Synchronization error cancellation method and apparatus for sensing

Abstract

The present application relates to the technical field of communications, and provides a synchronization error cancellation method and apparatus for sensing. The method comprises: acquiring a first measurement result for a first path, the first path referring to a transmission path sent by a first device, received by a second device and passing through a first object; acquiring a second measurement result for a second path, the second path referring to a transmission path sent by the second device, received by the first device and passing through the first object; and determining the position of the first object on the basis of the first measurement result and the second measurement result. The method in the embodiments of the present application improves the accuracy of positioning results.

Description

Method and apparatus for eliminating synchronization errors in sensing

[0001] This application claims priority to Chinese Patent Application No. 202411539893.7, filed on October 30, 2024, entitled "Method and Apparatus for Eliminating Synchronization Errors in Sensing", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, and more specifically to a method and apparatus for eliminating synchronization errors in sensing. Background Technology

[0003] With the development of communication technology, some communication systems have introduced bistatic sensing to improve the sensing capabilities of the communication system. Bistatic sensing refers to self-transmitting and other-receiving sensing, where the transmitter and receiver are located at different nodes in different locations.

[0004] However, there is often clock bias (i.e. clock error) between different nodes, which affects the accuracy of time delay measurement between nodes, and thus affects the accuracy of bi-base sensing. Summary of the Invention

[0005] This application provides a method and apparatus for eliminating synchronization errors in sensing, which helps to improve the accuracy of positioning results.

[0006] In a first aspect, a method for eliminating synchronization errors in sensing is provided, the method being applied to a terminal device or a component in the terminal device (e.g., a processor, chip, chip system, circuit, or a functional module, etc.), the method comprising:

[0007] Obtain a first measurement result for a first path, where the first path refers to a transmission path sent by a first device, received by a second device, and passing through a first object; obtain a second measurement result for a second path, where the second path refers to a transmission path sent by a second device, received by a first device, and passing through the first object; determine the position of the first object based on the first measurement result and the second measurement result.

[0008] In this embodiment of the application, obtaining the first measurement result of the first path, obtaining the second measurement result of the second path, and determining the position of the first object based on the first measurement result and the second measurement result helps to eliminate the time delay synchronization error between the first device and the second device, thereby helping to improve the accuracy of the positioning result of the first object.

[0009] In some possible implementations, the first measurement result includes a first delay of the first path, and the second measurement result includes a second delay of the second path; wherein, determining the position of the first object based on the first measurement result and the second measurement result includes: calculating the average delay of the first delay and the second delay; and determining the position of the first object based on the average delay.

[0010] In this embodiment of the application, by calculating the average delay between the first delay and the second delay, the time delay synchronization error between the first device and the second device can be eliminated. At this time, determining the position of the first object based on the average delay can improve the accuracy of the positioning result of the first object.

[0011] In some possible implementations, the method further includes: determining whether the first path and the second path match based on the first measurement result and the second measurement result; wherein, determining the position of the first object based on the first measurement result and the second measurement result includes: determining the position of the first object based on the first measurement result and the second measurement result if the first path and the second path match.

[0012] In this embodiment of the application, determining whether the first path and the second path match based on the first measurement result and the second measurement result can eliminate the multipath effect of the wireless channel and avoid the inability to correct the time delay synchronization error between the first device and the second device due to the mismatch between the first path and the second path. At this time, when the first path and the second path match, determining the position of the first object based on the first measurement result and the second measurement result can ensure the accuracy of the positioning result of the first object.

[0013] In some possible implementations, the first measurement result includes first indication information, a first delay of the first path, the departure angle of the first path, and / or the arrival angle of the first path; the second measurement result includes second indication information, a second delay of the second path, the departure angle of the second path, and / or the arrival angle of the second path; the first indication information is used to indicate whether the first path is line-of-sight or non-line-of-sight; and the second indication information is used to indicate whether the second path is line-of-sight or non-line-of-sight. The step of determining whether the first path and the second path match based on the first measurement result and the second measurement result includes: determining whether the first path and the second path are a pair of round-trip paths based on the first measurement result and the second measurement result.

[0014] In this embodiment of the application, determining whether the first path and the second path are a pair of round-trip paths based on the first measurement result and the second measurement result can eliminate the multipath effect of the wireless channel, avoid the inability to correct the time delay synchronization error between the first device and the second device due to the mismatch between the first path and the second path, and ensure the accuracy of the positioning result of the first object.

[0015] In some possible implementations, determining whether the first path and the second path are a round-trip path based on the first measurement result and the second measurement result includes: determining that the first path and the second path are a round-trip path if one or more of the following conditions are met: the first indication information and the second indication information are the same; the difference between the first delay and the second delay is less than or equal to a first threshold; the difference between the departure angle of the first path and the arrival angle of the second path is less than or equal to a second threshold; the difference between the arrival angle of the first path and the departure angle of the second path is less than or equal to the first threshold.

[0016] In the embodiments of this application, based on one or more of the above, it is convenient to determine whether the first path and the second path match, thereby conveniently eliminating the multipath effect of the wireless channel.

[0017] In some possible implementations, the method further includes: sending first information, the first information being used to indicate the measurement interval between the first measurement result and the second measurement result.

[0018] In some possible implementations, the method further includes sending a second message, the second message being used to instruct a measurement to be performed based on the measurement interval.

[0019] In some possible implementations, the method further includes: receiving first information, the first information being used to indicate the measurement interval between the first measurement result and the second measurement result.

[0020] In some possible implementations, the method further includes receiving second information, the second information being used to instruct a measurement to be performed based on the measurement interval.

[0021] In some possible implementations, the measurement interval between the first measurement result and the second measurement result is related to one or more of the following: the type of the first object; the speed of the first object; the task type corresponding to the first measurement result; and the task type corresponding to the second measurement result.

