Method for determining doppler frequency shift, receiving end device, first object, and system

Abstract

The present disclosure provides a method for determining a Doppler frequency shift, a receiving end device, a first object, and a system. The method comprises: on the basis of a sensing reference signal reflected by a first object, measuring a total Doppler frequency offset value, wherein the first object is an object that needs to be sensed; calculating a first Doppler frequency offset value, wherein the first Doppler frequency offset value is a Doppler frequency offset value caused by the movement of a satellite; and on the basis of the total Doppler frequency offset value and the first Doppler frequency offset value, determining a second Doppler frequency offset value, wherein the second Doppler frequency offset value is a Doppler frequency offset value caused by the movement of the first object. In the present disclosure, the Doppler shift value caused by the movement of a first object can be accurately determined in a satellite communication system, so that the accuracy of sensing the first object is improved, thereby improving the availability and reliability of the ISAC technology.

Description

Method for determining Doppler shift, receiving end device, first object and system TECHNICAL FIELD

[0001] The present disclosure relates to the field of communication, and in particular to a method for determining Doppler shift, a receiving end device, a first object and a system. BACKGROUND

[0002] Integrated Sensing and Communication (ISAC) technology aims to integrate sensing capability into the design of a communication system, so that the communication system can provide sensing as a service together with communication to users, which can be applied to scenarios such as unmanned aerial vehicle detection, intrusion detection, intelligent transportation, intelligent factory, etc.

[0003] SUMMARY

[0004] In order to improve the usability and reliability of ISAC technology, the embodiments of the present disclosure provide a method for determining Doppler shift, a receiving end device, a first object and a system.

[0005] According to a first aspect of the embodiments of the present disclosure, a method for determining Doppler shift is provided, the method is performed by a receiving end device of a sensing reference signal, and the method comprises:

[0006] measuring a total Doppler frequency offset value based on a sensing reference signal reflected by a first object; wherein the first object is an object that needs to be sensed;

[0007] calculating a first Doppler frequency offset value, wherein the first Doppler frequency offset value is a Doppler frequency offset value caused by satellite movement;

[0008] determining a second Doppler frequency offset value based on the total Doppler frequency offset value and the first Doppler frequency offset value; wherein the second Doppler frequency offset value is a Doppler frequency offset value caused by movement of the first object.

[0009] According to a second aspect of the embodiments of the present disclosure, a method for determining Doppler shift is provided, the method is performed by a first object, the first object is an object that needs to be sensed, and the method comprises:

[0010] calculating a first value and sending the first value to a receiving end device of a sensing reference signal; wherein the first value is a Doppler frequency offset value generated by a first frequency relative to a first carrier frequency, the first frequency is a signal frequency when the first object receives the sensing reference signal, and the first carrier frequency is a carrier frequency when a sending end device of the sensing reference signal sends the sensing reference signal; and / or

[0011] a second value is calculated, and the second value is sent to a receiving end device of the perception reference signal; wherein the second value is a Doppler frequency offset value generated by a second frequency relative to a first frequency, the second frequency being a signal frequency when the receiving end device of the perception reference signal receives the perception reference signal reflected by the first object, and the first frequency being a signal frequency when the first object receives the perception reference signal.

[0012] According to a third aspect of the embodiments of the present disclosure, a receiving end device is provided, comprising:

[0013] a processing module configured to measure a total Doppler frequency offset value based on a perception reference signal reflected by a first object; wherein the first object is an object to be perceived;

[0014] the processing module is further configured to calculate a first Doppler frequency offset value, wherein the first Doppler frequency offset value is a Doppler frequency offset value caused by satellite movement;

[0015] the processing module is further configured to determine a second Doppler frequency offset value based on the total Doppler frequency offset value and the first Doppler frequency offset value; wherein the second Doppler frequency offset value is a Doppler frequency offset value caused by movement of the first object.

[0016] According to a fourth aspect of the embodiments of the present disclosure, a first object is provided, the first object being an object to be perceived, comprising:

[0017] a processing module configured to calculate a first value; wherein the first value is a Doppler frequency offset value generated by a first frequency relative to a first carrier frequency, the first frequency being a signal frequency when the first object receives the perception reference signal, and the first carrier frequency being a carrier frequency when a sending end device of the perception reference signal sends the perception reference signal;

[0018] a transceiver module configured to send the first value to a receiving end device of the perception reference signal; and / or

[0019] the processing module is further configured to calculate a second value; wherein the second value is a Doppler frequency offset value generated by a second frequency relative to a first frequency, the second frequency being a signal frequency when the receiving end device of the perception reference signal receives the perception reference signal reflected by the first object, and the first frequency being a signal frequency when the first object receives the perception reference signal;

[0020] the transceiver module is further configured to send the second value to the receiving end device of the perception reference signal.

[0021] According to a fifth aspect of the embodiments of the present disclosure, a receiving end device is provided, comprising:

[0022] one or more processors;

[0023] The processor is configured to perform the method for determining the Doppler shift according to any one of the first aspect.

[0024] According to a sixth aspect of the embodiments of the present disclosure, a first object is provided, the first object being an object to be perceived, comprising:

[0025] one or more processors;

[0026] The processor is configured to perform the method for determining the Doppler shift according to any one of the second aspect.

[0027] According to a seventh aspect of the embodiments of the present disclosure, a communication system is provided, comprising:

[0028] a sending device configured to send a perception reference signal;

[0029] a first object, the first object being an object to be perceived, the first object being configured to perform the method for determining the Doppler shift according to any one of the first aspect;

[0030] a receiving device configured to receive the perception reference signal reflected by the first object, and the receiving device being configured to perform the method for determining the Doppler shift according to any one of the second aspect.

[0031] According to an eighth aspect of the embodiments of the present disclosure, a storage medium is provided, the storage medium storing instructions, when the instructions are executed on a communication device, causing the communication device to perform the method for determining the Doppler shift according to any one of the first aspect or the second aspect.

[0032] According to a ninth aspect of the embodiments of the present disclosure, a computer program product is provided, comprising a computer program configured to perform the method for determining the Doppler shift according to any one of the first aspect or the second aspect when executed by a processor.

[0033] In the embodiments of the present disclosure, the Doppler shift value caused by the movement of the first object can be accurately determined in the satellite communication system, the accuracy of the perception of the first object is improved, and the availability and reliability of the ISAC technology are improved.

[0034] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF DRAWINGS

[0035] The accompanying drawings, which are incorporated herein and form a part of the specification, illustrate embodiments that conform to the present application and, together with the description, further serve to explain the principles of the present application.

[0036] FIG. 1A is one exemplary schematic diagram of an architecture of a communication system according to embodiments of the present disclosure.

[0037] FIG. 1B is one exemplary schematic diagram of a sensing mode according to embodiments of the present disclosure.

[0038] FIG. 1C is one exemplary schematic diagram of four scenarios of satellite communication according to embodiments of the present disclosure.

[0039] FIG. 2A is one exemplary interaction schematic diagram of a method for determining a Doppler shift according to embodiments of the present disclosure.

[0040] FIG. 2B is one exemplary scenario schematic diagram of a first angle value and / or a second angle value according to embodiments of the present disclosure.

[0041] FIG. 3A is one exemplary flow schematic diagram of a method for determining a Doppler shift according to embodiments of the present disclosure.

[0042] FIG. 3B is another exemplary flow schematic diagram of a method for determining a Doppler shift according to embodiments of the present disclosure.

[0043] FIG. 3C is a third exemplary flow schematic diagram of a method for determining a Doppler shift according to embodiments of the present disclosure.

[0044] FIG. 3D is a fourth exemplary flow schematic diagram of a method for determining a Doppler shift according to embodiments of the present disclosure.

[0045] FIG. 4A is one exemplary block diagram of a receiving end device according to embodiments of the present disclosure.

[0046] FIG. 4B is one exemplary block diagram of a first object according to embodiments of the present disclosure.

[0047] FIG. 5A is one exemplary interaction schematic diagram of a communication device according to embodiments of the present disclosure.

[0048] FIG. 5B is one exemplary interaction schematic diagram of a chip according to embodiments of the present disclosure. DETAILED DESCRIPTION

[0049] The exemplary embodiments will be described in detail herein with reference to the attached drawings. The description below concerns the drawings, where the same numbers in different drawings represent the same or similar elements. The implementations described in the following exemplary embodiments are not meant to represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the present invention as detailed in the appended claims.

[0050] The embodiments of the present disclosure provide a method for determining Doppler shift, a receiving end device, a first object and a system.

[0051] In a first aspect, the embodiments of the present disclosure provide a method for determining Doppler shift, the method is performed by a receiving end device for sensing reference signal, and the method comprises: measuring a total Doppler shift value based on a sensing reference signal reflected by a first object; wherein the first object is an object to be sensed; calculating a first Doppler shift value, wherein the first Doppler shift value is a Doppler shift value caused by satellite movement; determining a second Doppler shift value based on the total Doppler shift value and the first Doppler shift value; wherein the second Doppler shift value is a Doppler shift value caused by movement of the first object.

[0052] In some embodiments in combination with the first aspect, in some embodiments, the calculating the first Doppler shift value comprises: determining a first value; wherein the first value is a Doppler shift value generated by a first frequency relative to a first carrier frequency, the first frequency is a signal frequency when the first object receives the sensing reference signal, and the first carrier frequency is a carrier frequency when a sending end device of the sensing reference signal sends the sensing reference signal; determining a second value; wherein the second value is a Doppler shift value generated by a second frequency relative to the first frequency, the second frequency is a signal frequency when the receiving end device receives the sensing reference signal reflected by the first object; and calculating the first Doppler shift value based on the first value and the second value.

[0053] In some embodiments in combination with the first aspect, in some embodiments, the determining the first value comprises any one of: receiving the first value sent by the first object; and calculating the first value.

[0054] In some embodiments of the first aspect, in some embodiments, the calculating the first value comprises any one of: the sending end device is not a satellite, and the first value is 0; the sending end device is a satellite, and the first value is calculated based on first information; wherein the first information comprises at least one of: a first speed value of movement of the sending end device; a transmission speed value of electromagnetic waves; an earth radius; a height value of the sending end device; a first angle value; wherein the first angle value is an angle value of a line between the sending end device and the first object relative to a ground plane; and the first carrier frequency.

[0055] In some embodiments of the first aspect, in some embodiments, the method further comprises: receiving the first angle value sent by the first object.

[0056] In some embodiments of the first aspect, in some embodiments, the method further comprises: the receiving end device is a satellite, receiving first position information sent by the first object; wherein the first position information is position information of the first object; and calculating the first angle value based on second position information of the sending end device and the first position information.

[0057] In some embodiments of the first aspect, in some embodiments, the method further comprises: the receiving end device is a satellite, setting the first angle value; and sending the first angle value to the first object.

[0058] In some embodiments of the first aspect, in some embodiments, the determining the second value comprises any one of: receiving the second value sent by the first object; and calculating the second value.

[0059] In some embodiments of the first aspect, in some embodiments, the calculating the second value comprises any one of: the receiving end device is not a satellite, and the second value is 0; the receiving end device is a satellite, and the second value is calculated based on second information; wherein the second information comprises at least one of: a second speed value of movement of the receiving end device; a transmission speed value of electromagnetic waves; an earth radius; a height value of the receiving end device; a second angle value; wherein the second angle value is an angle value of a line between the receiving end device and the first object relative to a ground plane; and a second carrier frequency; wherein the second carrier frequency is a carrier frequency when the first object receives the perception reference signal.

[0060] In some embodiments of the first aspect, in some embodiments, the method further comprises: receiving the second angle value sent by the first object.

[0061] In some embodiments of the first aspect, in some embodiments, the method further comprises: the receiving end device is a satellite, receiving first position information sent by the first object; wherein the first position information is position information of the first object; and calculating the second angle value based on third position information of the receiving end device and the first position information.

