_order) are introduced:

[0181] As shown in Figure 3a, the environment reconstruction algorithm includes the following operations:

[0182] Step 1: Input measurement data.

[0183] The measurement data is obtained by performing a sensing measurement using a spontaneous reception sensing mode, which generates at least two reflections, such as a double-bounce reflection. For details, see the glossary section.

[0184] Exemplarily, the measurement data includes at least one of the following: signal transmission path length, delay, AoA or AoD, etc.

[0185] Step 2: Sample the initial position of the first hop.

[0186] For example, a first-hop initial position is sampled based on measurement data and prior information. The prior information includes historical measurement data, such as scatterer positions obtained from historical measurements. The prior information can be determined using either a self-transmitting and receiving sensing mode or a self-transmitting and receiving sensing mode, which is not limited in this application.

[0187] Taking Figure 3b as an example, the BS sends a signal to the terminal device. The signal is reflected twice, and each reflection passes through a scatterer. The first-hop initial position can be as follows: F1 shown.

[0188] It is easy to understand that the process of determining the first-hop initial position is as follows: the first-hop initial position is determined based on the first angle and prior information. The first angle can be understood as: the angle at which the BS sends a signal (as shown in Figure 3b), or the angle at which the BS receives a signal (not shown in Figure 3b). Further, in the case where the BS sends a signal, the first angle can be AoD. In the case where the BS receives a signal, the first angle can be AoA. Based on the geographic location of the BS and the first angle, a ray can be determined, such as ray 1 as shown in Figure 3b. The prior information may include: the position information of scatterer 1, and scatterer 1 is located on ray 1. Furthermore, scatterer 1 is the scatterer that is closest to the BS among at least one scatterer located on ray 1.

[0189] It should be noted that, in this application, the first angle is the angle referenced when performing calculations using the environment reconstruction algorithm. This can be understood as the first angle being a theoretical value. For example, when a BS transmits a signal, it is considered to be transmitting at the first angle, which may deviate from the actual angle at the time of signal transmission. Similarly, when a BS receives a signal, it is considered to be receiving at the first angle, which may deviate from the actual angle at the time of signal reception. For the BS, this deviation can be understood as the BS's angular resolution. For details, see the introduction to S401 and will not be elaborated on here.

[0190] Step 3: Calculate the initial position of the last hop.

[0191] For example, the Last-hop initial position is calculated based on the measurement data and the First-hop initial position. L1 shown.

[0192] It is easy to understand that the process of determining the last-hop initial position is as follows: the last-hop initial position is determined based on the measurement data, the first-hop initial position and the second angle. Among them, the second angle can be understood as: the angle at which the terminal device receives the signal (as shown in Figure 3b), or the angle at which the terminal device sends the signal (not shown in Figure 3b). Furthermore, in the case where the terminal device sends a signal, the second angle can be AoD. In the case where the terminal device receives a signal, the second angle can be AoD. Based on the geographical location of the terminal device and the second angle, a ray can be determined, such as ray 2 shown in Figure 3b, and the last-hop initial position is located on ray 2.

[0193] Among them, the first-hop initial position and the last-hop initial position can present the first transmission path of double-bounce reflection (the path shown by the dotted line in Figure 3b), and the first transmission path needs to meet the delay in the measurement data, or the first transmission path needs to meet the transmission path length in the measurement data.

[0194] It should be noted that, in this application, the second angle is the angle used as a reference when performing calculations using the environment reconstruction algorithm. This can be understood as follows: the second angle is a theoretical value. For example, when a terminal device sends a signal, it is considered that the terminal device sends the signal at the second angle, which may deviate from the actual angle at the time of signal transmission. Similarly, when a terminal device receives a signal, it is considered that the terminal device receives the signal at the second angle, which may deviate from the actual angle at the time of signal reception. For the terminal device, this deviation can be understood as the angular resolution of the terminal device. For details, see the introduction to S401, which will not be elaborated here.

[0195] It is easy to understand that steps 2 and 3 can be understood as initialization steps.

[0196] It can be understood that when the initial position of the first-hop is determined, the initial position of the last-hop is also fixed.

[0197] Step 4: Sample the new first-hop position.

[0198] Exemplarily, a new first-hop position is determined based on the geographic location of the BS and the first angle. For example, the new first-hop position is located on ray 1. The new first-hop position is different from the initial first-hop position.

[0199] Taking Figure 3b as an example, the new First-hop position can be as follows: F2 shown.

[0200] Step 5: Calculate the new last-hop location.

[0201] Exemplarily, a new last-hop position is determined based on the geographic location of the network device and the second angle. For example, the new last-hop position is located on ray 2. The new last-hop position is different from the initial last-hop position.

[0202] Taking Figure 3b as an example, the new last-hop position can be as follows: L2 shown.

[0203] The new first-hop position and the new last-hop position may present a second transmission path of double-bounce reflection (such as the path shown by the solid line in FIG3b ), and the second transmission path needs to meet the delay in the measured data, or the second transmission path needs to meet the transmission path length in the measured data.

[0204] It can be understood that when the new first-hop position is determined, the new last-hop position is also fixed.

[0205] Step 6: Compare whether the new position is better than the old position.

[0206] For the first iteration, the new position can be understood as the new first-hop position and the new last-hop position. The old position can be understood as the first-hop initial position and the last-hop initial position.

[0207] For non-first iterations, the new position can be understood as the new first-hop position and the new last-hop position. The old position can be understood as the scatterer position determined in the previous iteration.

[0208] Exemplarily, the new position is compared with the prior information to obtain a first comparison result. The first comparison result indicates the deviation between the new position and the historical measurement data. The old position is compared with the prior information to obtain a second comparison result. The second comparison result indicates the deviation between the old position and the historical measurement data. Then, based on the first and second comparison results, it is determined whether the new position is superior to the old position. For example, if the deviation between the new position and the historical measurement data is less than the deviation between the old position and the historical measurement data, the new position is considered superior to the old position. Conversely, if the deviation between the old position and the historical measurement data is less than the deviation between the new position and the historical measurement data, the old position is considered superior to the new position.

[0209] Step 7: Update the scatterer position.

[0210] Exemplarily, the position of the scatterer is updated based on a comparison result between the new position and the old position. For example, when the new position is better than the old position, the position of the scatterer is updated to the new position.

[0211] It is easy to understand that when the old position is better than the new position, the scatterer position remains unchanged, or the scatterer position is not updated.