[0022] In the embodiments of this application, determining the measurement interval according to one or more of the above-mentioned methods helps to improve the accuracy of the measurement results, thereby helping to eliminate the time delay synchronization error between the first device and the second device, and helping to improve the accuracy of the positioning result of the first object.

[0023] In a second aspect, a synchronization error elimination device for sensing is provided, comprising: the synchronization error elimination device for sensing can be used in the terminal device of the first aspect, the synchronization error elimination device for sensing can be the terminal device, or a device in the terminal device (e.g., a chip, or a chip system, or a circuit, or a processor), or a device that can be matched with the terminal device, or a logic module or software that can implement all or part of the terminal device.

[0024] The synchronization error elimination device for sensing includes modules that perform the methods / operations / steps / actions described in the first aspect or any possible implementation of the first aspect. These modules can be hardware circuits, software, or a combination of hardware circuits and software.

[0025] Thirdly, a synchronization error elimination device for sensing is provided, comprising: a processor and a memory, the processor being coupled to the memory, the memory being used to store a computer program (also referred to as code or instructions), the computer program being executed by the processor causing the device to perform the method of the second aspect or any possible implementation thereof.

[0026] In some possible implementations, the device also includes a memory coupled to the processor.

[0027] In some possible implementations, there are one or more processors, and / or one or more memories.

[0028] In some possible implementations, the memory can be integrated with the processor, or the memory can be set up separately from the processor.

[0029] Fourthly, a computer-readable storage medium is provided that stores a computer program (also referred to as code or instructions) that, when run on a computer, causes the computer to perform the methods of any of the above aspects or any possible implementations thereof.

[0030] Fifthly, a computer program product is provided, comprising: a computer program (also referred to as code or instructions) that, when run on a computer, causes the computer to perform the method in any of the above aspects or any possible implementations of any of the above aspects.

[0031] In a sixth aspect, a chip is provided, comprising: a processor and a memory, the memory for storing a computer program (also referred to as code or instructions), the processor for calling and running the computer program stored in the memory, such that a device or apparatus on which the chip is mounted performs the method of any of the above aspects or any possible implementation thereof. Attached Figure Description

[0032] Figure 1 is a schematic block diagram of a wireless communication system applicable to this application.

[0033] Figure 2 is a schematic diagram of an application scenario according to an embodiment of this application.

[0034] Figure 3 is a schematic diagram of bibase sensing of different transceiver types in the embodiments of this application.

[0035] Figure 4 is a schematic diagram of the mathematical model of dual-base perception in the embodiments of this application.

[0036] Figure 5 is a schematic diagram of the time delay synchronization error causing bi-base sensing error in an embodiment of this application.

[0037] Figure 6 is a schematic diagram of the basic principle of the synchronization error elimination method for sensing in the embodiments of this application.

[0038] Figure 7 is a schematic flowchart of a synchronization error elimination method for sensing provided in one embodiment of this application.

[0039] Figure 8 is a schematic diagram of the round-trip path mismatch in an embodiment of this application.

[0040] Figure 9 is a schematic diagram of the measurements involved in round-trip path matching in an embodiment of this application.

[0041] Figure 10 is a schematic flowchart of a synchronization error elimination method for sensing provided in another embodiment of this application.

[0042] Figure 11 is a schematic flowchart of a synchronization error elimination method for sensing provided in another embodiment of this application.

[0043] Figure 12 is a schematic flowchart of a synchronization error elimination method for sensing provided in another embodiment of this application.

[0044] Figure 13 is a schematic structural diagram of a synchronization error elimination device for sensing provided in an embodiment of this application.

[0045] Figure 14 is a schematic structural diagram of an apparatus provided in one embodiment of this application. Detailed Implementation

[0046] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0047] In the description of this application, unless otherwise stated, " / " indicates that the objects before and after are in an "or" relationship. For example, A / B can represent A or B. "And / or" in this application merely describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone, where A and B can be singular or plural. Furthermore, in the description of this application, unless otherwise stated, "multiple" refers to two or more. "At least one of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b, or c can represent: a, b, c, ab, ac, bc, or abc, where a, b, and c can be single or multiple. Additionally, to facilitate a clear description of the technical solutions of the embodiments of this application, the terms "first" and "second" are used in the embodiments of this application to distinguish identical or similar items with essentially the same function and effect. Those skilled in the art will understand that the terms "first," "second," etc., do not limit the quantity or order of execution, and that "first," "second," etc., do not necessarily imply that they are different. It should be understood that in this application, descriptions such as "in the case of," "if," "when," "if," etc., can be used interchangeably.

[0048] The wireless communication system in this application can be various wireless communication systems, such as 5th generation (5G) systems, new radio (NR) systems, long term evolution (LTE) systems, LTE frequency division duplex (FDD) systems, LTE time division duplex (TDD) systems, satellite and other non-terrestrial communication systems, and communication systems that integrate terrestrial and non-terrestrial communication. The technical solution provided in this application can also be applied to future communication systems.

[0049] To facilitate understanding of the embodiments of this application, a communication system applicable to the embodiments of this application will first be described with reference to FIG1. ​​As shown in FIG1, the communication system includes a wireless access network 100. The wireless access network 100 may include at least one network device (FIG. 110a, 110b and 110c in FIG1), and may also include at least one terminal (FIG. 120a to 120g in FIG1).