[0062] In some embodiments of the first aspect, in some embodiments, the method further comprises: the receiving end device is a satellite, setting the second angle value; and sending the second angle value to the first object.

[0063] In a second aspect, the embodiments of the present disclosure provide a method for determining Doppler shift, the method is performed by a first object, the first object is an object that needs to be perceived, and the method comprises: calculating a first value and sending the first value to a receiving end device of a perception reference signal; wherein the first value is a Doppler shift value generated by a first frequency relative to a first carrier frequency, the first frequency is a signal frequency when the first object receives the perception reference signal, and the first carrier frequency is a carrier frequency when a sending end device of the perception reference signal sends the perception reference signal; and / or calculating a second value and sending the second value to the receiving end device of the perception reference signal; wherein the second value is a Doppler shift value generated by a second frequency relative to the first frequency, the second frequency is a signal frequency when the receiving end device of the perception reference signal receives the perception reference signal reflected by the first object, and the first frequency is a signal frequency when the first object receives the perception reference signal.

[0064] In some embodiments of the second aspect, in some embodiments, calculating the first value comprises any one of the following: the sending end device is not a satellite, and the first value is 0; the sending end device is a satellite, and the first value is calculated based on first information; wherein the first information comprises at least one of the following: a first speed value of the sending end device; a transmission speed value of an electromagnetic wave; an earth radius; a height value of the sending end device; a first angle value; wherein the first angle value is an angle value of a line connecting the sending end device and the first object relative to a ground plane; and the first carrier frequency.

[0065] In some embodiments of the second aspect, in some embodiments, the method further comprises any one of the following: calculating the first angle value; and receiving the first angle value sent by the receiving end device.

[0066] In some embodiments of the second aspect, in some embodiments, the calculating the first angle value comprises: determining first position information of the first object; determining second position information of the sending end device; and calculating the first angle value based on the first position information and the second position information.

[0067] In some embodiments of the second aspect, in some embodiments, the determining the second position information of the sending end device comprises any one of: when the sending end device is a satellite, determining the second position information based on ephemeris information; and when the sending end device is not a satellite, receiving the second position information sent by the sending end device.

[0068] In some embodiments of the second aspect, in some embodiments, the method further comprises: sending the first angle value to the receiving end device.

[0069] In some embodiments of the second aspect, in some embodiments, the calculating the second value comprises: when the receiving end device is not a satellite, the second value is 0; and when the receiving end device is a satellite, calculating the second value based on second information; wherein the second information comprises at least one of: a second speed value of the receiving end device; a transmission speed value of an electromagnetic wave; an earth radius; an altitude value of the receiving end device; a second angle value; wherein the second angle value is an angle value of a line between the receiving end device and the first object relative to a ground plane; and a second carrier frequency; wherein the second carrier frequency is a carrier frequency when the first object receives the perception reference signal.

[0070] In some embodiments of the second aspect, in some embodiments, the method further comprises any one of: calculating the second angle value; and receiving the second angle value sent by the receiving end device.

[0071] In some embodiments of the second aspect, in some embodiments, the calculating the second angle value comprises: determining first position information of the first object; determining third position information of the receiving end device; and calculating the second angle value based on the first position information and the third position information.

[0072] In some embodiments of the second aspect, in some embodiments, the determining the third position information of the receiving end device comprises any one of: when the receiving end device is a satellite, determining the third position information based on ephemeris information; and when the receiving end device is not a satellite, receiving the third position information sent by the receiving end device.

[0073] In some embodiments of the second aspect, in some embodiments, the method further comprises: sending the second angle value to the receiving end device.

[0074] In some embodiments of the second aspect, in some embodiments, the determining the first location information of the first object comprises any one of: determining the first location information based on a global navigation satellite system (GNSS); and determining the first location information by a satellite positioning manner.

[0075] In a third aspect, the embodiments of the present disclosure provide a receiving end device, comprising: a processing module configured to measure a total Doppler shift value based on a perception reference signal reflected by a first object; wherein the first object is an object to be perceived; the processing module is further configured to calculate a first Doppler shift value, wherein the first Doppler shift value is a Doppler shift value caused by satellite movement; and the processing module is further configured to determine a second Doppler shift value based on the total Doppler shift value and the first Doppler shift value; wherein the second Doppler shift value is a Doppler shift value caused by movement of the first object.

[0076] In a fourth aspect, the embodiments of the present disclosure provide a first object, wherein the first object is an object to be perceived, comprising: a processing module configured to calculate a first value; wherein the first value is a Doppler shift value caused by a first frequency relative to a first carrier frequency, the first frequency is a signal frequency when the first object receives a perception reference signal, and the first carrier frequency is a carrier frequency when a sending end device of the perception reference signal sends the perception reference signal; a transceiver module configured to send the first value to a receiving end device of the perception reference signal; and / or the processing module is further configured to calculate a second value; wherein the second value is a Doppler shift value caused by a second frequency relative to the first frequency, the second frequency is a signal frequency when a receiving end device of the perception reference signal receives the perception reference signal reflected by the first object, and the first frequency is a signal frequency when the first object receives the perception reference signal; and the transceiver module is further configured to send the second value to the receiving end device of the perception reference signal.

[0077] In a fifth aspect, the embodiments of the present disclosure provide a receiving end device, comprising: one or more processors; wherein the processor is configured to execute the method for determining Doppler shift according to any one of the first aspect.

[0078] In a sixth aspect, the embodiments of the present disclosure provide a first object, wherein the first object is an object to be perceived, comprising: one or more processors; wherein the processor is configured to execute the method for determining Doppler shift according to any one of the second aspect.

[0079] In a seventh aspect, the embodiments of the present disclosure provide a communication system, comprising: a sending end device configured to send a sensing reference signal; a first object, which is an object to be sensed, and the first object is configured to implement the method for determining Doppler shift according to any one of the first aspect; and a receiving end device configured to receive the sensing reference signal reflected by the first object, and the receiving end device is configured to implement the method for determining Doppler shift according to any one of the second aspect.

[0080] In an eighth aspect, the embodiments of the present disclosure provide a storage medium storing instructions, which, when executed on a communication device, cause the communication device to perform the method for determining Doppler shift according to any one of the first aspect or the second aspect.

[0081] In a ninth aspect, the embodiments of the present disclosure provide a computer program product comprising a computer program configured to implement the method for determining Doppler shift according to any one of the first aspect or the second aspect when executed by a processor.

[0082] In a tenth aspect, the embodiments of the present disclosure provide a chip or a chip system. The chip or the chip system comprises a processing circuit configured to perform the method described in the optional implementation manners of the first aspect or the second aspect.

[0083] It can be understood that the receiving end device, the first object, the communication system, the storage medium, the computer program product, the chip or the chip system are all used to perform the method proposed by the embodiments of the present disclosure. Therefore, the beneficial effects that can be achieved can refer to the beneficial effects in the corresponding method, which will not be described here.

[0084] The embodiments of the present disclosure propose the invention name. In some embodiments, the terms of the method for determining Doppler shift, the communication method, the sensing method, etc. can be replaced with each other, the terms of the device for determining Doppler shift, the communication device, the sensing device, etc. can be replaced with each other, and the terms of the communication system, the system for determining Doppler shift, the sensing system, etc. can be replaced with each other.

[0085] The embodiments of the present disclosure are not exhaustive, but only illustrate some embodiments, and are not specific limitations on the protection scope of the present disclosure. In the case of no contradiction, each step in an embodiment can be implemented as an independent embodiment, and the steps can be combined arbitrarily, for example, the scheme after removing some steps in an embodiment can also be implemented as an independent embodiment, and the order of the steps in an embodiment can be exchanged arbitrarily, in addition, the optional implementation manners in an embodiment can be combined arbitrarily; in addition, the embodiments can be combined arbitrarily, for example, the steps of different embodiments or part of the steps of different embodiments can be combined arbitrarily, and an embodiment can be combined with the optional implementation manners of other embodiments.

[0086] In each embodiment of the present disclosure, the terms and / or descriptions among the embodiments are consistent and can be referred to each other if there is no special description and logical conflict, and the technical features in different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0087] The terms used in the embodiments of the present disclosure are only for the purpose of describing specific embodiments and not as a limitation of the present disclosure.

[0088] In the embodiments of the present disclosure, an element represented by a singular form, such as "a", "an", "the", "said", "the aforementioned", "the foregoing", "this", etc., can represent "one and only one", or "one or more", "at least one", etc., unless otherwise specified. For example, in the case of using articles such as "a", "an", "the", etc. in the description, the noun following the article can be understood as a singular expression, or as a plural expression.

[0089] In the embodiments of the present disclosure, "plurality" means two or more.

[0090] In some embodiments, the terms "at least one of", "one or more of", "a plurality of", "multiple", etc. can be replaced with each other.

[0091] In some embodiments, the description mode such as "at least one of A, B", "A and / or B", "A in one case, B in another case", "A in response to one case, B in response to another case", etc. can include the following technical solutions according to the case: A in some embodiments (A is executed regardless of B); B in some embodiments (B is executed regardless of A); A and B are selectively executed in some embodiments (A and B are selected to be executed); A and B are executed in some embodiments (A and B are both executed). When there are more branches such as A, B, C, etc., it is similar to the above.

[0092] In some embodiments, the description mode such as "A or B", etc. can include the following technical solutions according to the case: A in some embodiments (A is executed regardless of B); B in some embodiments (B is executed regardless of A); A and B are selectively executed in some embodiments (A and B are selected to be executed). When there are more branches such as A, B, C, etc., it is similar to the above.

[0093] The prefix words of "first", "second" and the like in the embodiments of the present disclosure are merely used to distinguish different description objects, and do not constitute limitation on the position, order, priority, quantity or content of the description objects. The description objects are described in the claims or embodiments, and should not be construed as redundant limitation because of the use of the prefix words. For example, the description object is "field", and the ordinal words before "field" in "first field" and "second field" do not limit the position or order between "fields", and "first" and "second" do not limit whether the "fields" modified thereby are in the same message or not, nor limit the order of "first field" and "second field". For another example, the description object is "level", and the ordinal words before "level" in "first level" and "second level" do not limit the priority between "levels". For another example, the quantity of the description object is not limited by the ordinal words, and can be one or more. For example, "first device", wherein the quantity of "device" can be one or more. In addition, the objects modified by different prefix words can be the same or different, for example, the description object is "device", and "first device" and "second device" can be the same device or different devices, and the types thereof can be the same or different. For another example, the description object is "information", and "first information" and "second information" can be the same information or different information, and the contents thereof can be the same or different.

[0094] In some embodiments, "including A", "containing A", "for indicating A", "carrying A" can be interpreted as directly carrying A, or indirectly indicating A.

[0095] In some embodiments, the terms of "in response to", "in response to determining", "in the case of", "when", "when", "if", "if" and the like can be replaced with each other.

[0096] In some embodiments, the terms of "greater than", "greater than or equal to", "not less than", "more than", "more than or equal to", "not less than", "higher than", "higher than or equal to", "not lower than", "above" and the like can be replaced with each other, and the terms of "less than", "less than or equal to", "not greater than", "less than", "less than or equal to", "not more than", "lower than", "lower than or equal to", "not higher than", "below" and the like can be replaced with each other.

[0097] In some embodiments, the apparatuses and the like can be interpreted as entities, and can also be interpreted as virtual, and the names thereof are not limited to the names described in the embodiments. The terms "apparatus", "equipment", "device", "circuit", "network element", "node", "function", "unit", "section", "system", "network", "chip", "chip system", "entity", "subject" and the like can be replaced with each other.

[0098] In some embodiments, the data, information and the like can be acquired in compliance with the laws and regulations of the country where the location is located.