[0212] It is easy to understand that steps 4 to 7 can be understood as iterative steps.

[0213] Step 8: Determine whether the iteration is completed.

[0214] Exemplarily, it is determined whether the number of iterations is equal to a threshold value. If it is equal to, the iteration is considered to be completed; if it is less than, the iteration is considered to be incomplete.

[0215] It is easy to understand that when the iteration is not completed, steps 4 to 7 are executed again to perform another round of iteration, thereby obtaining the scatterer position.

[0216] Step 9: Output the scatterer position.

[0217] Exemplarily, the scatterer position determined by the last iteration process is output.

[0218] Based on steps 1-9, for the spontaneous heuristic sensing mode with at least two reflections, the scatterer sampling positions can be understood as the sampling positions of the scatterer passed by the first reflection and the sampling positions of the scatterer passed by the last reflection. Taking Figure 3b as an example, the scatterer sampling positions can include: the first-hop initial position, the last-hop initial position, the new first-hop position, and the new last-hop position.

[0219] The calculation direction of the environment reconstruction algorithm can be understood as: the calculation direction when using the environment reconstruction algorithm to calculate the position of the scatterer.

[0220] As shown in Figure 3b, the calculation direction of the environment reconstruction algorithm can be understood as: from the BS to the terminal device. Of course, the calculation direction of the environment reconstruction algorithm can also be understood as: from the terminal device to the BS, which is not shown in Figure 3b.

[0221] It should be pointed out that the calculation direction of the environment reconstruction algorithm is independent of the signal propagation direction of the spontaneous heter-reception perception mode, and the two can be the same or different.

[0222] For example, using Figure 3b as an example, as a possible implementation, a sampling position of the scatterer passed by the first reflection is first determined. Then, based on this sampling position, a third position of the scatterer passed by the last reflection is determined. This sampling position and the third position are used to determine the scatterer measurement position. As shown in Figure 3b, a new first-hop position is first sampled, and then a new last-hop position is determined based on the new first-hop position.

[0223] As another possible implementation, the sampling position of the scatterer passed by the last reflection is first determined, and then the fourth position of the scatterer passed by the first reflection is determined based on the sampling position. The sampling position and the fourth position are used to determine the measurement position of the scatterer, which is not shown in Figure 3b.

[0224] It should be noted that in Figure 3b, the signal propagation from the BS to the terminal device is used as an example for description. Of course, the signal can also propagate from the terminal device to the BS, which is not shown in Figure 3b.

[0225] It should be noted that the sampling position of the scatterer through which the first reflection passes can also have its own name, such as the sampling position of the first scatterer, the sampling position of the first hop, and the sampling position of the first-hop scatterer. The following description uses the sampling position of the first scatterer as an example.

[0226] Similarly, the sampling position of the scatterer passed by the last reflection can also have its own name, such as the sampling position of the second scatterer, the sampling position of the last hop, and the sampling position of the last-hop scatterer. The following uses the sampling position of the second scatterer as an example to explain.

[0227] Again, the communication method proposed in the embodiment of the present application is introduced in detail.

[0228] As shown in FIG4 , the communication method 400 proposed in this embodiment of the present application includes the following operations:

[0229] S401: A first node determines first information.

[0230] The first information is as follows:

[0231] The first information is used to determine a scatterer sampling position. The scatterer sampling position includes a sampling position of a first scatterer and / or a sampling position of a second scatterer. The first scatterer and the second scatterer are scatterers that are passed through by different reflections in the same spontaneous and other-receiving sensing mode. The spontaneous and other-receiving sensing mode has at least two reflections. Please refer to the introduction in the previous paragraph and will not be repeated here.

[0232] The scatterer sampling position can be selected in the following three ways:

[0233] In method 1, the scatterer sampling position includes the sampling position of the first scatterer. This can be understood as taking the scatterer on the first node side, i.e., the first scatterer, as the sampling point. In other words, in the environment reconstruction algorithm, the sampling position of the first scatterer on the first node side is first determined, and then the second position of the second scatterer is determined based on the sampling position of the first scatterer. The sampling position of the first scatterer and the second position of the second scatterer can be found in the introduction to the environment reconstruction algorithm section and will not be repeated here.

[0234] It can be understood that when the sampling position of the first scatterer is determined, the second position of the second scatterer is also fixed. Alternatively, the calculation starts from the first node. Alternatively, the calculation direction is from the first node to the second node.

[0235] Taking FIG5 as an example, the first scatterer may be scatterer 1, and the second scatterer may be scatterer 2. The sampling position of the first scatterer may be sampling position 1. The second position of the second scatterer may be position Y.

[0236] Method 2: The scatterer sampling position includes the sampling position of the second scatterer. This can be understood as taking the scatterer on the second node side, i.e., the second scatterer, as the sampling point. In other words, in the environment reconstruction algorithm, the sampling position of the second scatterer on the second node side is first determined, and then the first position of the first scatterer is determined based on the sampling position of the second scatterer. The sampling position of the second scatterer and the first position of the first scatterer can be found in the introduction to the environment reconstruction algorithm section and will not be repeated here.

[0237] It can be understood that when the sampling position of the second scatterer is determined, the first position of the first scatterer is also fixed. Alternatively, the calculation starts from the second node. Alternatively, the calculation direction is from the second node to the first node.

[0238] Taking FIG6 as an example, the first scatterer may be scatterer 1, and the second scatterer may be scatterer 2. The sampling position of the second scatterer may be sampling position 2. The first position of the first scatterer may be position X.

[0239] Method 3, the scatterer sampling position includes the sampling position of the first scatterer and the sampling position of the second scatterer. It can be understood that: the scatterer on the first node side (such as the first scatterer) and the scatterer on the second node side (such as the second scatterer) are respectively used as sampling points. In other words, in the environment reconstruction algorithm, the sampling position of the first scatterer on the first node side is first determined, and then the second position of the second scatterer is determined based on the sampling position of the first scatterer. See the introduction of method 1 for details. In addition, the sampling position of the second scatterer on the second node side is also determined, and then the first position of the first scatterer is determined based on the sampling position of the second scatterer. See the introduction of method 2 for details.

[0240] In method 3, it can be understood as performing two independent rounds of calculations:

[0241] During the first round of calculation, the scatterer on the first node side is used as the sampling point (that is, the sampling position of the first scatterer on the first node side is first determined, and then the second position of the second scatterer is determined based on the sampling position of the first scatterer).