[0050] The terminal device in this application embodiment may refer to user equipment (UE), station, access terminal, user unit, user station, mobile station, mobile station (MS), remote station, remote terminal, mobile terminal (MT), user terminal, terminal (or terminal device), wireless communication equipment, user agent or user device, etc., or a device used to provide voice or data connectivity to users, or an Internet of Things device. For example, terminal devices include handheld devices with wireless connection functions, vehicle-mounted devices, etc., but this application embodiment does not limit this. The terminal device in this application embodiment may be a mobile phone, cellular phone, cordless phone, session initiation protocol (SIP) phone, wireless local loop (WLL) station, personal digital assistant (PDA), handheld device with wireless communication function, computing device or other processing device connected to a wireless modem, large screen, vehicle-mounted device (e.g., car, bicycle, electric vehicle, airplane, ship, train, high-speed rail, etc.), wearable device (e.g., smartwatch, smart bracelet, pedometer, smart glasses, etc.), machine type communication (MTC) terminal device, terminal device in 5G network, or terminal device in future evolved public land mobile network (PLMN), etc., and is not limited to this in this application embodiment.The terminal device in the embodiments of this application may also be a tablet computer, a laptop computer, a handheld computer, a mobile internet device (MID), a virtual reality (VR) device, an augmented reality (AR) device, a point of sale (POS) machine, customer-premises equipment (CPE), a light UE, a reduced capability UE (RedCap UE), a wireless terminal in industrial control, a smart home device (e.g., a refrigerator, a television, an air conditioner, an electricity meter, etc.), a smart robot, a robotic arm, workshop equipment, a wireless terminal in self-driving, a wireless terminal in remote medical surgery, a wireless terminal in a smart grid, a wireless terminal in transportation safety, a wireless terminal in a smart city, a wireless terminal in a smart home, or a flying device (e.g., a smart robot, a hot air balloon, a drone, an airplane), etc. Terminal devices can also be vehicle devices, such as vehicle units, vehicle modules, vehicle chips, on-board units (OBUs), or telematics boxes (T-BOXs). Terminal devices can also be other devices with terminal functions. For example, a terminal device can also be a device that plays a terminal function in device-to-device (D2D) communication.

[0051] In some implementations, the terminal device can be used to act as a base station. Optionally, the terminal device can act as a scheduling entity to provide sidelink signals between terminal devices in vehicle-to-everything (V2X) or device-to-device (D2D) scenarios. For example, cellular phones and cars can communicate using sidelink signals, or cellular phones and smart home devices can communicate using sidelink signals without relaying communication signals through a base station.

[0052] The network device in this application embodiment can refer to a radio access network (RAN) node (or device) that connects a terminal device to a wireless network, and can also be called a base station (BS). For example, the network device can be a NodeB, an evolved NodeB (eNodeB), a next-generation NodeB (gNB) in a 5G mobile communication system, a transmission reception point (TRP), an access point (AP), a network device (such as a satellite) in a non-terrestrial network (NTN) system, a base station in a future mobile communication system or an access point (AP) in a WiFi system, a radio controller, relay station, access point, vehicle-mounted equipment, wearable devices, and other network devices in future evolved communication systems, etc.

[0053] In some implementations, multiple RAN nodes can collaborate to assist terminal devices in achieving wireless access, with different RAN nodes each implementing some of the base station's functions. For example, a RAN node (i.e., the network device in this application) can be a central unit (CU), a distributed unit (DU), a CU-control plane (CP), a CU-user plane (UP), or a radio unit (RU), etc. CUs and DUs can be set up separately or included in the same network element, such as a baseband unit (BBU). RUs can be included in radio frequency equipment or radio frequency units, such as remote radio units (RRUs), active antenna units (AAUs), or remote radio heads (RRHs). In different systems, CUs (or CU-CPs and CU-UPs), DUs, or RUs may have different names, but those skilled in the art will understand their meaning. For example, in an open radio access network (ORAN) system, a CU can also be called an open CU (O-CU), a DU can also be called an open DU (O-DU), a CU-CP can also be called an O-CU-CP, a CU-UP can also be called an O-CU-UP, and a RU can also be called an O-RU. Any of the CU (or CU-CP, CU-UP), DU, and RU units in this application can be implemented through software modules, hardware modules, or a combination of software and hardware modules. It should be understood that this application does not limit the specific technology or equipment form used in the radio access network.

[0054] In some implementations, the network device can be fixed or mobile, and this application does not limit this. For example, a helicopter or drone can be configured as a mobile network device, and one or more cells can move according to the location of the mobile network device. In other examples, a helicopter or drone can be configured as a device to communicate with another network device.

[0055] In some implementations, network devices can be deployed on land or in the air, and this application does not limit this. For example, network devices can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on airplanes, balloons, and satellites.

[0056] In some implementations, the terminal device in this application embodiment may also be a zero-power terminal, such as an electronic tag. Correspondingly, the network device may be a reader for reading and writing electronic tags (e.g., a reader based on radio frequency identification (RFID) technology).

[0057] In this embodiment, the terminal device or network device may include a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system layer. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and memory (also called main memory). The operating system can be any one or more computer operating systems that implement business processing through processes. The application layer includes applications such as browsers, address books, word processing software, and instant messaging software. Furthermore, this embodiment does not specifically limit the specific structure of the execution entity of the method provided in this embodiment, as long as it can communicate according to the method provided in this embodiment by running a program that records the code of the method provided in this embodiment.

[0058] Furthermore, various aspects or features of this application can be implemented as methods, apparatus, or articles of manufacture using standard programming and / or engineering techniques. The term "article of manufacture" as used herein encompasses a computer program accessible from any computer-readable device, carrier, or medium. For example, computer-readable media may include, but are not limited to: magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical discs (e.g., compact discs (CDs), digital versatile discs (DVDs), etc.), smart cards, and flash memory devices (e.g., erasable programmable read-only memory (EPROMs), cards, sticks, or key drives, etc.). Additionally, the various storage media described herein may represent one or more devices and / or other machine-readable media for storing information. The term "machine-readable medium" may include, but is not limited to, wireless channels and various other media capable of storing, containing, and / or carrying instructions and / or data.

[0059] Figure 2 is a schematic diagram of an application scenario according to an embodiment of this application.