[0099] In some embodiments, the data, information and the like can be acquired after obtaining the consent of the user.

[0100] In addition, each element, each row, or each column in the table of the embodiments of the present disclosure can be implemented as an independent embodiment, and any combination of any element, any row, and any column can also be implemented as an independent embodiment.

[0101] FIG. 1A is a schematic diagram of an architecture of a communication system according to an embodiment of the present disclosure.

[0102] As shown in FIG. 1A, the communication system 100 includes, but is not limited to, a receiving end device 101, a first object 102.

[0103] In some embodiments, the receiving end device 101 can be a receiving end device that perceives a reference signal.

[0104] In some embodiments, the sending end device sends a perception reference signal, and the perception reference signal is received by the receiving end device 101 after being reflected by the first object.

[0105] In some embodiments, the name of the perception reference signal is not limited, and can be interchangeable with a perception signal, a reference signal and the like.

[0106] In some embodiments, the receiving end device 101 can be an access network device, a terminal, an Internet of Things device and the like.

[0107] The terminal can be at least one of, for example, a mobile phone, a wearable device, a tablet (Pad), a computer with a wireless transceiver function, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, a wireless terminal device in industrial control, a wireless terminal device in self-driving, a wireless terminal device in remote medical surgery, a wireless terminal device in a smart grid, a wireless terminal device in transportation safety, a wireless terminal device in a smart city, a wireless terminal device in a smart home, but is not limited thereto.

[0108] The IoT device can be, for example, a communication-capable automobile, a smart automobile, an unmanned device, an environmental IoT device, etc.

[0109] The access network device can be, for example, at least one of a node or a device that accesses a terminal to a wireless network, and can include an evolved node B (eNB) in a 5G communication system, a next generation eNB (ng-eNB), a next generation node B (gNB), a node B (NB), a home node B (HNB), a home evolved node B (HeNB), a wireless backhaul device, a radio network controller (RNC), a base station controller (BSC), a base transceiver station (BTS), a base band unit (BBU), a mobile switching center, a base station in a 6G communication system, an open base station (Open RAN), a cloud base station (Cloud RAN), a base station in another communication system, an access node in a Wi-Fi system, but is not limited thereto.

[0110] In some embodiments, the first object 102 can be an object that needs to be perceived, including but not limited to a terminal, an IoT device, etc.

[0111] In some embodiments, the communication system 100 described above can further include a sending end device 103, which can be configured to send the perception reference signal to the first object 102.

[0112] In some embodiments, the sending end device 103 can be the same device as the receiving end device 101, or can be a different device.

[0113] In some embodiments, the sending end device 103 can be an access network device, a terminal, an Internet of Things device, etc., and the present disclosure does not limit the same.

[0114] In some embodiments, the technical solutions of the present disclosure can be applied to an Open RAN architecture, in which case, the interfaces between or within the access network devices involved in the embodiments of the present disclosure can become internal interfaces of the Open RAN, and the processes and information interactions between these internal interfaces can be implemented through software or programs.

[0115] In some embodiments, the access network device can be composed of a central unit (CU) and a distributed unit (DU), where the CU can also be referred to as a control unit. The CU-DU structure can split the protocol layers of the access network device, with some protocol layer functions being controlled by the CU, and the remaining or all protocol layer functions being distributed in the DU and controlled by the CU, but not limited thereto.

[0116] In some embodiments, for the ISCA technology in a ground network, it can include six perception modes, for example, as shown in FIG. 1B, which are: mode a, TRP monostatic; mode b, TRP-TRP bistatic; mode c, TRP-UE bistatic; mode d, UE-TRP bistatic; mode e, UE monostatic; and mode f, UE-UE bistatic.

[0117] The above sensing modes a to d can be applied to satellite sensing, for example, the four scenarios in FIG. 1C, scenario 1) a satellite transmits a sensing signal, and the same satellite receives a reflected signal of the sensing signal (corresponding to the above sensing mode a, TRP monostatic); scenario 2) satellite 1 transmits a sensing signal, and satellite 2 receives a reflected signal of the sensing signal (corresponding to the above sensing mode b, TRP-TRP bistatic); scenario 3) a satellite transmits a sensing signal, and a ground terminal receives a reflected signal of the sensing signal (corresponding to the above sensing mode c, TRP-UE bistatic); and scenario 4) a terminal transmits a sensing signal, and a satellite receives a reflected signal of the sensing signal (corresponding to the above sensing mode d, UE-TRP bistatic).

[0118] In the sensing process, the receiving end device 101 of the sensing reference signal needs to measure the reflected signal of the sensing reference signal to determine the Doppler frequency offset value caused by the movement of the first object 102, and then determine the radial velocity of the target object according to the formula of the Doppler frequency offset value and the velocity. The radial velocity, also known as the apparent velocity, is the movement speed of an object or a celestial body in the direction of the observer's line of sight.

[0119] The receiving end device 101 of the sensing reference signal needs to receive and measure the reflected signal of the sensing reference signal (sensing Reference Signal, sensing RS) of the first object 102, such as measuring the phase difference value between two adjacent symbols in the time domain of the reflected signal, and then performing inverse fast Fourier transform (Inverse Fast Fourier Transform, IFFT) to transform to the Doppler power spectrum. The power value in the frequency domain and the Doppler value in the time domain are analyzed on the Doppler power spectrum, and the Doppler value corresponding to the highest power value is determined as the measured Doppler value.

[0120] The Doppler value can also be referred to as a Doppler offset value or a Doppler frequency offset value, which is not limited in the present disclosure.

[0121] However, in the above sensing modes 1) to 4), the satellite is also moving, and the Doppler frequency offset value determined by the receiving end device 101 of the sensing reference signal through the measurement of the reflected signal is the sum of the Doppler frequency offset value caused by the movement of the satellite and the Doppler value caused by the movement of the first object 102.

[0122] Therefore, accurately determining the Doppler value caused by the movement of the first object is needed to be considered in the satellite communication system.

[0123] In order to improve the usability and reliability of the ISAC technology, the embodiments of the present disclosure provide a method for determining a Doppler shift, a receiving end device, a first object and a system.

[0124] FIG. 2A is an interaction schematic diagram of a method for determining a Doppler shift according to an embodiment of the present disclosure. As shown in FIG. 2A, the embodiment of the present disclosure relates to a method for determining a Doppler shift, and the method comprises:

[0125] In step S2101, the receiving end device 101 measures a total Doppler shift value based on the perception reference signal reflected by the first object 102.

[0126] In some embodiments, the receiving end device 101 can refer to a receiving end device of the perception reference signal, and in a satellite communication scenario, the receiving end device 101 includes but is not limited to a satellite or a ground terminal.

[0127] In some embodiments, the sending end device 103 sends the perception reference signal to the first object 102, the first object 102 reflects the perception reference signal, and the receiving end device 101 receives the perception reference signal reflected by the first object 102.

[0128] In some embodiments, the name of the perception reference signal is not limited, and can be interchangeable with a perception signal, a reference signal, etc.

[0129] In some embodiments, the receiving end device 101 can measure the perception reference signal reflected by the first object 102, for example, measure the phase difference value between two adjacent symbols in the time domain of the reflected signal, perform IFFT on the measured multiple phase difference values, transform to the Doppler power spectrum, and analyze the Doppler power spectrum. The Doppler value corresponding to the highest power value is determined as the total Doppler shift value.

[0130] In some embodiments, the name of the Doppler shift value is not limited, and can be interchangeable with a Doppler value, a Doppler shift value, etc.

[0131] Correspondingly, the total Doppler shift value can be interchangeable with a total Doppler value, a total Doppler shift value, etc.

[0132] In some embodiments, the total Doppler shift value can be represented as △F.

[0133] In some embodiments, the present disclosure does not limit the process of measuring △F.

[0134] In step S2102a, the first object 102 calculates a first value.

[0135] In some embodiments, the first object 102 is an object that needs to be perceived, such as a terminal, an Internet of Things device, an environmental Internet of Things device, etc.

[0136] In some embodiments, the first value can be represented as △f1, where △f1 is a Doppler shift value caused by a first frequency relative to a first carrier frequency, the first frequency is a signal frequency when the first object 102 receives the perception reference signal, and the first carrier frequency is a carrier frequency when the sending end device sends the perception reference signal. Wherein, the first carrier frequency can be represented as f c .

[0137] In one example, the first object 102 can calculate the first value △f1 in the following manner, but not limited to:

[0138] Case 1, the sending end device 103 is not a satellite, then the first object 102 can determine that the first value △f1 = 0.

[0139] For example, in the above-mentioned perception mode 4, the sending end device 103 is a ground terminal, at this time, there is no Doppler shift value caused by the movement of the satellite in the process of sending the perception reference signal to the first object 102, therefore, the first object 102 can determine that the first value △f1 = 0.

[0140] Case 2, the sending end device 103 is a satellite, for example, in the above-mentioned perception mode 1, 2, 3, there is a Doppler shift value caused by the movement of the satellite (sending end device 103) in the process of sending the perception reference signal to the first object 102, and the first object 102 can calculate the first value △f1 based on the first information.

[0141] Wherein, the first information includes but is not limited to one or more of the following: a first speed value of the movement of the sending end device 103; a transmission speed value of electromagnetic wave; the radius of the earth; a height value of the sending end device; a first angle value; the first carrier frequency.

[0142] Wherein, the first angle value is the angle value of the line between the sending end device 103 and the first object 102 relative to the ground plane, for example, as shown in FIG. 2B.

[0143] In one example, the first object 102 can calculate the first value △f1 using the following formula 1:

[0144] Wherein, v sat is the first speed value of the movement of the sending end device 103, c is the transmission speed value of the electromagnetic wave, R is the radius of the earth, h is the height value of the sending end device 103, α model 1 is the first angle value, and f c is the first carrier frequency.

[0145] For example, the first speed value v satThe first speed value v sat The first speed value v

[0146] The height value h of the sending terminal device 103 can be determined by the first object 102 based on ephemeris information, or can be sent by the sending terminal device 103 to the first object 102, which is not limited in the present disclosure.

[0147] The first angle value a model 1 can be determined in the following way:

[0148] Method 1: The first object 102 calculates the first angle value a model 1.

[0149] The first object 102 determines the first position information where it is located, and determines the second position information where the sending terminal device 103 is located, and calculates the first angle value a model 1.

[0150] It can be understood that if the first object 102 supports and installs a Global Navigation Satellite System (GNSS), the first object 102 can directly determine the first position information where it is located through the GNSS.

[0151] If the first object 102 does not install or support the GNSS, the first object 102 can determine the first position information in a satellite positioning manner.

[0152] For example, the first object 102 uses satellite side positioning technology, such as Multi-Round Trip Time (Multi-RTT) positioning technology with reference to the ground: the time from satellite signal transmission to reception needs a certain time, which can be combined with signal propagation speed to calculate the distance between the first object 102 and the satellite. The calculated distance value constitutes a spherical surface, the center of which is located at the satellite and the radius is the distance. The first object 102 transmits and receives reference signals with at least three satellites, measures the receive-transmit (Rx-Tx) time difference to obtain three sets of distance values, and the three sets of distance values can determine three spherical surfaces. The intersection of the three spherical surfaces will form two intersection points. One of the intersection points is in space, and the other is on the ground, which is the first position of the first object 102.

[0153] In addition, the first object 102 can determine the second position information of the sending terminal device 103 based on the ephemeris information, or receive the second position information sent by the sending terminal device 103, so as to calculate the first angle value a based on the first position information and the second position information model 1.

[0154] Mode 2, the first angle value a model 1It is set by the receiving terminal device 101 and sent to the first object 102.

[0155] Exemplarily, the first angle value a model 1It can be set by the receiving terminal device 101 in advance and provided to the first object 102.