[0242] During the second round of calculation, the scatterer on the second node side is used as the sampling point (that is, the sampling position of the second scatterer on the second node side is first determined, and then the first position of the first scatterer is determined based on the sampling position of the second scatterer).

[0243] It should be noted that in this application, the calculation direction when calculating the scatterer position using the environment reconstruction algorithm is as follows:

[0244] Taking Method 1 as an example, the calculation direction is from the first node to the second node, denoted as calculation direction 1, as shown by the thin dashed line with an arrow in Figure 5. Taking Method 2 as an example, the calculation direction is from the second node to the first node, denoted as calculation direction 2, as shown by the thick dashed line with an arrow in Figure 6. Taking Method 3 as an example, there are two calculation directions: one from the first node to the second node, and the other from the second node to the first node.

[0245] Optionally, the first information may be carried in a field, which may be called a calculation direction flag 'calculation_order', or the field may have other names, which are not limited in this application.

[0246] Optionally, the first information may indicate different scatterer sampling positions through different values. Specifically, the following three situations may be included:

[0247] In case 1, the first information is a first value. The first value indicates the sampling position of the first scatterer. Alternatively, the first value may indicate the second position of the second scatterer determined based on the sampling position of the first scatterer. This can be understood as the first value indicating mode 1.

[0248] Taking Table 3 as an example, the first information may be a 'calculation_order' flag bit, and the value of the flag bit is a first value, which is '0'.

[0249] In case 2, the first information is a second value. The second value indicates the sampling position of the second scatterer. Alternatively, the second value may indicate the first position of the first scatterer determined based on the sampling position of the second scatterer. This can be understood as the second value indicating mode 2.

[0250] Taking Table 3 as an example, the first information may be a 'calculation_order' flag bit, and the value of the flag bit is a second value, which is '1'.

[0251] In case 3, the first information is a third value. The third value indicates the determination of the sampling position of the first scatterer and the sampling position of the second scatterer. Furthermore, the third value also indicates that the second position of the second scatterer is determined based on the sampling position of the first scatterer, and the first position of the first scatterer is determined based on the sampling position of the second scatterer. This can be understood as indicating mode 3.

[0252] Taking Table 3 as an example, the first information may be a 'calculation_order' flag bit, and the value of the flag bit is a third value, which is '2'.

[0253] Table 3

[0254] It should be understood that Table 3, as a possible example, provides an introduction to the first information and should not be understood as a limitation of the present application. Of course, in Table 2, the implementation form of the first information shown in the first column can be replaced with other types, such as letters, symbols, etc., and the present application does not limit this. Of course, the calculation directions involved in different application scenarios are also different, and can include some of the examples in Table 3, and can also include other examples, and can be expanded, and the present application does not limit this.

[0255] It should be understood that in an ideal situation, such as when there is no measurement error, the calculation result is the same whether the calculation is started from the scatterer on the first node side (as shown in method 1) or from the scatterer on the second node side (as shown in method 2). However, in actual measurement, due to the existence of variable factors such as angular resolution (such as the angular resolution of the first node, the angular resolution of the second node), node arrangement (such as the position of the first node, the position of the second node), and prior information, usually, the results of calculation starting from the scatterers on different node sides are not exactly the same. Based on this, the first information can refer to variable factors such as angular resolution, node arrangement and prior information. Specifically:

[0256] Optionally, the first information is determined based on at least one of the following (the following information A, information B, or information C):

[0257] Information A: angular resolution, wherein the angular resolution indicates the angular resolution of the first node and the angular resolution of the second node.

[0258] In this application, the angular resolution of the first node can be understood as the angular measurement resolution of the first node, or the angular error of the first node, or the angular measurement error of the first node. In this application, the angular resolution of the first node is taken as an example for introduction.

[0259] Taking the environment reconstruction algorithm as an example, the angular resolution of the first node can be understood as the deviation between the first angle and the signal's transmission path. The first angle can be understood as a theoretical value, such as the angle at which the first node believes a signal is transmitted or received during the calculation process (see step 3 for details). The signal's transmission path can be understood as a real-world value, such as the angle at which the first node transmits or receives a signal in the real world. The angular resolution of the first node can be shown in Figure 5.

[0260] In this application, the angular resolution of the second node can be understood as the angular measurement resolution of the second node, or the angular error of the second node, or the angular measurement error of the second node. In this application, the angular resolution of the second node is taken as an example for introduction.

[0261] Taking the environment reconstruction algorithm as an example, the angular resolution of the second node can be understood as the deviation between the second angle and the signal's transmission path. The second angle can be understood as a theoretical value, such as the angle at which the second node believes it transmits or receives a signal during the calculation process (see step 3 for details). The signal's transmission path can be understood as a real-world value, such as the angle at which the second node transmits or receives a signal in the real world. The angular resolution of the second node can be shown in Figure 6.

[0262] Optionally, for a first node, the first node may obtain the angular resolution of the second node by preconfiguring the angular resolution of the second node or by having the first node report it. For example, the first node sends information A to the second node. In response, the second node receives information A from the first node. Information A indicates the angular resolution of the second node. Information A may be capability information of the first node or other information, which is not limited in this application.

[0263] Information B: location information, wherein the location information indicates the location of the first node (such as the geographic location of the first node) and the location of the second node (such as the geographic location of the second node).

[0264] Optionally, a first node may obtain the location of a second node by: reporting by the first node. For example, the first node sends information B to the second node. In response, the second node receives information B from the first node. Information B indicates the location of the second node. Information B may be capability information of the first node or other information, which is not limited in this application.

[0265] Information C, prior information. This prior information includes historical measurement data, such as the positions of scatterers obtained through historical measurements. In other words, the prior information indicates the historical positions of the scatterers through historical measurement data. The historical positions of the scatterers include a first historical position and a second historical position. The first historical position corresponds to the first node, and the second historical position corresponds to the second node.

[0266] The first historical position corresponds to the first node, which can be understood as the distance between the first historical position and the first node being smaller than the distance between the first historical position and the second node. In other words, the first historical position is closer to the first node.

[0267] The second historical position corresponds to the second node, which can be understood as the distance between the second historical position and the second node being smaller than the distance between the second historical position and the first node. In other words, the second historical position is closer to the second node.

[0268] Alternatively, it can be understood that the scatterer historical positions include Set 1 and Set 2. Set 1 includes the measured positions of multiple scatterers, at least one of which is a scatterer on the first node side. The measured positions of Set 1 include the first historical positions. Set 2 includes the measured positions of multiple scatterers, at least one of which is a scatterer on the second node side. The measured positions of Set 2 include the second historical positions.