[0060] As shown in Figure 2, the sensing device 210 can transmit sensing information (or sensing data) between multiple terminal devices (terminal devices 220, 230, 240, and 250 in Figure 2) via multi-transmission reception point (Multi-TRP) nodes. The sensing information may include sensing information calculated or extracted by the UE or the sensing device. The sensing device 210 can be: a sensing management function (SeMF), an access network device (such as a base station), a terminal device, an RSU, a sensing chip, a sensing module, or other network elements or devices equipped with a sensing chip or sensing module, or having sensing functions. The terminal device can be any terminal device.

[0061] For example, in addition to communication functions, base stations can also be responsible for sensing functions, and can also be partially responsible for the centralized storage, management, distribution and calculation of scatterer information and density information; terminal equipment can be responsible for collecting sensing data from bi-base sensing and undertaking some scatterer calculation work, etc.

[0062] The Internet of Things (IoT), artificial intelligence (AI), big data, and automation technologies are reshaping traditional industries and giving rise to intelligent applications such as smart cities and autonomous driving. As a crucial infrastructure supporting these emerging applications, mobile communication systems are gradually evolving into a unified infrastructure of integrated sensing and communication (ISAC). ISAC enables existing communication systems to possess sensing capabilities, allowing mobile communication systems to provide sensing services to users.

[0063] The sensing modes in the ISAC network include monostatic sensing and bistatic sensing. Monostatic sensing refers to self-sending and self-receiving sensing, where the transmitter and receiver are in the same location; bistatic sensing refers to self-sending and other-receiving sensing, where the transmitter and receiver are in different locations.

[0064] For two-base sensing, since the transmitter and receiver are located at different nodes, there will inevitably be a time delay synchronization error due to the imperfect synchronization of clocks between nodes. This time delay synchronization error will further affect the accuracy of the measured time delay between nodes, ultimately leading to inaccurate two-base sensing calculations and affecting the precision of the two-base sensing results. It should be noted that the time delay synchronization error refers to the clock deviation between nodes, and can also be called synchronization error or clock synchronization error, etc., which is not limited to this in the embodiments of this application.

[0065] Currently, dual-base sensing in ISAC networks can be categorized into the following types based on the different types of transmitting and receiving nodes: base station-to-base station dual-base sensing, base station-to-terminal downlink dual-base sensing, terminal-to-base station downlink dual-base sensing, and terminal-to-terminal side-to-side dual-base sensing. Schematic diagrams of these types of dual-base sensing are shown in Figure 3.

[0066] Since the transmitter and receiver are located at different nodes in different locations, bi-base sensing is inevitably affected by synchronization errors. In Figure 3, base station-to-base station bi-base sensing can achieve high-precision clock synchronization based on internal network interface messages. Therefore, base station-to-base station bi-base sensing is relatively less affected by synchronization errors, while the other types of bi-base sensing in Figure 3 are more severely affected by synchronization errors.

[0067] The following explanation, using Figures 4 and 5, illustrates the principle behind the impact of synchronization error on the results of bistatic sensing. For the various bistatic sensing methods shown in Figure 3, the bistatic sensing reconstruction algorithms for passive objects (such as determining the position of passive objects based on bistatic sensing) can all be abstracted into the following mathematical model:

[0068] As shown in Figure 4, A and B are the positions of the transmitting and receiving nodes, P is the position of the sensing target to be solved, and Y is the reference direction. The reconstruction algorithm of dual-base sensing can be abstracted into a mathematical problem of finding the intersection of an ellipsoid and a ray, which can be specifically expressed by the following formula:

[0069] Where c is the speed of light, delay is the time difference between transmission and reception (i.e., measurement delay), AoA (angle of arrival) is the angle of arrival, and AoD (angle of departure) is the angle of departure.

[0070] By substituting the known quantities into the above formula, the unknown quantity P, i.e., the position of the perceived target, can be obtained.

[0071] However, according to the reconstruction principle of bi-base sensing, when there is a clock synchronization error between two nodes, it will affect the accuracy of the delay measurement, which in turn will affect the length of the major axis of the ellipsoid, ultimately making the reconstructed position P inaccurate. For example, as shown in Figure 5, if the measured delay (i.e., the position of the sensing target) is inaccurate, the position of the sensing target obtained may be P' (instead of the true position P of the sensing target), thus leading to an inaccurate position of the sensing target obtained.

[0072] Round trip time (RTT) algorithms are commonly used to improve the positioning accuracy of terminal devices by eliminating the adverse effects of timing and synchronization errors on positioning accuracy. In dual-base sensing, RTT algorithms can also be used to eliminate the impact of synchronization errors on sensing accuracy.

[0073] Because the task objectives of localization (such as localization tasks in existing communication systems) and sensing (such as sensing tasks in future communication systems) are different, there are still significant differences between localization and sensing when applying RTT algorithms in practice. The main differences are shown in Table 1 below:

[0074] Table 1. Differences between RTT algorithm applications in localization and sensing.

[0075] Among them, passive objects can be understood as objects that do not transmit or receive signals during the sensing process, such as buildings, vehicles, pedestrians, and unmanned aerial vehicles (UAVs) in the table above.

[0076] It can be seen that the RTT algorithm differs greatly when applied to localization and perception. Due to the characteristics of perception tasks, when measuring round-trip time delay, it faces greater variables, more measurement constraints, and higher measurement requirements.

[0077] To address one or more of the aforementioned technical problems, this application proposes a method and apparatus for eliminating synchronization errors in sensing, which helps to eliminate time delay synchronization errors between a first device and a second device, thereby improving the accuracy of the positioning results of the first object.

[0078] The scheme in this embodiment can realize bi-base sensing reconstruction based on round trip path (RTP) delay measurement. By combining the measurement information of the two paths, the degrading effect of delay synchronization error on bi-base sensing is suppressed, thereby improving the accuracy of bi-base sensing and the accuracy of sensing results. The basic principle of the scheme in this embodiment is described below with reference to Figure 6.