[0156] The above is only an exemplary description, and the present disclosure does not limit the manner of determining the first angle value by the first object 102.

[0157] After the first object 102 determines the above first information, the first value △f1 can be calculated by using formula 1.

[0158] Step S2102b, the first object 102 sends the first value △f1 to the receiving terminal device 101.

[0159] In some embodiments, the receiving terminal device 101 receives the first value △f1.

[0160] Step S2103, the receiving terminal device 101 calculates the first value △f1.

[0161] In one example, the receiving terminal device 101 can calculate the first value △f1 by using but not limited to the following manner:

[0162] Case 1, the sending terminal device 103 is not a satellite, then the receiving terminal device 101 can determine that the first value △f1=0.

[0163] For example, in the above awareness mode 4, the sending terminal device 103 is a ground terminal, at this time, in the process of sending the awareness reference signal to the first object 102, there is no Doppler frequency offset value caused by the movement of the satellite, therefore, the receiving terminal device 101 can determine that the first value △f1=0.

[0164] Case 2, the sending terminal device 103 is a satellite, for example, in the above awareness mode 1, 2, 3, in the process of sending the awareness reference signal to the first object 102, there is a Doppler frequency offset value caused by the movement of the satellite (sending terminal device 103), and the receiving terminal device 101 can calculate the first value △f1 based on the first information.

[0165] The first information includes but is not limited to one or more of the following: a first speed value of the sending device 103, a transmission speed value of electromagnetic waves, an earth radius, a height value of the sending device, a first angle value, and a first carrier frequency.

[0166] The first angle value is an angle value of a line between the sending device 103 and the first object 102 relative to the ground plane, for example, as shown in FIG. 2B.

[0167] In one example, the receiving device 101 can calculate the first value Δf1 using the following formula 1:

[0168] where v sat is a first speed value of the sending device 103, c is a transmission speed value of electromagnetic waves, R is an earth radius, h is a height value of the sending device 103, a model 1 is a first angle value, and f c is a first carrier frequency.

[0169] In an example, the first speed value v sat of the sending device 103 can be determined by the receiving device 101 based on ephemeris information, or the sending device 103 can send the first speed value v sat to the receiving device 101 through a satellite chain, and the present disclosure does not limit this.

[0170] In an example, the height value h of the sending device 103 can be determined by the receiving device 101 based on ephemeris information, or the sending device 103 can send the height value h to the receiving device 101, and the present disclosure does not limit this.

[0171] In an example, the first angle value a model 1 can be determined in the following manner:

[0172] Manner 1: The receiving device 101 calculates the first angle value a model 1.

[0173] In an example, the receiving device 101 determines first position information of the first object 102 and second position information of the sending device 103, and calculates the first angle value a model 1 based on the first position information and the second position information.

[0174] It can be understood that if the first object 102 supports and installs GNSS, the first object 102 can directly determine the first position information through the GNSS, and further, the first object 102 can send the first position information to the receiving device 101, and the receiving device 101 receives the first position information.

[0175] If the GNSS is not installed on or supported by the first object 102, the first object 102 can determine the first position information in a satellite positioning manner. Further, the first object 102 can send the first position information to the receiving end device 101, and the receiving end device 101 receives the first position information.

[0176] In addition, the receiving end device 101 can determine the second position information of the sending end device 103 based on the ephemeris information, or receive the second position information sent by the sending end device 103 through the satellite link, so as to calculate the first angle value a based on the first position information and the second position information. model 1.

[0177] In mode 2, the first angle value a model 1is set by the receiving end device 101.

[0178] Exemplarily, the first angle value a model 1may be set by the receiving end device 101 in advance, for example, set as a fixed value according to an agreement.

[0179] In an example, the receiving end device 101 can send the set first angle value to the first object 102, so that the first object 102 calculates the first value △f1.

[0180] The above is only an exemplary description, and the disclosure does not limit the manner in which the receiving end device 101 determines the first angle value.

[0181] After the receiving end device 101 determines the above first information, the receiving end device 101 can calculate the first value △f1 according to formula 1.

[0182] In some embodiments, steps S2102a to S2102b and step S2103 can be executed alternatively. For example, in the case where the first object 102 calculates the first value △f1, steps S2102a to S2102b can be executed without executing step S2103. For another example, in the case where the receiving end device 101 calculates the first value △f1, step S2103 can be executed without executing steps S2102a to S2102b.

[0183] Step S2104a, the first object 102 calculates a second value.

[0184] In some embodiments, the second value can be represented as △f2, and △f2 is a Doppler frequency shift value generated by a second frequency relative to the first frequency, the second frequency being a signal frequency when the receiving end device receives the perceived reference signal reflected by the first object. The first frequency is a signal frequency when the first object receives the perceived reference signal.

[0185] In one example, the first object 102 can calculate the second value △f2 in the following ways, but not limited to:

[0186] Case 1, the receiving end device 101 is not a satellite, then the first object 102 can determine that the second value △f2 = 0.

[0187] For example, in the above-mentioned sensing mode 3, the receiving end device 101 is a ground terminal, at this time, in the process of the sensing reference signal being reflected by the first object 102 and the reflected signal being received by the receiving end device 101, there is no Doppler frequency shift value caused by the movement of the satellite, therefore, the first object 102 can determine that the second value △f2 = 0.

[0188] Case 2, the receiving end device 101 is a satellite, for example, in the above-mentioned sensing mode 1, 2, 4, in the process of the first object 102 reflecting the sensing reference signal and the receiving end device 101 receiving the reflected signal, there is a Doppler frequency shift value caused by the movement of the satellite (receiving end device 101), the first object 102 can calculate the second value △f2 based on the second information.

[0189] The second information includes but is not limited to one or more of the following: a second speed value of the movement of the receiving end device 101; a transmission speed value of the electromagnetic wave; the earth radius; a height value of the receiving end device 101; a second angle value; and the second carrier frequency.

[0190] The second angle value is an angle value of a line between the receiving end device 101 and the first object 102 relative to the ground plane, for example, as shown in FIG. 2B.

[0191] The second carrier frequency is the carrier frequency when the first object receives the sensing reference signal.

[0192] In one example, the first object 102 can calculate the second value △f2 using the following formula 2:

[0193] Wherein, v sat ′ is the second speed value of the movement of the receiving end device 101, c is the transmission speed value of the electromagnetic wave, R is the earth radius, h’ is the height value of the receiving end device 101, a model 2 is the first angle value, (f c +△f1) is the second carrier frequency.

[0194] It can be understood that if the sending end device 103 and the receiving end device 101 are the same satellite, for example, in mode 1, v sat ′ is equal to v sat , h’ is equal to h, a model 2 is equal to amodel 1. Equal.

[0195] If the transmitting device 103 and the receiving device 101 are on different satellites, for example in mode 2, v sat ′ and v sat They can be equal or unequal, h' and h can be equal or unequal, α model 2 and α model 1. Equal or unequal.

[0196] For example, the second speed value v of the receiving device 101 is... sat The second velocity value v can be determined by the first object 102 based on ephemeris information, or it can be determined by the receiving device 101 from the second velocity value v. sat ′Sent to the first object 102, which is not limited in this disclosure.

[0197] For example, the altitude value h′ of the receiving device 101 can be determined by the first object 102 based on ephemeris information, or the receiving device 101 can send the altitude value h′ to the first object 102, which is not limited in this disclosure.

[0198] For example, the second angle value α model 2 can be determined in the following ways:

[0199] Method 1: Calculate the second angle value α for the first object 102. model 2.

[0200] For example, the first object 102 determines its own first position information and the third position information of the receiving device 101, and calculates the second angle value α based on the first position information and the third position information. model 2.

[0201] It is understandable that if the first object 102 supports and has GNSS installed, the first object 102 can directly determine its first location information through GNSS.

[0202] If the first object 102 does not have GNSS installed or does not support GNSS, the first object 102 can use satellite positioning to determine its first location information. The specific method has been described in the foregoing embodiments and will not be repeated here.

[0203] In addition, the first object 102 can determine the third position information of the receiving device 101 based on ephemeris information, or receive the third position information sent by the receiving device 101, and then calculate the second angle value α based on the first position information and the third position information. model 2.

[0204] Method 2, second angle value α model2 is set by the receiving device 101 and sent to the first object 102.

[0205] For example, the second angle value α model 2 can be preset by the receiving device 101 and provided to the first object 102.

[0206] It is understandable that the second angle value α set by the receiving device 101 model 2 can be related to the first angle value α model 1. Whether they are equal or unequal, this disclosure makes no limitation in this regard.

[0207] For example, the receiving device 101 sets a second angle value α model 2 can be related to the first angle value α model 1. Equal.

[0208] For example, the receiving device 101 sets a second angle value α model 2 can be related to the first angle value α model 1. The receiving device 101 sets a first angle value α. model After 1, it can be based on the first angle value α model 1. Using the altitude value, Earth's radius, etc., of the transmitting device 103, the first position L1 of the first object 102 is determined. Further, assuming the position of the first object 102 remains unchanged, the receiving device 101 can determine its third position Y1 when it receives the sensing reference signal. Based on the first position L1 and the third position Y1, the second angle value α can be calculated. model 2. Then, it is sent to the first object 102, and the first object 102 receives the second angle value α. model 2.

[0209] In the embodiments of the present disclosure, it can be assumed that the position of the first object 102 is unchanged because the maximum speed of the movement of the ground object, such as a high-speed train with a speed of 500 kilometers per hour (km / h) = 138.888889 meters per second, and the speed of a low-orbit satellite is 7.5622 kilometers per second (km / s), and the speed of the target object relative to the low-orbit satellite is very small, so it can be assumed that the position of the first object 102 does not change relative to the satellite during the time period from when the first object 102 reflects the sensing RS (in the satellite transparent forwarding mode, the one-way time of the gateway-satellite-terminal in the Earth low earth orbit (LEO) is 14.204 milliseconds (ms), but the transmission delay of the reflection signal of the sensing RS from the first object 102 to the satellite is definitely less than 14.204 ms) to when the receiving end device 101 receives the reflection signal of the sensing RS (138.888889 meters per second x 14.204 x 10-3 = 1.947 m, that is, the position of the first object 102 does not change substantially).

[0210] The above is only an exemplary illustration, and the present disclosure does not limit the manner in which the first object 102 determines the second angle value.

[0211] After the first object 102 determines the above-mentioned second information, the second value Δf2 can be calculated by using Formula 2.

[0212] In step S2104b, the first object 102 sends the second value Δf2 to the receiving end device 101.

[0213] In some embodiments, the receiving end device 101 receives the second value Δf2.

[0214] In step S2105, the receiving end device 101 calculates the second value Δf2.

[0215] In one example, the receiving end device 101 can calculate the second value Δf2 in the following manner, but is not limited thereto:

[0216] Case 1: If the receiving end device 101 is not a satellite, the receiving end device 101 can determine that the second value Δf2 = 0.

[0217] For example, in the above-mentioned sensing mode 3, the receiving end device 101 is a ground terminal, and at this time, during the reflection of the sensing reference signal to the receiving end device 101, there is no Doppler frequency shift value caused by the movement of the satellite, and therefore, the receiving end device 101 can determine that the second value Δf2 = 0.

[0218] Case 2, the receiving end device 101 is a satellite, for example, in the above-mentioned sensing mode 1, 2, 4, in the process of reflecting the sensing reference signal to the receiving end device 101, there is a Doppler frequency offset value caused by the movement of the satellite (receiving end device 101), the receiving end device 101 can calculate the second value △f2 based on the second information.

[0219] Wherein, the second information includes but is not limited to one or more of the following: a second speed value of the movement of the receiving end device 101; a transmission speed value of the electromagnetic wave; the earth radius; a height value of the receiving end device 101; a second angle value; the second carrier frequency.