[0269] Further, the first information is determined according to the first error value and the second error value.

[0270] Among them, the introduction of the first error value is as follows:

[0271] The first error value is determined based on at least one of the following: an angular resolution of the first node, or a distance between the position of the first node and a first historical position, the first historical position being a scatterer historical position, and the first historical position corresponding to the first node.

[0272] Exemplarily, the first error value satisfies formula (1): Δd1=L1·Δθ1 Formula (1)

[0273] Wherein, Δd1 represents the first error value, L1 represents the distance between the position of the first node and the first historical position, and Δθ1 represents the angular resolution of the first node.

[0274] In the present application, the first error value can be understood as a reconstruction error of the environment reconstruction using the scatterer on the first node side as a sampling point.

[0275] The second error value is determined based on at least one of the following: an angular resolution of the second node, or a distance between the position of the second node and a second historical position, the second historical position being a scatterer historical position, and the second historical position corresponding to the second node.

[0276] Exemplarily, the second error value satisfies formula (2): Δd2=L2·Δθ2 Formula (2)

[0277] Wherein, Δd2 represents the second error value, L2 represents the distance between the position of the second node and the second historical position, and Δθ2 represents the angular resolution of the second node.

[0278] In the present application, the second error value can be understood as a reconstruction error of the environment reconstruction using the scatterer on the second node side as a sampling point.

[0279] Since the first information can determine the calculation method, such as calculation direction 1 or calculation direction 2 mentioned above, it can be understood that the calculation direction is judged and selected based on the first error value and the second error value, or the reconstruction accuracy of different calculation directions is compared.

[0280] Specifically, the following three situations (situations 1 / 2 / 3 below) are introduced:

[0281] Case 1: If the first error value is smaller than the second error value, it is considered that the calculation error on the first node side is smaller. When the scatterer on the first node side (such as the first scatterer) is used as a sampling point to determine the measurement position of the scatterer, this method can better release the upper limit of the reconstruction accuracy performance of the environment reconstruction algorithm, thereby more accurately determining the measurement position of the first scatterer and the measurement position of the second scatterer, and achieving higher reconstruction result accuracy. In this case, the scatterer on the first node side can be used as a sampling point, and the first information can be the first value. See the introduction of method 1 for details. In this way, based on method 1, the measurement position of the first scatterer and the measurement position of the second scatterer can be more accurately determined, and the reconstruction result accuracy of the environment reconstruction algorithm is higher. In this case, the first information can be the first value. See the introduction of Table 3 for details.

[0282] Case 2: If the second error value is smaller than the first error value, it is considered that the calculation error on the second node side is smaller. When the scatterer on the second node side (such as the second scatterer) is used as a sampling point to determine the measurement position of the scatterer, this method can better release the upper limit of the reconstruction accuracy performance of the environment reconstruction algorithm, thereby more accurately determining the measurement position of the first scatterer and the measurement position of the second scatterer, and achieving higher reconstruction result accuracy. In this case, the scatterer on the second node side can be used as a sampling point, and the first information can be the second value. See the introduction of method 2 for details. In this way, based on method 2, the measurement position of the first scatterer and the measurement position of the second scatterer can be more accurately determined, and the reconstruction result accuracy of the environment reconstruction algorithm is higher. In this case, the first information can be the second value. See the introduction of Table 3 for details.

[0283] Case 3: If the first error value is equal to the second error value, it is considered that the calculation errors on the first node and the second node sides are the same or similar. In this case, two rounds of calculations can be performed. For example, in the first round of calculations, the scatterer on the first node side, such as the first scatterer, is used as a sampling point to determine the measurement position of the first scatterer and the measurement position of the second scatterer. In the second round of calculations, the scatterer on the second node side, such as the second scatterer, is used as a sampling point to determine the measurement position of the first scatterer and the measurement position of the second scatterer. In this way, the calculation result with a higher reconstruction result accuracy in the two rounds of calculation results can be retained, thereby achieving a higher reconstruction result accuracy. In this case, the first information can be the third value, see the introduction of method 3 for details.

[0284] It should be noted that, for Case 1, the first error value is less than the second error value. This can be replaced with the case where the first error value is less than or equal to the second error value. In this case, Cases 2 and 3 are not executed. Similarly, for Case 2, the second error value is less than the first error value. This can be replaced with the case where the second error value is less than or equal to the first error value. In this case, Cases 1 and 3 are not executed.

[0285] For case 3, the first error value is equal to the second error value as an example for description. Of course, it can also be replaced by: the difference between the first error value and the second error value is within a certain range, such as the difference between the first error value and the second error value is less than or equal to the first threshold. In this case, for case 1, the first error value is less than the second error value, which can be replaced by: the first error value is less than the second error value, and the difference between the first error value and the second error value is greater than the first threshold. Similarly, for case 2, the second error value is less than the first error value, which can be replaced by: the second error value is less than the first error value, and the difference between the first error value and the second error value is greater than the first threshold.

[0286] It is easy to understand that the above three situations (the above situations 1 / 2 / 3) are determined according to the first error value and the second error value. Of course, there can be other determination methods. For example, in some scenarios, the first node needs to obtain the calculation results of method 1 and method 2, and then compare the calculation results of the two methods to obtain a more accurate measurement position and achieve high-precision perception measurement. In this case, two rounds of calculations can also be performed. For example, in the first round of calculations, the scatterer on the first node side is used as a sampling point, and in the second round of calculations, the scatterer on the second node side is used as a sampling point. In this case, the first information can be the third value, see the introduction of method 3 for details.

[0287] For the first node, after determining the first information, the first node executes S402:

[0288] S402: The first node sends first information to the second node. Correspondingly, the second node receives the first information from the first node.

[0289] For example, in conjunction with the self-transmitting and receiving sensing mode, taking the example of a signal propagating from a first node to a second node, the first node transmits a signal to the second node. The signal includes first information. In other words, the first information is carried in the signal, thereby transmitting the first information to the first node by transmitting the signal, saving transmission resource overhead.

[0290] It should be understood that the first information may also be carried in other signals or other messages, and this application does not limit this.

[0291] For the second node, after receiving the first information, the second node executes S403:

[0292] S403: The second node determines scatterer information according to the first information.

[0293] The scatterer information indicates a measured position of the first scatterer and a measured position of the second scatterer.