[0079] As shown in Figure 6, assume that the time difference between transmitting and receiving the measurement signal from node 1 to node 2 is τ1, and the time difference between transmitting and receiving the measurement signal from node 2 to node 1 is τ2. If there is no synchronization error between node 1 and node 2, under ideal conditions, τ1 = τ2 should be satisfied.

[0080] However, in actual measurements, due to synchronization errors, τ1 ≠ τ2. Assuming the synchronization deviation between the two nodes is Δ, and the ideal, error-free delay of the measured signal is τ, then τ1 = τ + Δ, τ2 = τ - Δ. Therefore, by calculating the average delay of the round-trip delay measurements, the synchronization error Δ contained in the transmit / receive time difference can be eliminated. Specifically, this can be shown in Equation 2 below:

[0081] Therefore, in bistatic sensing measurement, it is only necessary to measure the forward and backward paths between the two nodes once each, and then perform bistatic sensing reconstruction based on the two measurement results. For example, the time delay values ​​obtained from the two measurements can be averaged, and then the average time delay τ, along with other measurement results (angle measurements), can be substituted into the aforementioned formula 1 to achieve bistatic sensing reconstruction that suppresses the influence of synchronization errors.

[0082] The synchronization error elimination method for sensing in the embodiments of this application will be illustrated in detail below with reference to Figure 7.

[0083] Figure 7 is a schematic flowchart of a synchronization error elimination method for sensing provided in an embodiment of this application. The method 700 shown in Figure 7 may include steps S710, S720, and S730, as detailed below:

[0084] S710, obtain the first measurement result of the first path.

[0085] The first path can refer to a transmission path that is sent by the first device, received by the second device, and passes through the first object.

[0086] The first device can be a sensing device (such as SeMF), access network device (such as a base station), terminal device, RSU, sensing chip, sensing module, or other network element or device equipped with a sensing chip or sensing module, or having sensing function, as described in the foregoing embodiments. The second device can be a sensing device (such as SeMF), access network device (such as a base station), terminal device, RSU, sensing chip, sensing module, or other network element or device equipped with a sensing chip or sensing module, or having sensing function, as described in the foregoing embodiments. The first object can be a sensing target. Optionally, the first device and the second device can be the same type of device.

[0087] For example, the first object can be the sensing target in any type of bibasic sensing in Figure 3, the first device can be the transmitting node in any type of bibasic sensing in Figure 3, and the second device can be the receiving node in any type of bibasic sensing in Figure 3; or, the first device can be the receiving node in any type of bibasic sensing in Figure 3, and the second device can be the transmitting node in any type of bibasic sensing in Figure 3.

[0088] The first measurement result may include first indication information, a first time delay of the first path, the departure angle of the first path, and / or the arrival angle of the first path. The first indication information may be used to indicate whether the first path is line-of-sight or non-line-of-sight.

[0089] In S710, obtaining the first measurement result of the first path can refer to: measuring the signal transmitted on the first path to obtain the first measurement result; or receiving the first measurement result sent by other devices or other nodes (in this case, the first measurement result can be obtained by other devices or other nodes after measuring the signal transmitted on the first path).

[0090] S720, obtain the second measurement result of the second path.

[0091] The second path can refer to the transmission path that is sent by the second device, received by the first device, and passes through the first object.

[0092] The second measurement result may include second indication information, a second time delay of the second path, the departure angle of the second path, and / or the arrival angle of the second path. The second indication information may be used to indicate whether the second path is line-of-sight or non-line-of-sight.

[0093] In S720, obtaining the second measurement result of the second path can refer to: measuring the signal transmitted on the second path to obtain the second measurement result; or receiving the second measurement result sent by other devices or other nodes (in this case, the second measurement result can be obtained by other devices or other nodes after measuring the signal transmitted on the second path).

[0094] In some embodiments, first information may be sent. This first information may be used to indicate the measurement interval between a first measurement result and a second measurement result. It should be noted that the measurement interval here can be understood as: measuring the signals transmitted on the first path and the signals transmitted on the second path; or, the transmission interval between the signals transmitted on the first path and the signals transmitted on the second path.

[0095] Optionally, the first information can be carried in the RTT bibase sensing activation instruction. For example, a measurement interval control signaling sensing_RTT_Offset can be added to the RTT bibase sensing activation instruction, with a value of X and a unit of time slot. This flag bit (i.e., sensing_RTT_Offset) can occupy 3 to 4 bits.

[0096] Taking a 4-bit placeholder as an example, one way to determine the value of sensing_RTT_Offset is shown in Table 2 below:

[0097] Table 2. One method for determining the value of sensing_RTT_Offset.

[0098] Alternatively, it can receive the first message.

[0099] In some embodiments, a second message may be sent. This second message may be used to instruct measurements to be performed based on measurement intervals.

[0100] Optionally, the second information can be carried in the RTT bi-base sensing activation command. For example, the RTT bi-base sensing activation command can include a signaling option `enableSensing_RTT_Offset` to indicate whether the sensing RTT measurement interval is enabled. For example, when `enableSensing_RTT_Offset = 1`, the aforementioned measurement interval control `sensing_RTT_Offset` can be enabled; when `enableSensing_RTT_Offset = 0`, the aforementioned measurement interval control `sensing_RTT_Offset` can be disabled, and the existing positioning measurement interval (such as the positioning measurement interval in 5G) can be used.

[0101] Alternatively, it can receive a second message.

[0102] In some embodiments, the measurement interval can be varied due to the diversity of passive sensing targets. For example, for slow-moving or stationary targets (such as buildings, pedestrians, etc.), the measurement interval can be set to be longer because the target position changes slowly over time; for high-speed moving targets (such as vehicles, drones, etc.), the measurement interval must be very short to ensure a low level of sensing error caused by target motion.