[0220] Wherein, the second angle value is the angle value of the line between the receiving end device 101 and the first object 102 relative to the ground plane, for example, as shown in FIG. 2B.

[0221] The second carrier frequency is the carrier frequency when the first object 102 receives the sensing reference signal.

[0222] In one example, the receiving end device 101 can calculate the second value △f2 using the following formula 2:

[0223] Wherein, v sat ′ is the second speed value of the movement of the receiving end device 101, c is the transmission speed value of the electromagnetic wave, R is the earth radius, h’ is the height value of the receiving end device 101, α model 2 is the first angle value, (f c +△f1) is the second carrier frequency.

[0224] Exemplarily, the second speed value v sat ′ of the movement of the receiving end device 101 can be determined by the receiving end device 101 itself, which is not limited in the present disclosure.

[0225] Exemplarily, the height value h’ of the receiving end device 101 can be determined by the receiving end device 101, which is not limited in the present disclosure.

[0226] Exemplarily, the second angle value α model 2 can be determined in the following way: way 1, the receiving end device 101 calculates the second angle value α model 2.

[0227] Exemplarily, the receiving end device 101 determines the first position information of the first object 102, and determines the third position information of the receiving end device 101, based on the first position information and the third position information, the second angle value α model 2 is calculated.

[0228] It can be understood that if the first object 102 supports and installs GNSS, the first object 102 can directly determine the first position information by GNSS, and further, the first object 102 can send the first position information to the receiving end device 101, and the receiving end device 101 receives the first position information.

[0229] If the first object 102 does not install or support GNSS, the first object 102 can determine the first position information by satellite positioning, and further, the first object 102 can send the first position information to the receiving end device 101, and the receiving end device 101 receives the first position information.

[0230] In addition, the receiving end device 101 can determine the third position information, and further, the receiving end device 101 can calculate the second angle value α model 2.

[0231] In mode 2, the second angle value α model 2 is set by the receiving end device 101.

[0232] Exemplarily, the second angle value α model 2 can be set by the receiving end device 101 in advance, for example, set as a constant value according to an agreement.

[0233] In an example, the receiving end device 101 can send the set second angle value to the first object 102, so that the first object 102 calculates the second value △f2.

[0234] It can be understood that the second angle value α model 2 set by the receiving end device 101 can be equal to or different from the first angle value α model 1, and the present disclosure is not limited thereto.

[0235] Exemplarily, the second angle value α model 2 set by the receiving end device 101 can be equal to the first angle value α model 1.

[0236] Exemplarily, the second angle value α model 2 set by the receiving end device 101 can be different from the first angle value α model 1, wherein after the receiving end device 101 sets the first angle value α model 1, the second angle value α model1, the height value of the sending end device 103, the earth radius, etc., determine the first position L1 where the first object 102 is located, and further, assuming that the position of the first object 102 is unchanged, the receiving end device 101 can determine the third position Y1 where the receiving end device 101 is located when receiving the sensing reference signal, and the second angle value a can be calculated based on the first position L1 and the third position Y1 model 2, and then sent to the first object 102, and the first object 102 receives the second angle value a model 2.

[0237] In the embodiments of the present disclosure, it can be assumed that the position of the first object 102 is unchanged, and the specific reasons are not described here.

[0238] The above is only an exemplary description, and the present disclosure does not limit the manner in which the receiving end device 101 determines the second angle value.

[0239] After the receiving end device 101 determines the above-mentioned second information, the second value △f2 can be calculated by using formula 2.

[0240] In some embodiments, steps S2104a to S2104b and step S2105 can be executed alternatively. For example, in the case of calculating the second value △f2 by the first object 102, steps S2104a to S2104b can be executed without executing step S2105. For another example, in the case of calculating the second value △f2 by the receiving end device 101, step S2105 can be executed without executing steps S2104a to S2104b.

[0241] Step S2106, the receiving end device 101 calculates the first Doppler frequency offset value based on the first value △f1 and the second value △f2.

[0242] In some embodiments, the first Doppler frequency offset value is the Doppler frequency offset value caused by the satellite movement, wherein the first Doppler frequency offset value can be represented as △F1.

[0243] In one example, the following formula 3 can be used to calculate △F1: △F1=△f1+△f2 Formula 3

[0244] Wherein, △f1 is the first value, and △f2 is the second value.

[0245] Step S2107, the receiving end device 101 determines the second Doppler frequency offset value based on the total Doppler frequency offset value and the first Doppler frequency offset value.

[0246] In some embodiments, the second Doppler frequency offset value is the Doppler frequency offset value caused by the movement of the first object 102, wherein the second Doppler frequency offset value can be represented as △F2.

[0247] In one example, the following formula 4 can be used to calculate the △F2: △F2=△F-△F1 Formula 4

[0248] wherein, △F is the total Doppler frequency offset value, and △F1 is the first Doppler frequency offset value.

[0249] It can be understood that after the receiving end device 101 calculates the second Doppler frequency offset value △F2, the following formula 5 can be used to calculate the radial velocity value V of the first object: △F2=f c ×V / c Formula 5

[0250] wherein, f c is the first carrier frequency, and c is the transmission speed value of the electromagnetic wave.

[0251] If the radial velocity value of the first object is calculated directly based on the total Doppler frequency offset value, it is obviously inaccurate. By using the above scheme, the Doppler frequency offset value caused by the movement of the satellite can be subtracted from the total Doppler frequency offset value to obtain the Doppler frequency offset value caused by the movement of the first object 102 (i.e., △F2), thereby improving the accuracy of the perception of the first object, and further improving the usability and reliability of the ISAC technology.

[0252] In some embodiments, “acquire”, “obtain”, “get”, “receive”, “transmit”, “bidirectional transmission”, “send and / or receive” can be replaced with each other, which can be interpreted as receiving from other subjects, obtaining from protocols, obtaining from higher layers, processing to obtain, implementing autonomously, and other meanings.

[0253] In some embodiments, the terms “send”, “transmit”, “report”, “issue”, “transmit”, “bidirectional transmission”, “send and / or receive” can be replaced with each other.

[0254] The communication method related to the embodiments of the present disclosure can include at least one of steps S2101-S2107. For example, step S2101 can be implemented as an independent embodiment, steps S2102a+S2102b can be implemented as an independent embodiment, step S2103 can be implemented as an independent embodiment, steps S2104a+S2104b can be implemented as an independent embodiment, step S2105 can be implemented as an independent embodiment, step S2106 can be implemented as an independent embodiment, step S2107 can be implemented as an independent embodiment, and steps S2101-S2107 can be implemented as independent embodiments, but not limited thereto.

[0255] In some embodiments, steps S2101 to S2107 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0256] In some embodiments, the execution order of steps S2101 to S2107 is not limited.

[0257] In the above embodiments, the Doppler shift value caused by the movement of the first object can be accurately determined in the satellite communication system, the accuracy of the perception of the first object is improved, and the availability and reliability of the ISAC technology are improved.

[0258] FIG. 3A is an interaction schematic diagram of a method for determining a Doppler shift according to an embodiment of the present disclosure. As shown in FIG. 3A, the embodiment of the present disclosure relates to a method for determining a Doppler shift, and the above method is performed by the receiving end device 101, and the method comprises the following steps:

[0259] In step S3101, a total Doppler shift value is measured.

[0260] In some embodiments, the optional implementation of step S3101 can refer to the optional implementation of step S2101 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be described here.

[0261] In step S3102, a first value is obtained.

[0262] In some embodiments, the first value is a Doppler shift value caused by a first frequency relative to a first carrier frequency, the first frequency is a signal frequency when the first object 102 receives the perception reference signal, and the first carrier frequency is a carrier frequency when the sending end device of the perception reference signal sends the perception reference signal.

[0263] In some embodiments, the receiving end device 101 can obtain the first value from the first object 102, but is not limited thereto, and can also receive the first value sent by other subjects.

[0264] In some embodiments, the receiving end device 101 obtains the first value specified by a protocol.

[0265] In some embodiments, the receiving end device 101 obtains the first value from the upper layer(s).

[0266] In some embodiments, the receiving end device 101 processes to obtain the first value.

[0267] In some embodiments, step S3102 is omitted, the receiving end device 101 autonomously implements the function indicated by the first value, or the receiving end device 101 obtains the first value based on a pre-defined rule or protocol agreement, or the above function is default or default.

[0268] In some embodiments, the optional implementation of step S3102 can refer to the optional implementation of step S2102b in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0269] Step S3103, calculating the first value.

[0270] In some embodiments, the optional implementation of step S3103 can refer to the optional implementation of step S2103 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0271] In some embodiments, step S3102 and step S3103 can be executed alternatively.

[0272] Step S3104, obtaining the second value.

[0273] In some embodiments, the second value can be a Doppler frequency offset value generated by a second frequency relative to the first frequency, where the second frequency is the signal frequency when the receiving end device receives the perceived reference signal reflected by the first object, and the first frequency is the signal frequency when the first object receives the perceived reference signal.

[0274] In some embodiments, the receiving end device 101 can obtain the second value from the first object 102, but is not limited thereto, and can also receive the second value sent by other objects.

[0275] In some embodiments, the receiving end device 101 obtains the second value specified by a protocol.

[0276] In some embodiments, the receiving end device 101 obtains the second value from upper layer(s).

[0277] In some embodiments, the receiving end device 101 processes to obtain the second value.

[0278] In some embodiments, step S3104 is omitted, and the receiving end device 101 autonomously implements the function indicated by the second value, or the receiving end device 101 obtains the second value based on a pre-defined rule or protocol agreement, or the above function is default or default.

[0279] In some embodiments, the optional implementation of step S3104 can refer to the optional implementation of step S2104b in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0280] Step S3105, calculating the second value.

[0281] In some embodiments, the optional implementation of step S3105 can refer to the optional implementation of step S2105 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0282] In some embodiments, step S3104 and step S3105 can be executed alternatively.

[0283] Step S3106, calculating a first Doppler frequency offset value.

[0284] In some embodiments, the optional implementation of step S3106 can refer to the optional implementation of step S2106 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0285] Step S3107, determining a second Doppler frequency offset value.

[0286] In some embodiments, the optional implementation of step S3107 can refer to the optional implementation of step S2107 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0287] In some embodiments, steps S3101 to S3107 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0288] In some embodiments, the execution order of steps S3101 to S3107 is not limited.

[0289] In the above embodiments, in the satellite communication system, the receiving end device can accurately determine the Doppler shift value caused by the movement of the first object, improve the accuracy of the perception of the first object, and improve the availability and reliability of the ISAC technology.

[0290] FIG. 3B is an interaction schematic diagram of a method for determining a Doppler shift according to embodiments of the present disclosure. As shown in FIG. 3B, the embodiments of the present disclosure relate to a method for determining a Doppler shift, and the above method is executed by the receiving end device 101, and the method comprises:

[0291] Step S3201, measuring a total Doppler frequency offset value.

[0292] In some embodiments, the optional implementation of step S3201 can refer to the optional implementation of step S2101 in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0293] Step S3202, calculating a first Doppler frequency offset value.

[0294] In some embodiments, the optional implementation of step S3202 can refer to the optional implementation of step S2106 in FIG. 2A and other associated parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0295] Step S3203, determining the second Doppler frequency offset value.

[0296] In some embodiments, the optional implementation of step S3103 can refer to the optional implementation of step S2107 in FIG. 2A and other associated parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0297] In some embodiments, steps S3201 to S3203 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0298] In some embodiments, the execution order of steps S3201 to S3203 is not limited.

[0299] In the above embodiments, in the satellite communication system, the receiving end device can accurately determine the Doppler shift value caused by the movement of the first object, improve the accuracy of the perception of the first object, and improve the availability and reliability of the ISAC technology.