[0294] Exemplarily, the first information is used to determine a scatterer sampling position, and the second node determines the scatterer sampling position based on the first information, and then calculates based on the scatterer sampling position using an environment reconstruction algorithm to obtain scatterer information.

[0295] Next, we will introduce it in three ways:

[0296] Method 1: The calculation direction used by the environment reconstruction algorithm is: calculation direction 1.

[0297] It can be understood that the first information indicates the determination of the sampling position of the first scatterer on the first node side, and then the second position of the second scatterer is determined based on the sampling position of the first scatterer. In this case, the second node responds to the first information and uses the environment reconstruction algorithm to first determine the sampling position of the first scatterer, then determine the second position of the second scatterer based on the sampling position of the first scatterer, then determine the first measurement position of the first scatterer based on the sampling position of the first scatterer and the second position of the second scatterer, and finally determine the second measurement position of the second scatterer based on the sampling position of the first scatterer and the second position of the second scatterer. Please refer to the introduction of the environment reconstruction algorithm and it will not be repeated here.

[0298] In this case, the scatterer information indicates a first measurement position of the first scatterer and a second measurement position of the second scatterer. The first measurement position is determined based on the sampling position of the first scatterer and the second position of the second scatterer, and the second measurement position is determined based on the sampling position of the first scatterer and the second position of the second scatterer. It can be understood that the scatterer information indicates a set of calculation results, including the first measurement position of the first scatterer and the second measurement position of the second scatterer, and the set of calculation results is determined based on calculation direction 1.

[0299] In method 2, the calculation direction used by the environment reconstruction algorithm is calculation direction 2.

[0300] It can be understood that the first information indicates the determination of the sampling position of the second scatterer on the second node side, and then the first position of the first scatterer is determined based on the sampling position of the second scatterer. In this case, the second node responds to the first information and uses the environment reconstruction algorithm to first determine the sampling position of the second scatterer, then determine the first position of the first scatterer based on the sampling position of the second scatterer, then determine the third measurement position of the first scatterer based on the sampling position of the second scatterer and the first position of the first scatterer, and determine the fourth measurement position of the second scatterer based on the sampling position of the second scatterer and the first position of the first scatterer. Please refer to the introduction of the environment reconstruction algorithm and it will not be repeated here.

[0301] In this case, the scatterer information indicates the third measurement position of the first scatterer and the fourth measurement position of the second scatterer. The third measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer, and the second measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer. It can be understood that the scatterer information indicates another set of calculation results, which includes the third measurement position of the first scatterer and the fourth measurement position of the second scatterer, and this set of calculation results is determined based on calculation direction 2.

[0302] Mode 3: The calculation direction used by the environment reconstruction algorithm is calculation direction 3.

[0303] It can be understood that the first information indicates: determining the sampling position of the first scatterer on the first node side, and then determining the second position of the second scatterer based on the sampling position of the first scatterer, and determining the sampling position of the second scatterer on the second node side, and then determining the first position of the first scatterer based on the sampling position of the second scatterer.

[0304] In this case, the second node performs two rounds of calculations in response to the first information. During the first round of calculations, the second node first determines the sampling position of the first scatterer, then determines the second position of the second scatterer based on the sampling position of the first scatterer, then determines the first measurement position of the first scatterer based on the sampling position of the first scatterer and the second position of the second scatterer, and determines the second measurement position of the second scatterer based on the sampling position of the first scatterer and the second position of the second scatterer. During the second round of calculations, the second node first determines the sampling position of the second scatterer, then determines the first position of the first scatterer based on the sampling position of the second scatterer, then determines the third measurement position of the first scatterer based on the sampling position of the second scatterer and the first position of the first scatterer, and determines the fourth measurement position of the second scatterer based on the sampling position of the second scatterer and the first position of the first scatterer.

[0305] In this case, the scatterer information indicates the following four items: the first measurement position of the first scatterer and the second measurement position of the second scatterer, and the third measurement position of the first scatterer and the fourth measurement position of the second scatterer. The first measurement position is determined based on the sampling position of the first scatterer and the second position of the second scatterer, the second measurement position is determined based on the sampling position of the first scatterer and the second position of the second scatterer, the third measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer, and the fourth measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer. It can be understood that the scatterer information indicates two sets of calculation results. For example, the first measurement position of the first scatterer and the second measurement position of the second scatterer are considered as one set of calculation results, and this set of calculation results is determined according to calculation direction 1. The third measurement position of the first scatterer and the fourth measurement position of the second scatterer are considered as another set of calculation results, and this set of calculation results is determined according to calculation direction 2.

[0306] For the second node, after determining the scatterer information, the second node executes S404:

[0307] S404: The second node sends scatterer information to the first node. Correspondingly, the first node receives the scatterer information from the second node.

[0308] It is easy to understand that when the scatterer information includes a set of calculation results, for example, the scatterer information indicates a first measured position of a first scatterer and a second measured position of a second scatterer, or the scatterer information indicates a third measured position of the first scatterer and a fourth measured position of the second scatterer. In this case, the first node determines the measured position of the first scatterer and the measured position of the second scatterer based on the first information, thereby improving the accuracy of scatterer position measurement and helping to reduce the computational overhead on the second node side. In addition, the scatterer information including a set of calculation results can also save transmission overhead.

[0309] In the case where the scatterer information includes two sets of calculation results, for example, one set of calculation results indicates a first measured position of a first scatterer and a second measured position of a second scatterer, and the other set of calculation results indicates a third measured position of the first scatterer and a fourth measured position of the second scatterer, the first node feeds back both sets of calculation results so that the second node can evaluate the reconstruction error of the two sets of calculation results. Based on the evaluation result, the set of calculation results with higher reconstruction accuracy is retained, thereby improving the accuracy of the scatterer measurement positions.

[0310] It is understood that in each of the above embodiments, the methods and / or steps implemented by the first node may also be implemented by components applicable to the first node (e.g., a processor, chip, chip system, circuit, logic module, or software); and the methods and / or steps implemented by the second node may also be implemented by components applicable to the second node (e.g., a processor, chip, chip system, circuit, logic module, or software). The chip system may be composed of a chip, or may include a chip and other discrete components.

[0311] It is understandable that, in order to realize the above functions, the communication device includes hardware structures and / or software modules corresponding to the execution of each function. It should be easily appreciated by those skilled in the art that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present application can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0312] The embodiment of the present application can divide the functional modules of the communication device according to the above method embodiment. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be pointed out that the division of modules in the embodiment of the present application is schematic and is only a logical functional division. In actual implementation, there may be other division methods.