[0103] Optionally, the measurement interval between the first measurement result and the second measurement result may be related to one or more of the following:

[0104] The type of the first object; the velocity of the first object; the task type corresponding to the first measurement result; the task type corresponding to the second measurement result.

[0105] In the embodiments of this application, determining the measurement interval according to one or more of the above-mentioned methods helps to improve the accuracy of the measurement results, thereby helping to eliminate the time delay synchronization error between the first device and the second device, and helping to improve the accuracy of the positioning result of the first object.

[0106] Tables 3 to 5 below show several schemes for controlling the value of sensing_RTT_Offset.

[0107] Table 3 Scheme for controlling the value of sensing_RTT_Offset based on the type of perceived target

[0108] Table 4 Scheme based on the value of sensing_RTT_Offset for target velocity control

[0109] Table 5 Scheme for controlling the value of sensing_RTT_Offset based on task type.

[0110] The tasks listed in Table 5 above may include moving target detection tasks, intrusion detection tasks, and environment reconstruction tasks. It should be noted that the values ​​shown in Tables 3 to 5 are merely examples and can be set according to actual circumstances; this embodiment of the application does not limit these settings.

[0111] S730, determine the position of the first object based on the first measurement result and the second measurement result.

[0112] In some embodiments, in S730, the average delay between the first delay and the second delay can be calculated; and the position of the first object can be determined based on the average delay. For example, the average delay between the first delay and the second delay can be calculated using Formula 2 in the foregoing embodiments; and the position of the first object can be determined based on the average delay.

[0113] In this embodiment of the application, by calculating the average delay between the first delay and the second delay, the time delay synchronization error between the first device and the second device can be eliminated. At this time, determining the position of the first object based on the average delay can improve the accuracy of the positioning result of the first object.

[0114] Due to the multipath effect in wireless channels, multipath components (MPCs) can cause measurements to be taken between the same two nodes, where the outgoing and return paths do not travel along the same route. For example, as shown in Figure 8, the signal sent from node A to node B passes through scatterer 1, but the signal sent from node B to node A passes through scatterer 2; the outgoing and return paths do not travel along the same route.

[0115] Therefore, the method described in this application embodiment can only be used to eliminate the time delay synchronization error if the two paths match successfully; if the matching fails, the time delay synchronization error cannot be eliminated.

[0116] In some embodiments, prior to S730, it can be determined whether the first path and the second path match based on the first measurement result and the second measurement result. Optionally, in S730, if the first path and the second path match, the position of the first object can be determined based on the first measurement result and the second measurement result.

[0117] In this embodiment of the application, determining whether the first path and the second path match based on the first measurement result and the second measurement result can eliminate the multipath effect of the wireless channel and avoid the inability to correct the time delay synchronization error between the first device and the second device due to the mismatch between the first path and the second path. At this time, when the first path and the second path match, determining the position of the first object based on the first measurement result and the second measurement result can ensure the accuracy of the positioning result of the first object.

[0118] In some embodiments, determining whether the first path and the second path match based on the first measurement result and the second measurement result may refer to determining whether the first path and the second path are a round trip path (RTP) based on the first measurement result and the second measurement result.

[0119] In this embodiment of the application, determining whether the first path and the second path are a pair of round-trip paths based on the first measurement result and the second measurement result can eliminate the multipath effect of the wireless channel, avoid the inability to correct the time delay synchronization error between the first device and the second device due to the mismatch between the first path and the second path, and ensure the accuracy of the positioning result of the first object.

[0120] For example, the first path and the second path can be determined to be a round-trip path if one or more of the following conditions are met (determination rules):

[0121] The first indication information is the same as the second indication information; the difference between the first delay and the second delay is less than or equal to the first threshold; the difference between the departure angle of the first path and the arrival angle of the second path is less than or equal to the second threshold; the difference between the arrival angle of the first path and the departure angle of the second path is less than or equal to the first threshold.

[0122] In the embodiments of this application, based on one or more of the above, it is convenient to determine whether the first path and the second path match, thereby conveniently eliminating the multipath effect of the wireless channel.

[0123] As shown in Figure 9, τ A→B With τ B→A If the difference between the two paths is less than or equal to the time delay deviation threshold Δτ, then the first path and the second path are determined to be a round-trip path; or, it can be... and If the difference is less than or equal to the angle deviation threshold Δθ1, the first path and the second path are determined to be a pair of round-trip paths; or, it can be... and If the difference is less than or equal to the angle deviation threshold Δθ2, the first path and the second path are determined to be a pair of round-trip paths. Optionally, Δθ1 and Δθ2 can be the same.

[0124] Optionally, the above-mentioned multiple deviation thresholds (such as Δτ, Δθ1, and Δθ2) can be preset and informed to each network element in the network.

[0125] For example, assuming the above decision rules are decision rules 1 to 4, the formulaic expressions of these decision rules are as follows:

[0126] Alternatively, two determination schemes can be used for RTP matching determination:

[0127] (1) Relaxed Decision: If any one of decision rule 1, decision rule 2, or decision rule 3 / 4 is satisfied, then the RTP match is considered successful. The formulaic expression for the relaxed decision can be: bool = bool1 & bool2 & (bool3 | bool4)

[0128] (2) Strict Decision: If decision rules 1, 2, 3, and 4 are all satisfied simultaneously, then the RTP match is considered successful. The formula for strict decision can be expressed as: bool = bool1 & bool2 & (bool3 & bool4)

[0129] In this embodiment of the application, obtaining the first measurement result of the first path, obtaining the second measurement result of the second path, and determining the position of the first object based on the first measurement result and the second measurement result helps to eliminate the time delay synchronization error between the first device and the second device, thereby helping to improve the accuracy of the positioning result of the first object.

[0130] The synchronization error elimination method for sensing in the embodiments of this application will be illustrated in detail below with reference to Figure 10.