[0300] FIG. 3C is an interaction diagram of a method for determining a Doppler shift according to an embodiment of the present disclosure. As shown in FIG. 3C, the embodiment of the present disclosure relates to a method for determining a Doppler shift, and the above method is performed by the first object 102, and the method comprises:

[0301] Step S3301, obtaining a first angle value.

[0302] In some embodiments, the first angle value is an angle value of a line connecting the sending end device 103 and the first object 102 relative to the ground plane.

[0303] In some embodiments, the first object 102 can obtain the first angle value from the receiving end device 101, but is not limited thereto, and can also receive the first angle value sent by other subjects.

[0304] Step S3302, calculating the first angle value.

[0305] In some embodiments, the first object 102 can calculate the first angle value based on the first position information of itself and the second position information of the sending end device 103.

[0306] In some embodiments, steps S3301 and S3302 can be executed alternatively.

[0307] Step S3303, calculating a first value.

[0308] In some embodiments, the first value can be a Doppler frequency shift value caused by a first frequency relative to a first carrier frequency, the first frequency being a signal frequency when the first object 102 receives the perception reference signal, and the first carrier frequency being a carrier frequency when the sending end device sends the perception reference signal.

[0309] In some embodiments, the first object 102 can calculate the first value based on first information. The first information can include, but is not limited to, one or more of the following: a first speed value of the movement of the sending end device 103; a transmission speed value of the electromagnetic wave; an earth radius; a height value of the sending end device; a first angle value; and the first carrier frequency.

[0310] In some embodiments, the optional implementation of step S3303 can refer to the optional implementation of step S2102a in FIG. 2A and other associated parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0311] Step S3304: sending the first value.

[0312] In some embodiments, the first object 102 sends the first value to the receiving end device 101,

[0313] In some embodiments, the receiving end device 101 receives the first value,

[0314] In some embodiments, the optional implementation of step S3302 can refer to the optional implementation of step S2102b in FIG. 2A and other associated parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0315] Step S3305: obtaining a second angle value.

[0316] In some embodiments, the second angle value is an angle value of a line between the receiving end device 101 and the first object 102 relative to the ground plane.

[0317] In some embodiments, the first object 102 can obtain the second angle value from the receiving end device 101, but is not limited thereto, and can also receive the second angle value sent by other subjects.

[0318] Step S3306: calculating the second angle value.

[0319] In some embodiments, the first object 102 can calculate the second angle value based on first position information of itself and third position information of the receiving end device 101.

[0320] In some embodiments, step S3305 and step S3306 can be executed alternatively.

[0321] Step S3307, calculating a second value.

[0322] In some embodiments, the second value can be a Doppler shift value caused by a second frequency relative to the first frequency, the second frequency being a signal frequency when the receiving end device receives the perceived reference signal reflected by the first object. The first frequency is a signal frequency when the first object receives the perceived reference signal.

[0323] In some embodiments, the first object 102 can calculate the second value based on second information. The second information includes, but is not limited to, one or more of the following: a second speed value of the receiving end device 101; a transmission speed value of the electromagnetic wave; an earth radius; a height value of the receiving end device 101; a second angle value; and the second carrier frequency.

[0324] In some embodiments, the optional implementation of step S3307 can refer to the optional implementation of step S2104a of FIG. 2A and other associated parts of the embodiments involved in FIG. 2A, which will not be repeated here.

[0325] Step S3308, sending the second value.

[0326] In some embodiments, the first object 102 sends the second value to the receiving end device 101,

[0327] In some embodiments, the receiving end device 101 receives the second value,

[0328] In some embodiments, the optional implementation of step S3308 can refer to the optional implementation of step S2104b of FIG. 2A and other associated parts of the embodiments involved in FIG. 2A, which will not be repeated here.

[0329] In some embodiments, steps S3301 to S3308 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0330] In some embodiments, the execution order of steps S3301 to S3308 is not limited.

[0331] In the above embodiments, in a satellite communication system, the first object that needs to be perceived can calculate the first value and / or the second value and send it to the receiving end device, and the receiving end device can determine the Doppler shift value caused by the movement of the first object, thereby improving the accuracy of the perception of the first object and improving the availability and reliability of the ISAC technology.

[0332] FIG. 3D is an interaction schematic diagram of a method for determining a Doppler shift, according to an embodiment of the present disclosure. As shown in FIG. 3D, the embodiment of the present disclosure relates to a method for determining a Doppler shift, which is performed by the first object 102, and the method comprises the following steps:

[0333] Step S3401: calculating a first value.

[0334] In some embodiments, the first value can be a Doppler shift value generated by a first frequency relative to a first carrier frequency, the first frequency being a signal frequency when the first object 102 receives the perception reference signal, and the first carrier frequency being a carrier frequency when a sending end device of the perception reference signal sends the perception reference signal.

[0335] In some embodiments, the optional implementation of step S3401 can refer to the optional implementation of step S2102a in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0336] Step S3402: sending the first value.

[0337] In some embodiments, the first object 102 sends the first value to the receiving end device 101,

[0338] In some embodiments, the receiving end device 101 receives the first value,

[0339] In some embodiments, the optional implementation of step S3402 can refer to the optional implementation of step S2102b in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0340] Step S3403: calculating a second value.

[0341] In some embodiments, the second value can be a Doppler shift value generated by a second frequency relative to the first frequency, the second frequency being a signal frequency when the receiving end device receives the perception reference signal reflected by the first object. The first frequency is a signal frequency when the first object receives the perception reference signal.

[0342] In some embodiments, the optional implementation of step S3403 can refer to the optional implementation of step S2104a in FIG. 2A and other associated parts in the embodiments related to FIG. 2A, which will not be repeated here.

[0343] Step S3404: sending the second value.

[0344] In some embodiments, the first object 102 sends the second value to the receiving end device 101,

[0345] In some embodiments, the receiving end device 101 receives the second value,

[0346] In some embodiments, the optional implementation of step S3404 can refer to the optional implementation of step S2104b in FIG. 2A and other associated parts in the embodiments involved in FIG. 2A, which will not be repeated here.

[0347] In some embodiments, steps S3401 to S3404 are optional, and one or more of these steps can be omitted or replaced in different embodiments.

[0348] In some embodiments, the execution order of steps S3401 to S3404 is not limited.

[0349] In the above embodiments, in the satellite communication system, the first object that needs to be perceived can calculate the first value and / or the second value and send it to the receiving end device, and the receiving end device determines the Doppler shift value caused by the movement of the first object, which improves the accuracy of the perception of the first object and improves the availability and reliability of the ISAC technology.

[0350] The above process is further illustrated as follows.

[0351] In the embodiments of the present disclosure, the receiving end device is also called a perception receiving end. Based on the measured Doppler frequency offset value △F, the Doppler frequency offset value △F1 caused by the movement of the satellite is subtracted to obtain the Doppler frequency shift value △F2 caused by the movement of the first object (also referred to as target object in the following), that is, △F2 = △F - △F1.

[0352] The relationship between the speed value of the target object and the Doppler frequency shift value △F2 caused by the movement of the target object is △F2 = f c ×V / c, V is the radial speed value of the target object, that is, the speed value of the target object in the direction of signal propagation, c is the speed of electromagnetic wave, and f c is the frequency of the carrier.

[0353] Where the Doppler frequency shift value △F1 caused by the movement of the satellite is △f1 + △f2

[0354] △f1 indicates that the sending end device, also called a perception sending end, sends a sensing signal to the target object, and receives the sensing signal. If there is relative movement between the satellite and the target object, the frequency of the signal received by the target object when receiving the sensing RS is relative to the carrier frequency f cThe Doppler shift value generated, △f2, represents the process of the target object reflecting the sensing signal to the sensing receiver receiving the reflected signal. If there is relative movement between the satellite and the target object, the frequency at which the sensing receiver receives the reflected signal of the sensing RS is different from the frequency f c + △f1, the Doppler shift value generated.

[0355] The calculation of △f1 uses the following Formula 1: at this time, the satellite elevation angle a model 1 is the angle between the satellite and the horizon of the location of the target object when the target object receives the sensing RS (when the sensing transmitter is a satellite, △f1 is not equal to 0 and needs to be calculated, when the sensing transmitter is not a satellite, △f1 is equal to 0).

[0356] The calculation of △f2 uses the following Formula 2: at this time, the satellite elevation angle a model 2 is the angle between the satellite and the horizon of the location of the target object when the sensing receiver receives the reflected signal of the sensing RS (when the sensing receiver is a satellite, △f2 is not equal to 0 and needs to be calculated, when the sensing receiver is a satellite, △f2 is equal to 0).

[0357] v sat , v sat ' respectively represent the speed of the sensing transmitter and the sensing receiver, c is the speed of electromagnetic waves, R is the radius of the earth, h, h' respectively represent the height of the sensing transmitter and the sensing receiver, a model 1, a model 2 respectively represent the elevation angle of the sensing transmitter and the sensing receiver, for example, as shown in FIG. 2B, f c is the frequency of the carrier.

[0358] For the case where the sensing transmitter and the sensing receiver are different satellites, v sat in Formula 1 refers to the satellite speed of the sensing transmitter, and v sat ' in Formula 2 refers to the satellite speed of the sensing receiver.

[0359] The calculation of △f1 and △f2 mainly has the following cases,

[0360] Case 1: In sensing mode 1, the same satellite is the sensing RS transmitter and the sensing RS reflected signal receiver, then △f1 and △f2 are not equal to 0, and the angles a model 1 and a model 2 need to be determined and the values of △f1 and △f2 need to be calculated.

[0361] Case 2: In sensing mode 2, satellite 1 is the transmitting end of the sensing RS, satellite 2 is the receiving end of the reflected signal of the sensing RS, and neither △f1 nor △f2 is equal to 0. The values of △f1 and △f2 need to be determined, and the angle a needs to be determined. model 1 and a model 2, and the values of △f1 and △f2 are calculated and determined.

[0362] Case 3: In sensing mode 3, the satellite is the transmitting end of the sensing RS, and the ground terminal receives the reflected signal of the sensing signal. △f1 is not equal to 0, and △f2 is equal to 0. Only the value of the angle a needs to be determined. model 1, and the value of △f1 is calculated and determined.

[0363] Case 4: In sensing mode 4, the terminal transmits the sensing signal, and the satellite receives the reflected signal of the sensing signal. △f1 is equal to 0, and △f2 is not equal to 0. Only the value of the angle a needs to be determined. model 2, and the value of △f2 is calculated and determined.

[0364] If the angle a model 1 and / or a model 2 is determined by the sensing receiving end (determined by the satellite), then the sensing receiving end calculates △f1 and / or △f2. There is no need to indicate the calculated f1 and / or △f2 to the sensing receiving end, because the satellite is the sensing receiving end. At the same time, for case 2, the sensing transmitting end also needs to indicate the satellite moving speed V

[0365] If the angle a model 1 and / or a model 2 is determined by the target object, then the target object calculates △f1 and / or △f2 according to the ephemeris information and the determined angle a model 1 and / or a model 2, and indicates the determined △f1 and / or △f2 to the sensing receiving end on the pre-configured resource or the resource dynamically indicated by the satellite.

[0366] Wherein, the determination of the angle a model 1 and / or a model 2 is as follows:

[0367] Embodiment 1: The target object obtains its own position through GNSS, and obtains the position of the satellite through the ephemeris information broadcast by the base station, that is, the above satellite elevation angle a model 1 and a model 2 can be determined, or the target object obtains its own position through GNSS, and indicates its own position information to the satellite on the pre-configured resource or the resource dynamically indicated by the satellite. The satellite determines the elevation angle a model 1 and amodel 2 (This mode is applicable to terminals with GNSS force and with communication capability).