[0313] 7 shows a schematic structural diagram of a communication device 700. The communication device 700 includes a processing module 701 and a transceiver module 702. The communication device 70 can be used to implement the functions of the first node or the second node described above.

[0314] In some embodiments, the communication device 700 may further include a storage module (not shown in FIG. 7 ) for storing program instructions and data.

[0315] In some embodiments, the transceiver module 702, which may also be referred to as a transceiver unit, is configured to implement a transmitting and / or receiving function. The transceiver module 702 may be composed of a transceiver circuit, a transceiver, a transceiver, or a communication interface.

[0316] In some embodiments, the transceiver module 702 may include a receiving module and a sending module, which are respectively used to execute the receiving and sending steps performed by the first node or the second node in the above method embodiments, and / or used to support other processes of the technology described herein; the processing module 701 may be used to execute the processing steps (such as determination, etc.) performed by the first node or the second node in the above method embodiments, and / or used to support other processes of the technology described herein.

[0317] When the communication device 700 is used to implement the function of the first node:

[0318] The transceiver module 702 is used to send first information, where the first information is used to determine the sampling position of the scatterer, and the sampling position of the scatterer includes the sampling position of the first scatterer and / or the sampling position of the second scatterer. The first scatterer and the second scatterer are scatterers passed by different reflections in the same spontaneous reception sensing mode, and the spontaneous reception sensing mode has at least two reflections.

[0319] The transceiver module 702 is used to receive scatterer information, where the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer. The measurement position of the first scatterer and the measurement position of the second scatterer are determined by the processing module 701 based on the scatterer sampling position.

[0320] In one possible design, the transceiver module 702 is also used to receive the location information of the second node and / or the angular resolution of the second node.

[0321] When the communication device 700 is used to implement the function of the second node:

[0322] The transceiver module 702 is used to receive first information, where the first information is used to determine a sampling position of a scatterer, where the sampling position of the scatterer includes a sampling position of a first scatterer and / or a sampling position of a second scatterer, where the first scatterer and the second scatterer are scatterers passed through by different reflections in the same spontaneous reception sensing mode, and where at least two reflections occur in the spontaneous reception sensing mode.

[0323] The transceiver module 702 is used to send scatterer information, where the scatterer information indicates the measurement position of the first scatterer and the measurement position of the second scatterer. The measurement position of the first scatterer and the measurement position of the second scatterer are determined by the processing module 701 based on the scatterer sampling position.

[0324] In one possible design, the transceiver module 702 is also used to send the location information of the second node and / or the angular resolution of the second node.

[0325] Among them, all relevant contents of each step involved in the above method embodiment can be referred to the functional description of the corresponding functional module and will not be repeated here.

[0326] Optionally, in this application, "the transceiver module receives / sends information" can also be understood as the processing module receiving / sending information via the transceiver module. "The processing module receives / sends information via the transceiver module" can also be understood as the processing module controlling the transceiver module to receive / send information. Alternatively, "the processing module sends information via the transceiver module" can be understood as the processing module outputs information to the transceiver module, which then sends the information; "the processing module receives information via the transceiver module" can be understood as the transceiver module receiving the information and inputting the information to the processing module.

[0327] In the present application, the communication device 700 may be presented in the form of various functional modules divided in an integrated manner. Here, "module" may refer to a specific application-specific integrated circuit (ASIC), a circuit, a processor and memory that executes one or more software or firmware programs, an integrated logic circuit, and / or other devices that can provide the above functions.

[0328] In some embodiments, when the communication device 700 in Figure 7 is a chip or a chip system, the function / implementation process of the transceiver module 702 can be implemented through the input and output interface (or communication interface) of the chip or chip system, and the function / implementation process of the processing module 701 can be implemented through the processor (or processing circuit) of the chip or chip system.

[0329] Since the communication device 700 provided in this embodiment can execute the above method, the technical effects that can be obtained can refer to the above method embodiments and will not be repeated here.

[0330] As a possible product form, the first node or the second node described in the embodiments of the present application can also be implemented using the following: one or more field programmable gate arrays (FPGAs), programmable logic devices (PLDs), controllers, state machines, gate logic, discrete hardware components, any other suitable circuits, or any combination of circuits capable of performing the various functions described throughout this application.

[0331] As another possible product form, the first node or the second node described in the embodiment of the present application can be implemented by a general bus architecture. For ease of explanation, refer to Figure 8, which is a structural diagram of a communication device 800 provided in an embodiment of the present application, and the communication device 800 includes a processor 801 and a transceiver 802. The communication device 800 can be a first node, or a chip or chip system therein; or, the communication device 800 can be a second node, or a chip or module therein. Figure 8 only shows the main components of the communication device 800. In addition to the processor 801 and the transceiver 802, the communication device 800 may further include a memory 803, and an input and output device (not shown in the figure).

[0332] Optionally, the processor 801 is primarily used to process communication protocols and communication data, as well as control the entire communication device, execute software programs, and process software program data. The memory 803 is primarily used to store software programs and data. The transceiver 802 may include a radio frequency circuit and an antenna. The radio frequency circuit is primarily used to convert baseband signals into radio frequency signals and process radio frequency signals. The antenna is primarily used to transmit and receive radio frequency signals in the form of electromagnetic waves. Input and output devices, such as a touch screen, display, and keyboard, are primarily used to receive user input and output data to the user.

[0333] Optionally, the processor 801 , the transceiver 802 , and the memory 803 may be connected via a communication bus.

[0334] It should be noted that the memory 803 may exist independently of the processor 801 or may be integrated with the processor 801. The memory 803 may be located within the communication device 800 or outside the communication device 800, without limitation.

[0335] When the communication device is powered on, the processor 801 can read the software program in the memory 803, interpret and execute the instructions of the software program, and process the data of the software program. When data needs to be sent wirelessly, the processor 801 performs baseband processing on the data to be sent and outputs the baseband signal to the radio frequency circuit. The radio frequency circuit performs radio frequency processing on the baseband signal and then transmits the radio frequency signal to the outside in the form of electromagnetic waves through the antenna. When data is sent to the communication device, the radio frequency circuit receives the radio frequency signal through the antenna, converts the radio frequency signal into a baseband signal, and outputs the baseband signal to the processor 801. The processor 801 converts the baseband signal into data and processes the data.