[0131] Figure 10 is a schematic flowchart of a synchronization error elimination method for sensing provided in an embodiment of this application. In the method 1000 shown in Figure 10, the transmitting node and the receiving node can be node A and node B, respectively. Node A and B can be any one of network elements such as BS, UE, RSU, and SeMF.

[0132] Method 1000 may include steps S1010 to S1050, as follows:

[0133] S1010, execute the sensing measurement results sent by node A and received by node B.

[0134] S1020, execute the sensing measurement results sent by node B and received by node A.

[0135] The measurement interval between the two measurements is set as X.

[0136] S1030, Report the results of perception measurements.

[0137] The sensing measurement results are aggregated to the same network element or device in the network, such as node A, node B, or sensing device.

[0138] S1040, determine whether two paths match.

[0139] Determine whether the two NLOS paths measured in the two measurements can be matched as a round-trip path (RTP). If the match fails, execute S1050. If the match fails again, perform the sensing measurement again, i.e., execute S1010.

[0140] S1050 performs RTT bi-base sensing reconstruction calculation.

[0141] If the match is successful, the average delay after eliminating the time delay synchronization error is calculated according to Formula 2 in the aforementioned embodiment; then, the average delay and the angle measurement value in the measurement result are used to calculate the reconstruction result of the bibase sensing, thus completing the RTT bibase sensing calculation.

[0142] In the above calculation process, the departure angle / arrival angle of any end can be obtained. If there are multiple angle measurements, the angle measurement with the highest confidence can be used for calculation.

[0143] The synchronization error elimination method for sensing in the embodiments of this application may or may not involve sensing devices.

[0144] Figure 11 is a schematic flowchart of physical layer transmission for RTT bibase sensing without the participation of sensing devices. In the method 1100 shown in Figure 11, the sending node and the receiving node can be node A and node B, respectively. Node A and B can be any of the network elements such as BS, UE, RSU, etc.

[0145] Method 1100 may include steps S1110 to S1180, as follows:

[0146] S1110, Node A sends an RTT bi-base sensing activation command to Node B.

[0147] The RTT bibase sensing activation instruction can carry the enableSensing_RTT_Offset and sensing_RTT_Offset described in the previous embodiments. sensing_RTT_Offset can indicate that the interval between two measurements is set to X.

[0148] S1120, Node A sends sensing measurement signal 1 to Node B.

[0149] S1130, Node B performs sensing measurements.

[0150] Node B performs sensing measurement on sensing measurement signal 1 and obtains sensing measurement result 1.

[0151] S1140, Node B sends sensing measurement signal 2 to Node A.

[0152] S1150, Node A performs sensing measurements.

[0153] Node A performs sensing measurement on sensing measurement signal 2 and obtains sensing measurement result 2.

[0154] The subsequent steps S1160 to S1180 can be executed by either node A or node B. The following steps S1160a to S1180a correspond to the two-base sensing computation performed by node B, as detailed below:

[0155] S1160a, Node A sends sensing measurement result 2 to Node B.

[0156] S1170a, Node B determines whether the perception measurement result 1 and the perception measurement result 2 match.

[0157] S1180a, Node B performs basic sensing calculations based on the RTT basic sensing algorithm.

[0158] If the sensing measurement result 1 matches the sensing measurement result 2, node B performs bi-basic sensing calculations according to the RTT bi-basic sensing algorithm.

[0159] The following steps, S1160b to S1180b, correspond to the execution of dual-base sensing computation at node A, as detailed below:

[0160] S1160b, Node B sends sensing measurement result 1 to Node A.

[0161] S1170b, node A determines whether the perception measurement result 1 and the perception measurement result 2 match.

[0162] S1180b, node A performs basic sensing calculations based on the RTT basic sensing algorithm.

[0163] If the sensing measurement result 1 matches the sensing measurement result 2, node A performs bi-base sensing calculation according to the RTT bi-base sensing algorithm; otherwise, the above process is repeated.

[0164] Figure 12 is a schematic flowchart of physical layer transmission for RTT bi-base sensing with the participation of sensing devices. In the method 1200 shown in Figure 12, the sending node and the receiving node can be node A and node B, respectively. Node A and B can be any of the network elements such as BS, UE, RSU, etc. The sensing device can be SeMF, sensing chip, sensing module, or other network elements or devices equipped with sensing chips or sensing modules, or with sensing functions.

[0165] Method 1200 may include steps S1210 to S1280, as follows:

[0166] S1210, the sensing device sends an RTT bi-base sensing activation command to node A and node B.

[0167] The RTT bibase sensing activation instruction can carry the enableSensing_RTT_Offset and sensing_RTT_Offset described in the previous embodiments. sensing_RTT_Offset can indicate that the interval between two measurements is set to X.

[0168] S1220, Node A sends sensing measurement signal 1 to Node B.

[0169] S1230, Node B performs sensing measurements.

[0170] Node B performs sensing measurement on sensing measurement signal 1 and obtains sensing measurement result 1.

[0171] S1240, Node B sends sensing measurement signal 2 to Node A.

[0172] S1250, Node A performs sensing measurements.

[0173] Node A performs sensing measurement on sensing measurement signal 2 and obtains sensing measurement result 2.

[0174] S1260, Node A and Node B send the sensing measurement results to the sensing device.

[0175] Node A sends sensing measurement result 2 to the sensing device, and Node B sends sensing measurement result 1 to the sensing device.

[0176] S1270, the sensing device determines whether the sensing measurement result 1 and the sensing measurement result 2 match.

[0177] S1280, the sensing device performs bi-base sensing calculations based on the RTT bi-base sensing algorithm.

[0178] If the sensing measurement result 1 matches the sensing measurement result 2, the sensing device performs bi-base sensing calculations according to the RTT bi-base sensing algorithm; otherwise, the above process is repeated.