[0368] Embodiment 2, satellite side preset satellite elevation angle a model 1 and a model 2, satellite elevation angle a model 1 and a model 2 satellites are determined, or the satellite can also indicate the elevation angle a to the target object model 1 and a model 2, (This mode is applicable to target objects without communication capability, without GNSS capability).

[0369] Satellite elevation angle a model 1 and a model 2 are determined by the satellite, a model 1 and a model 2 can be equal;

[0370] Special, a model 1 and a model 2 are not equal, such as preset angle a model 1, the satellite determines the elevation angle a according to the angle a model 1 and the height of the satellite, the radius of the earth, etc. Determine the elevation angle a model 1 corresponding to the position of the target object L1, assuming that the position of the target object is constant, the position Y1 of the sensing receiving end satellite when receiving the reflected signal of the sensing RS, the satellite itself is known Y1, then the satellite can determine the elevation angle a model 2 according to its own position Y1, the position of the target object L1 when receiving the reflected signal of the sensing RS

[0371] It can be assumed that the position of the target object is constant, because the maximum speed of the ground target object is very small, such as a high-speed train with a speed of 500 km / h = 138.888889 m / s, and the speed of a low-orbit satellite is 7.5622 km / s, relative to a low-orbit satellite, the speed of the target object is very small, so it can be assumed that the position of the target object does not change relative to the satellite during the time when the target object reflects the sensing RS (in the satellite transparent forwarding mode, LEO, the one-way time of the gateway-satellite-terminal is 14.204 ms, but the transmission delay of the target object reflecting the sensing RS to the satellite receiving the reflected signal of the sensing RS is definitely less than 14.204 ms) to the sensing receiving end receiving the reflected signal of the sensing RS (138.888889 m / s x 14.204 x 10-3 = 1.947 m, that is, the position of the target object basically does not change).

[0372] In Embodiment 3, the target object acquires its own position by satellite positioning technology, and acquires the positions of satellites by ephemeris information broadcast by the base station, i.e., the position of the satellite and the position of the target object are determined, and the elevation angle a is determined model 1 and a model 2 (this is applicable to a target object without GNSS capability but with communication capability).

[0373] The elevation angle a model 1 and a model 2 is determined by the target object (terminal-side positioning technology) or by the satellite (satellite-side positioning technology).

[0374] For example, the satellite-side positioning technology is used: for example, the multi-RTT (round trip time) positioning technology with reference to the ground: the time required for the satellite signal to be transmitted and received is combined with the signal propagation speed to calculate the distance between the target object and the satellite, and the calculated distance value constitutes a spherical surface with the satellite as the center and the distance as the radius. The target object transmits and receives reference signals with at least three satellites, measures the Rx-Tx time difference to obtain three sets of distance values, draws three spherical surfaces, and the three spherical surfaces intersect to form two intersection points. One of the intersection points is in space, and the other is on the ground, i.e., the position on the ground is determined as the position of the target object.

[0375] In the embodiments of the present disclosure, part or all of the steps, and optional implementation manners thereof, can be combined with part or all of the steps in other embodiments, or can be combined with optional implementation manners of other embodiments.

[0376] The embodiments of the present disclosure also propose a device for implementing any of the above methods, for example, a device is proposed, which includes units or modules for implementing the steps performed by the receiving end device in any of the above methods. For another example, another device is proposed, which includes units or modules for implementing the steps performed by the first object in any of the above methods.

[0377] It should be understood that the division of each unit or module in the above apparatus is only a logical function division, and all or part of them can be integrated into a physical entity or physically separated in actual implementation. In addition, the units or modules in the apparatus can be implemented in the form of processor calling software: for example, the apparatus includes a processor, the processor is connected with a memory, the memory stores instructions, and the processor calls the instructions stored in the memory to realize any of the above methods or realize the functions of each unit or module of the above apparatus, wherein the processor is a general processor such as a central processing unit (CPU) or a microprocessor, and the memory is a memory in the apparatus or a memory outside the apparatus. Alternatively, the units or modules in the apparatus can be implemented in the form of hardware circuit, and the functions of part or all of the units or modules can be realized by the design of hardware circuit. The above hardware circuit can be understood as one or more processors; for example, in one implementation, the above hardware circuit is an application-specific integrated circuit (ASIC), and the functions of part or all of the units or modules are realized by the design of the logical relationship of elements in the circuit; for another example, in another implementation, the above hardware circuit is a programmable logic device (PLD), and a field programmable gate array (FPGA) is taken as an example, which can include a large number of logic gate circuits, and the connection relationship between the logic gate circuits is configured by a configuration file, so as to realize the functions of part or all of the above units or modules. All units or modules of the above apparatus can be all implemented in the form of processor calling software, or all implemented in the form of hardware circuit, or part implemented in the form of processor calling software and the remaining part implemented in the form of hardware circuit.

[0378] In embodiments of the present disclosure, the processor is a circuit with signal processing capability. In one implementation, the processor can be a circuit with instruction reading and running capability, such as a central processing unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), a digital signal processor (DSP), or the like. In another implementation, the processor can implement certain functions through a logical relationship of hardware circuit, and the logical relationship of the hardware circuit is fixed or reconfigurable. For example, the processor is a hardware circuit implemented by an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In the reconfigurable hardware circuit, the processor loads a configuration document to implement the configuration of the hardware circuit. It can be understood that the processor loads instructions to implement the functions of some or all of the units or modules described above. In addition, the hardware circuit can also be designed for artificial intelligence, which can be understood as an ASIC, such as a neural network processing unit (NPU), a tensor processing unit (TPU), a deep learning processing unit (DPU), or the like.

[0379] FIG. 4A is a structural schematic diagram of a receiving end device according to an embodiment of the present disclosure. As shown in FIG. 4A, the receiving end device 4100 can include a processing module 4101.

[0380] In some embodiments, the processing module 4101 described above is configured to measure a total Doppler frequency offset value based on a perception reference signal reflected by a first object; wherein the first object is an object that needs to be perceived; calculate a first Doppler frequency offset value, wherein the first Doppler frequency offset value is a Doppler frequency offset value caused by satellite movement; determine a second Doppler frequency offset value based on the total Doppler frequency offset value and the first Doppler frequency offset value; wherein the second Doppler frequency offset value is a Doppler frequency offset value caused by movement of the first object.

[0381] Optionally, the processing module 4101 described above is configured to perform at least one of the other steps (for example, steps S2101, S2103, S2105, S2106, S2107, but not limited thereto) performed by the receiving end device 4100 in any of the above methods. Details are not described herein.

[0382] FIG. 4B is a structural schematic diagram of the first object according to an embodiment of the present disclosure. As shown in FIG. 4B, the first object 4200 can include a processing module 4201 and a transceiver module 4202.

[0383] In some embodiments, the processing module 4201 is configured to calculate a first value, wherein the first value is a Doppler frequency offset value generated by a first frequency relative to a first carrier frequency, the first frequency is a signal frequency when the first object receives the perception reference signal, and the first carrier frequency is a carrier frequency when a sending end device of the perception reference signal sends the perception reference signal; and / or calculate a second value, wherein the second value is a Doppler frequency offset value generated by a second frequency relative to the first frequency, the second frequency is a signal frequency when a receiving end device of the perception reference signal receives the perception reference signal reflected by the first object, and the first frequency is a signal frequency when the first object receives the perception reference signal.

[0384] In some embodiments, the transceiver module 4202 is configured to send the first value and / or the second value to the receiving end device of the perception reference signal.

[0385] Optionally, the processing module 4201 is configured to perform at least one of other steps (for example, steps S2102a and S2104a, but not limited thereto) performed by the first object 4200 in any of the above methods, which will not be described herein again.

[0386] Optionally, the transceiver module 4202 is configured to perform at least one of the communication steps (for example, steps S2102b and S2104b, but not limited thereto) performed by the first object 4200 in any of the above methods, which will not be described herein again.

[0387] In some embodiments, the sending module and / or the receiving module can be referred to as a transceiver module, and the sending module and the receiving module can be separate or integrated together. Optionally, the transceiver module can be replaced by a transceiver.

[0388] In some embodiments, the processing module can be one module or can include multiple sub-modules. Optionally, the multiple sub-modules perform all or part of the steps required to be performed by the processing module. Optionally, the processing module can be replaced by a processor.

[0389] FIG. 5A is a structural schematic diagram of a communication device 5100 according to an embodiment of the present disclosure. The communication device 5100 can be a receiving end device (e.g., a user equipment, a satellite, an Internet of Things device, etc.) or a first object (e.g., a user equipment, an Internet of Things device, etc.), or a chip, a chip system, or a processor supporting the receiving end device to implement any of the above methods, or a chip, a chip system, or a processor supporting the first object to implement any of the above methods. The communication device 5100 can be used to implement the methods described in the above method embodiments, and details can be referred to the descriptions in the above method embodiments.

[0390] As shown in FIG. 5A, the communication device 5100 includes one or more processors 5101. The processor 5101 can be a general purpose processor or a special purpose processor, for example, a baseband processor or a central processing unit. The baseband processor can be used to process communication protocols and communication data, and the central processing unit can be used to control the communication device (e.g., a satellite, a terminal device, a terminal device chip, an environmental Internet of Things device, a TRP, etc.), execute programs, and process data of the programs. Optionally, the communication device 5100 is configured to implement any of the above methods. Optionally, the one or more processors 5101 are configured to invoke instructions to cause the communication device 5100 to implement any of the above methods.

[0391] In some embodiments, the communication device 5100 further includes one or more transceivers 5102. When the communication device 5100 includes the one or more transceivers 5102, the transceiver 5102 performs at least one of the communication steps (e.g., step S2102b, step S2104b, but not limited to) in the above methods, and the processor 5101 performs at least one of the other steps (e.g., step S2101, step S2102a, step S2103, step S2104a, step S2105, step S2106, step S2107, but not limited to) in the above methods. In optional embodiments, the transceiver can include a receiver and / or a transmitter, which can be separate or integrated together. Optionally, the terms of transceiver, transceiving unit, transceiver, transceiving circuit, interface circuit, interface, etc. can be replaced with each other, and the terms of transmitter, transmitting unit, transmitter, transmitting circuit, etc. can be replaced with each other, and the terms of receiver, receiving unit, receiver, receiving circuit, etc. can be replaced with each other.

[0392] In some embodiments, the communication device 5100 further includes one or more memories 5103 for storing data. Alternatively, all or part of the memories 5103 can also be outside the communication device 5100. In optional embodiments, the communication device 5100 can include one or more interface circuits 5104. Optionally, the interface circuit 5104 is connected with the memory 5103, and the interface circuit 5104 can be used to receive data from the memory 5103 or other devices, and can be used to send data to the memory 5103 or other devices. For example, the interface circuit 5104 can read the data stored in the memory 5103 and send the data to the processor 5101.

[0393] The communication device 5100 described in the above embodiments can be a network device or a terminal, but the scope of the communication device 5100 described in the present disclosure is not limited thereto, and the structure of the communication device 5100 can not be limited by Figure 5A. The communication device can be a stand-alone device or can be part of a larger device. For example, the communication device can be: 1) a stand-alone integrated circuit (IC), or a chip, or a chip system or subsystem; (2) a set of one or more ICs, which can optionally include a storage component for storing data, programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, a terminal device, a smart terminal device, a cellular phone, a wireless device, a handset, a mobile unit, a vehicle-mounted device, a network device, a cloud device, an artificial intelligence device, etc.; (6) other devices, etc.

[0394] Figure 5B is a structural schematic diagram of a chip 5200 according to an embodiment of the present disclosure. For the case where the communication device 5100 is a chip or a chip system, the structural schematic diagram of the chip 5200 shown in Figure 5B can be referred to, but is not limited thereto.

[0395] The chip 5200 includes one or more processors 5201. The chip 5200 is configured to execute any of the above methods.