[0336] In another implementation, the RF circuit and antenna may be provided independently of the processor performing baseband processing. For example, in a distributed scenario, the RF circuit and antenna may be remotely arranged independent of the communication device.

[0337] In some embodiments, in terms of hardware implementation, those skilled in the art may conceive that the above-mentioned communication device 700 may take the form of the communication device 800 shown in FIG. 8 .

[0338] As an example, the functions / implementation process of the processing module 701 in FIG7 can be implemented by the processor 801 in the communication device 800 shown in FIG8 calling the computer-executable instructions stored in the memory 803. The functions / implementation process of the transceiver module 702 in FIG7 can be implemented by the transceiver 802 in the communication device 800 shown in FIG8.

[0339] As another possible product form, the first node or the second node in the present application may adopt the structure shown in Figure 9, or include the components shown in Figure 9. Figure 9 is a schematic diagram of the structure of a communication device 900 provided in the present application.

[0340] As shown in FIG9 , a communication device 900 includes at least one processor 901. Optionally, the communication device further includes a communication interface 902.

[0341] When the program instructions are executed in the at least one processor 901, the apparatus 900 may implement the method provided in any of the aforementioned embodiments and any possible designs thereof. Alternatively, the processor 901 may implement the method provided in any of the aforementioned embodiments and any possible designs thereof through logic circuits or by executing code instructions.

[0342] The communication interface 902 may be used to receive program instructions and transmit them to the processor. Alternatively, the communication interface 902 may be used for the communication device 900 to communicate and interact with other sensing nodes, such as exchanging control signaling and / or service data. Exemplarily, the communication interface 902 may be used to receive signals from devices other than the communication device 900 and transmit them to the processor 901, or to send signals from the processor 901 to communication devices other than the communication device 900.

[0343] Optionally, the communication interface 902 may be a code and / or data read and write interface circuit, or the communication interface 902 may be a signal transmission interface circuit between a communication processor and a transceiver, or a pin of a chip.

[0344] Optionally, the communication device 900 may further include at least one memory 903, which may be used to store required program instructions and / or data.

[0345] It should be noted that the memory 903 may exist independently of the processor 901 or may be integrated with the processor 901. The memory 903 may be located within the communication device 900 or outside the communication device 900, without limitation.

[0346] Optionally, the communication device 900 may further include a power supply circuit 904, which may be used to supply power to the processor 901. The power supply circuit 904 may be located in the same chip as the processor 901, or in another chip other than the chip where the processor 901 is located.

[0347] Optionally, the communication device 900 may further include a bus 905 , and various parts of the communication device 900 may be interconnected via the bus 905 .

[0348] In some embodiments, in terms of hardware implementation, those skilled in the art may conceive that the communication device 700 shown in FIG. 7 may take the form of the communication device 900 shown in FIG. 9 .

[0349] As an example, the functions / implementation process of the processing module 701 in FIG7 can be implemented by the processor 901 in the communication device 900 shown in FIG9 calling the computer-executable instructions stored in the memory 903. The functions / implementation process of the transceiver module 702 in FIG7 can be implemented by the communication interface 902 in the communication device 900 shown in FIG9.

[0350] It should be noted that the structure shown in FIG9 does not constitute a specific limitation on the first node or the second node. For example, in other embodiments of the present application, the first node or the second node may include more or fewer components than shown in the figure, or combine or split certain components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0351] Optionally, the processor in the present application may be a central processing unit (CPU), other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components, etc. A general-purpose processor may be a microprocessor, or the processor may be any conventional processor, etc.

[0352] Optionally, the memory in the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of random access memory (RAM) are available, such as static RAM (SRAM), dynamic random access memory (DRAM), synchronous DRAM (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link DRAM (SLDRAM), or direct rambus RAM (DR RAM).

[0353] Optionally, the power supply circuit described in the embodiment of the present application includes but is not limited to at least one of the following: a power supply line, a power supply subsystem, a power management chip, a power consumption management processor, or a power consumption management control circuit.

[0354] In some embodiments, an embodiment of the present application further provides a communication device, which includes a processor for implementing the method in any of the above method embodiments.

[0355] As a possible implementation, the communication device further includes a memory. The memory is used to store necessary computer programs and data. The computer program may include instructions, and the processor may invoke the instructions in the computer program stored in the memory to instruct the communication device to execute any of the above-described method embodiments. Of course, the memory may not be located in the communication device.

[0356] As another possible implementation, the communication device also includes an interface circuit, which is a code / data read / write interface circuit, and the interface circuit is used to receive computer execution instructions (computer execution instructions are stored in a memory, may be read directly from the memory, or may pass through other devices) and transmit them to the processor.

[0357] As another possible implementation, the communication device further includes a communication interface, where the communication interface is used to communicate with a module outside the communication device.

[0358] It can be understood that the communication device can be a chip or a chip system. When the communication device is a chip system, it can be composed of chips or include chips and other discrete devices. The embodiments of the present application do not specifically limit this.

[0359] The present application also provides a computer-readable storage medium having a computer program or instruction stored thereon, which implements the functions of any of the above method embodiments when executed by a computer.

[0360] The present application also provides a computer program product, which implements the functions of any of the above method embodiments when executed by a computer.

[0361] Those skilled in the art will appreciate that, for the sake of convenience and brevity of description, the specific working processes of the above-described systems, devices, and units may refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0362] It is understood that the systems, devices, and methods described in this application may also be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of the units is merely a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. In addition, the coupling or direct coupling or communication connection shown or discussed may be through some interface, indirect coupling or communication connection of devices or units, and may be electrical, mechanical, or other forms.

[0363] The units described as separate components may or may not be physically separate, i.e., they may be located in one place or distributed across multiple network units. Components shown as units may or may not be physical units. Some or all of these units may be selected to achieve the objectives of this embodiment as needed.

[0364] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0365] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented using a software program, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a DVD), or a semiconductor medium (eg, a solid state drive (SSD)). In the embodiment of the present application, the computer may include the aforementioned device.

[0366] Although the present application is described herein in conjunction with various embodiments, in the process of implementing the claimed application, those skilled in the art can understand and implement other changes to the disclosed embodiments by reviewing the drawings, the disclosure, and the appended claims. In the claims, the word "comprising" does not exclude other components or steps, and "a" or "an" does not exclude multiple situations. A single processor or other unit can implement several functions listed in the claims. Certain measures are recorded in different dependent claims, but this does not mean that these measures cannot be combined to produce good results.