[0396] In some embodiments, the chip 5200 further includes one or more interface circuits 5202. Optionally, the terms interface circuit, interface, transceiver pin, etc. can be replaced with each other. In some embodiments, the chip 5200 further includes one or more memories 5203 for storing data. Optionally, all or part of the memories 5203 can be outside the chip 5200. Optionally, the interface circuit 5202 is connected with the memory 5203, and the interface circuit 5202 can be used to receive data from the memory 5203 or other devices, and can be used to send data to the memory 5203 or other devices. For example, the interface circuit 5202 can read the data stored in the memory 5203 and send the data to the processor 5201.

[0397] In some embodiments, the interface circuit 5202 performs at least one of the communication steps (for example, step S2102b, step S2104b, but not limited to) of transmitting and / or receiving in the above method. The interface circuit 5202 performing the communication steps such as transmitting and / or receiving in the above method means that the interface circuit 5202 performs data interaction between the processor 5201, the chip 5200, the memory 5203, or the transceiver device. In some embodiments, the processor 5201 performs at least one of the other steps (for example, step S2101, step S2102a, step S2103, step S2104a, step S2105, step S2106, step S2107, but not limited to).

[0398] The modules and / or devices described in each of the embodiments of the virtual device, the physical device, the chip, etc. can be combined or separated according to the situation. Optionally, part or all of the steps can also be performed by a plurality of modules and / or devices in cooperation, which is not limited here.

[0399] The disclosure also proposes a storage medium, and the above storage medium stores instructions, which, when executed on the communication device 5100, causes the communication device 5100 to perform any of the above methods. Optionally, the above storage medium is an electronic storage medium. Optionally, the above storage medium is a computer readable storage medium, but is not limited to this, and it can also be a storage medium readable by other devices. Optionally, the above storage medium can be a non-transitory storage medium, but is not limited to this, and it can also be a transitory storage medium.

[0400] The disclosure also proposes a program product, which, when executed by the communication device 5100, causes the communication device 5100 to perform any of the above methods. Optionally, the above program product is a computer program product.

[0401] The disclosure also proposes a computer program, which, when executed on a computer, causes the computer to perform any of the above methods.

[0402] Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the features disclosed herein. The disclosure is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such features that are evident to those skilled in the art or are known in the art and can be applied to the features described herein. The specification and examples are to be regarded as illustrative only, and the true scope and spirit of the disclosure are indicated by the following claims.

[0403] It should be understood that the present disclosure is not limited to the precise construction that has been described above and shown in the accompanying drawings, and that various modifications and changes can be made by those skilled in the art without departing from the scope of the present disclosure. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A method of determining a Doppler shift, characterized by, The method is performed by a receiving end device of a perception reference signal, and the method comprises: measuring a total Doppler frequency offset value based on the perception reference signal reflected by a first object; wherein the first object is an object to be perceived; calculating a first Doppler frequency offset value, wherein the first Doppler frequency offset value is a Doppler frequency offset value caused by satellite movement; determining a second Doppler frequency offset value based on the total Doppler frequency offset value and the first Doppler frequency offset value; wherein the second Doppler frequency offset value is a Doppler frequency offset value caused by movement of the first object.

2. The method of claim 1, wherein, The calculation of the first Doppler frequency offset value comprises: determining a first value; wherein the first value is a Doppler frequency offset value caused by a first frequency relative to a first carrier frequency, the first frequency being a signal frequency of the perception reference signal when the first object receives the perception reference signal, and the first carrier frequency being a carrier frequency of the perception reference signal when a sending end device of the perception reference signal sends the perception reference signal; determining a second value; wherein the second value is a Doppler frequency offset value caused by a second frequency relative to the first frequency, the second frequency being a signal frequency when the receiving end device receives the perception reference signal reflected by the first object; calculating the first Doppler frequency offset value based on the first value and the second value.

3. The method of claim 2, wherein, The determination of the first value comprises any one of the following: receiving the first value sent by the first object; calculating the first value.

4. The method of claim 3, wherein, The calculation of the first value comprises any one of the following: the sending end device is not a satellite, and the first value is 0; the sending end device is a satellite, and the first value is calculated based on first information; wherein the first information comprises at least one of the following: a first speed value of movement of the sending end device; a transmission speed value of an electromagnetic wave; an earth radius; an altitude value of the sending end device; a first angle value; wherein the first angle value is an angle value of a line connecting the sending end device and the first object relative to a ground plane; the first carrier frequency.

5. The method of claim 4, wherein, The method further comprises: receiving the first angle value sent by the first object.

6. The method of claim 4, wherein, The method further comprises: the receiving end device is a satellite, and first position information of the first object is received; wherein the first position information is position information of the first object; the first angle value is calculated based on second position information of the sending end device and the first position information.

7. The method of claim 6, wherein, The method further comprises: the receiving end device is a satellite, and the first angle value is set; the first angle value is sent to the first object.

8. The method of claim 2, wherein, The determination of the second value comprises any one of the following: receiving the second value sent by the first object; calculating the second value.

9. The method of claim 8, wherein, The calculation of the second value comprises any one of the following: the receiving end device is not a satellite, and the second value is 0; the receiving end device is a satellite, and the second value is calculated based on second information; wherein the second information comprises at least one of the following: a second speed value of movement of the receiving end device; a transmission speed value of an electromagnetic wave; an earth radius; an altitude value of the receiving end device; a second angle value; wherein the second angle value is an angle value of a line between the receiving end device and the first object relative to a ground plane; a second carrier frequency; wherein the second carrier frequency is a carrier frequency when the first object receives the perception reference signal.

10. The method of claim 9, wherein, The method further comprises: receiving the second angle value sent by the first object.

11. The method of claim 9, wherein, The method further comprises: The receiving end device is a satellite, and first position information of the first object is received; wherein the first position information is position information of the first object; based on third position information of the receiving end device and the first position information, the second angle value is calculated.

12. The method of claim 11, wherein, The method further comprises: The receiving end device is a satellite, and the second angle value is set; The second angle value is sent to the first object.

13. A method of determining a Doppler shift, characterized by, The method is performed by a first object, and the first object is an object that needs to be perceived, and the method comprises: calculating a first value and sending the first value to a receiving end device of a perception reference signal; wherein the first value is a Doppler frequency offset value generated by a first frequency relative to a first carrier frequency, the first frequency is a signal frequency when the first object receives the perception reference signal, and the first carrier frequency is a carrier frequency when a sending end device of the perception reference signal sends the perception reference signal; and / or calculating a second value and sending the second value to a receiving end device of a perception reference signal; wherein the second value is a Doppler frequency offset value generated by a second frequency relative to a first frequency, the second frequency is a signal frequency when the receiving end device of the perception reference signal receives the perception reference signal reflected by the first object, and the first frequency is a signal frequency when the first object receives the perception reference signal.

14. The method of claim 13, wherein, The calculation of the first value comprises any of the following: The sending end device is not a satellite, and the first value is 0; The sending end device is a satellite, and the first value is calculated based on first information; The first information comprises at least one of the following: a first speed value of the sending end device; a transmission speed value of an electromagnetic wave; an earth radius; an altitude value of the sending end device; a first angle value; wherein the first angle value is an angle value of a line between the sending end device and the first object relative to a ground plane; The first carrier frequency.

15. The method of claim 14, wherein, The method further comprises any of the following: calculating the first angle value; receiving the first angle value sent by the receiving end device.

16. The method of claim 15, wherein, The calculation of the first angle value comprises: determining first position information of the first object; determining second position information of the sending end device; based on the first position information and the second position information, the first angle value is calculated.

17. The method of claim 16, wherein, The determination of the second position information of the sending end device comprises any of the following: The sending end device is a satellite, and the second position information is determined based on ephemeris information; The sending end device is not a satellite, and the second position information sent by the sending end device is received.

18. The method according to any one of claims 15-17, characterized by, The method further comprises: sending the first angle value to the receiving end device.

19. The method of claim 13, wherein, The calculation of the second value comprises: The receiving end device is not a satellite, and the second value is 0; The receiving end device is a satellite, and the second value is calculated based on second information; The second information includes at least one of the following: A second speed value of the receiving end device; A transmission speed value of the electromagnetic wave; The radius of the earth; An altitude value of the receiving end device; A second angle value; wherein the second angle value is an angle value of a line between the receiving end device and the first object relative to the ground plane; A second carrier frequency; wherein the second carrier frequency is a carrier frequency when the first object receives the sensing reference signal.

20. The method of claim 19, wherein, The method further includes any of the following: Calculating the second angle value; Receiving the second angle value sent by the receiving end device.

21. The method of claim 20, wherein, The calculation of the second angle value includes: Determining first position information of the first object; Determining third position information of the receiving end device; Based on the first position information and the third position information, calculating the second angle value.

22. The method of claim 21, wherein, The determination of the third position information of the receiving end device includes any of the following: The receiving end device is a satellite, and the third position information is determined based on ephemeris information; The receiving end device is not a satellite, and the third position information is received from the receiving end device.

23. The method according to any one of claims 20-22, characterized in that, The method further includes: Sending the second angle value to the receiving end device.

24. The method of claim 16 or 21, wherein, The determination of the first position information of the first object includes any of the following: Based on a global satellite navigation system (GNSS), the first position information is determined; Through a satellite positioning method, the first position information is determined.

25. A receiving end device, comprising: Comprise: A processing module configured to measure a total Doppler frequency offset value based on a sensing reference signal reflected by a first object; wherein the first object is an object that needs to be sensed; The processing module is further configured to calculate a first Doppler frequency offset value, wherein the first Doppler frequency offset value is a Doppler frequency offset value caused by satellite movement; The processing module is further configured to determine a second Doppler frequency offset value based on the total Doppler frequency offset value and the first Doppler frequency offset value; wherein the second Doppler frequency offset value is a Doppler frequency offset value caused by movement of the first object.

26. A first object, said first object being an object that needs to be sensed, characterized in that Comprise: A processing module configured to calculate a first value; wherein the first value is a Doppler frequency offset value generated by a first frequency relative to a first carrier frequency, the first frequency being a signal frequency when the first object receives the sensing reference signal, and the first carrier frequency being a carrier frequency when a sending end device of the sensing reference signal sends the sensing reference signal; A transceiver module configured to send the first value to a receiving end device of the sensing reference signal; and / or A processing module configured to calculate a second value; wherein the second value is a Doppler frequency offset value generated by a second frequency relative to the first frequency, the second frequency being a signal frequency when the receiving end device of the sensing reference signal receives the sensing reference signal reflected by the first object, and the first frequency being a signal frequency when the first object receives the sensing reference signal; a transceiving module configured to transmit the second value to a receiving end device of the perception reference signal.

27. A receiving end device, comprising: comprising: one or more processors; wherein the processor is configured to perform the method of any one of claims 1-12 for determining a Doppler shift.

28. A first object, said first object being an object that needs to be sensed, characterized in that, comprising: one or more processors; wherein the processor is configured to perform the method of any one of claims 13-24 for determining a Doppler shift.

29. A communication system, characterized by comprising: a transmitting end device configured to transmit a perception reference signal; a first object, the first object being an object to be perceived, the first object being configured to perform the method of any one of claims 1-12 for determining a Doppler shift; a receiving end device configured to receive the perception reference signal reflected by the first object, the receiving end device being configured to perform the method of any one of claims 13-24 for determining a Doppler shift.

30. A storage medium, the storage medium storing instructions, wherein, the instructions, when executed on the communication device, causing the communication device to perform the method of any one of claims 1-12 or 13-24 for determining a Doppler shift.

31. A computer program product comprising a computer program, characterised in that, the computer program, when executed by the processor, causing the processor to perform the method of any one of claims 1-12 or 13-24 for determining a Doppler shift.

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