Claims

1. A communication method, characterized in that: include: receiving first information, where the first information is used to determine scatterer sampling positions, where the scatterer sampling positions include a sampling position of a first scatterer and / or a sampling position of a second scatterer, where the first scatterer and the second scatterer are scatterers that are passed through by different reflections in the same spontaneous and other-receiving sensing mode, and where the spontaneous and other-receiving sensing mode has at least two reflections; Scatterer information is sent, where the scatterer information indicates a measurement position of the first scatterer and a measurement position of the second scatterer, where the measurement position of the first scatterer and the measurement position of the second scatterer are determined according to the scatterer sampling position.

2. The method according to claim 1, characterized in that The first scatterer is a scatterer that is reflected for the first time during the propagation of the signal from the first node to the second node in the self-transmitting and receiving sensing mode, and the second scatterer is a scatterer that is reflected for the last time during the propagation of the signal from the first node to the second node in the self-transmitting and receiving sensing mode; or The first scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through during the last reflection during the propagation from the second node to the first node, and the second scatterer is the scatterer that the signal in the spontaneous reception sensing mode passes through during the first reflection during the propagation from the second node to the first node.

3. The method according to claim 2, characterized in that The first information is determined according to at least one of the following: angular resolution, the angular resolution indicating an angular resolution of the first node and an angular resolution of the second node; location information, the location information indicating the location of the first node and the location of the second node; or, Priori information indicates a historical position of the scatterer, the historical position of the scatterer includes a first historical position and a second historical position, the first historical position corresponds to the first node, and the second historical position corresponds to the second node.

4. The method according to claim 2, characterized in that The first information is determined based on the first error value and the second error value; The first error value is determined based on at least one of the following: an angular resolution of the first node, or a distance between a position of the first node and a first historical position, the first historical position being a scatterer historical position, and the first historical position corresponding to the first node; The second error value is determined based on at least one of the following: an angular resolution of the second node, or a distance between the position of the second node and a second historical position, the second historical position being a scatterer historical position, and the second historical position corresponding to the second node.

5. The method according to claim 3 or 4, characterized in that The method further includes: sending the position information of the second node and / or the angular resolution of the second node.

6. The method according to any one of claims 1 to 5, characterized in that The first information is used to determine a scatterer sampling position, including: The first information is a first value, and the first value indicates a sampling position for determining the first scatterer.

7. The method according to claim 6, characterized in that The first value further indicates a second position of the second scatterer determined based on the sampled position of the first scatterer.

8. The method according to claim 7, characterized in that The scatterer information indicates a measured position of the first scatterer and a measured position of the second scatterer, including: The scatterer information indicates a first measurement position of the first scatterer and a second measurement position of the second scatterer, the first measurement position being determined based on a sampling position of the first scatterer and a second position of the second scatterer, and the second measurement position being determined based on a sampling position of the first scatterer and a second position of the second scatterer.

9. The method according to any one of claims 1 to 5, characterized in that The first information is used to determine a scatterer sampling position, including: The first information is a second value, and the second value indicates a sampling position for determining the second scatterer.

10. The method according to claim 9, characterized in that The second value further indicates that a first position of the first scatterer is determined based on a sampled position of the second scatterer.

11. The method according to claim 10, characterized in that The scatterer information indicates a measured position of the first scatterer and a measured position of the second scatterer, including: The scatterer information indicates a third measurement position of the first scatterer and a fourth measurement position of the second scatterer, the third measurement position being determined based on the first position of the first scatterer and the sampling position of the second scatterer, and the fourth measurement position being determined based on the first position of the first scatterer and the sampling position of the second scatterer.

12. The method according to any one of claims 1 to 5, characterized in that The first information is used to determine a scatterer sampling position, including: The first information is a third value, and the third value indicates a sampling position for determining the first scatterer and a sampling position for the second scatterer.

13. The method according to claim 12, characterized in that The third value further indicates that the second position of the second scatterer is determined based on the sampling position of the first scatterer, and the first position of the first scatterer is determined based on the sampling position of the second scatterer.

14. The method according to claim 13, characterized in that The scatterer information indicates a measured position of the first scatterer and a measured position of the second scatterer, including: The scatterer information indicates the following four items: a first measurement position of the first scatterer and a second measurement position of the second scatterer, and a third measurement position of the first scatterer and a fourth measurement position of the second scatterer; The first measurement position is determined according to the sampling position of the first scatterer and the second position of the second scatterer, and the second measurement position is determined according to the sampling position of the first scatterer and the second position of the second scatterer; The third measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer, and the fourth measurement position is determined based on the first position of the first scatterer and the sampling position of the second scatterer.

15. A communication method, characterized in that: include: Sending first information, where the first information is used to determine scatterer sampling positions, where the scatterer sampling positions include a sampling position of a first scatterer and / or a sampling position of a second scatterer, where the first scatterer and the second scatterer are scatterers passed through by different reflections in the same spontaneous and other-receiving sensing mode, and where the spontaneous and other-receiving sensing mode has at least two reflections; Scatterer information is received, where the scatterer information indicates a measurement position of the first scatterer and a measurement position of the second scatterer, where the measurement position of the first scatterer and the measurement position of the second scatterer are determined based on the scatterer sampling position.

16. A communication device, characterized in that: The communication device includes: a module for executing the method according to any one of claims 1 to 14, or a module for executing the method according to claim 15.

17. A communication device, characterized in that: The communication device includes a processor; the processor is configured to execute a computer program or instruction to enable the communication device to perform the method according to any one of claims 1 to 14, or to enable the communication device to perform the method according to claim 15.

18. A computer-readable storage medium, characterized in that The computer-readable storage medium stores computer instructions or programs. When the computer instructions or programs are run on a computer, the method according to any one of claims 1 to 14 is executed, or the method according to claim 15 is executed.

19. A computer program product, characterized in that The computer program product includes computer instructions; when part or all of the computer instructions are run on a computer, the method according to any one of claims 1 to 14 is executed, or the method according to claim 15 is executed.

20. A chip, characterized in that: include: a memory for storing computer program instructions; A processor, configured to execute the computer program instructions so that a communication device including the chip performs the method according to any one of claims 1 to 14, or a communication device including the chip performs the method according to claim 15.

21. A communication system, characterized in that: include: A first node and a second node, wherein the first node is configured to execute the method according to any one of claims 1 to 14, and the second node is configured to execute the method according to claim 15.

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