[0179] The method embodiments of this application have been described in detail above with reference to Figures 1 to 12. The apparatus embodiments of this application will be described in detail below with reference to Figures 13 and 14. It should be understood that the descriptions of the method embodiments correspond to the descriptions of the apparatus embodiments; therefore, any parts not described in detail can be referred to the preceding method embodiments.

[0180] Figure 13 is a schematic structural diagram of a synchronization error elimination device for sensing provided in an embodiment of this application. The synchronization error elimination device 1300 for sensing shown in Figure 13 can be used in the terminal device in the foregoing embodiments. The synchronization error elimination device 1300 for sensing can be a terminal device, or a device in the terminal device (e.g., a processor, chip, chip system, circuit, or a functional module, etc.), or a device that can be matched with the terminal device, or a logic module or software that can implement all or part of the terminal device.

[0181] As shown in Figure 13, the synchronization error elimination device 1300 for sensing includes an acquisition unit 1310 and a determination unit 1320, as detailed below:

[0182] The acquisition unit 1310 is used to acquire a first measurement result of a first path, wherein the first path refers to a transmission path sent by a first device, received by a second device, and passing through a first object;

[0183] The acquisition unit 1310 is used to acquire a second measurement result of the second path, where the second path refers to the transmission path sent by the second device, received by the first device, and passing through the first object;

[0184] The determining unit 1320 is used to determine the position of the first object based on the first measurement result and the second measurement result.

[0185] In some possible implementations, the first measurement result includes a first delay of the first path, and the second measurement result includes a second delay of the second path; wherein, the determining unit 1320 is specifically used to: calculate the average delay of the first delay and the second delay; and determine the position of the first object based on the average delay.

[0186] In some possible implementations, the determining unit 1320 is further configured to: determine whether the first path and the second path match based on the first measurement result and the second measurement result; wherein, the determining unit 1320 is specifically configured to: determine the position of the first object based on the first measurement result and the second measurement result when the first path and the second path match.

[0187] In some possible implementations, the first measurement result includes first indication information, a first delay of the first path, the departure angle of the first path and / or the arrival angle of the first path, and the second measurement result includes second indication information, a second delay of the second path, the departure angle of the second path and / or the arrival angle of the second path, wherein the first indication information is used to indicate whether the first path is line-of-sight or non-line-of-sight, and the second indication information is used to indicate whether the second path is line-of-sight or non-line-of-sight.

[0188] Specifically, the determining unit 1320 is used to: determine whether the first path and the second path are a pair of round-trip paths based on the first measurement result and the second measurement result.

[0189] In some possible implementations, the determining unit 1320 is specifically used to: determine that the first path and the second path are a pair of round-trip paths if one or more of the following conditions are met: the first indication information is the same as the second indication information; the difference between the first delay and the second delay is less than or equal to a first threshold; the difference between the departure angle of the first path and the arrival angle of the second path is less than or equal to a second threshold; the difference between the arrival angle of the first path and the departure angle of the second path is less than or equal to the first threshold.

[0190] In some possible implementations, the device 1300 further includes a transmitting unit 1330 for transmitting first information, the first information being used to indicate the measurement interval between the first measurement result and the second measurement result.

[0191] In some possible implementations, the sending unit 1330 is further configured to: send second information, the second information being used to indicate that a measurement is to be performed based on the measurement interval.

[0192] In some possible implementations, the device 1300 further includes a receiving unit 1340 for: receiving first information, the first information being used to indicate the measurement interval between the first measurement result and the second measurement result.

[0193] In some possible implementations, the receiving unit 1340 is further configured to: receive second information, the second information being used to instruct a measurement to be performed based on the measurement interval.

[0194] In some possible implementations, the measurement interval between the first measurement result and the second measurement result is related to one or more of the following: the type of the first object; the speed of the first object; the task type corresponding to the first measurement result; and the task type corresponding to the second measurement result.

[0195] Figure 14 is a schematic structural diagram of an apparatus provided in an embodiment of this application. The dashed lines in Figure 14 indicate that the unit or module is optional. This apparatus 1400 can be used to implement the methods described in the above method embodiments. The apparatus 1400 can be a chip or a synchronization error elimination device for sensing.

[0196] Apparatus 1400 may include one or more processors 1410. The processor 1440 may support apparatus 1400 in implementing the methods described in the preceding method embodiments. The processor 1410 may be a general-purpose processor or a special-purpose processor. For example, the processor may be a central processing unit (CPU). Alternatively, the processor may be other general-purpose processors, microprocessor units (MPUs), microcontroller units (MCUs), graphics processing units (GPUs), artificial intelligence processors (AI processors) or neural processing units (NPUs), digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or any conventional processor.

[0197] The device 1400 may further include one or more memories 1420. The memories 1420 store a program that can be executed by the processor 1410, causing the processor 1410 to perform the methods described in the preceding method embodiments. The memories 1420 may be independent of the processor 1410 or integrated within the processor 1410. In this embodiment, the memories 1420 may include, but are not limited to, cache, read-only memory (ROM), random access memory (RAM), synchronous dynamic random access memory (SDRAM), hard disk drive (HDD) or solid-state drive (SSD), erasable programmable read-only memory (EPROM), or compact disc read-only memory (CD-ROM), etc.

[0198] The device 1400 may also include a transceiver 1430. The processor 1410 can communicate with other devices or chips via the transceiver 1430. For example, the processor 1410 can send and receive data with other devices or chips via the transceiver 1430.

[0199] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0200] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0201] This application also provides a computer-readable storage medium storing a computer program that, when run on a computer, causes the computer to perform the steps described in the various method embodiments above.

[0202] This application also provides a computer program product, which includes a computer program that, when run on a computer, causes the computer to perform the steps described in the various method embodiments above.

[0203] This application also provides a chip, which includes a processor and a memory. The memory is used to store a computer program, and the processor is used to call and run the computer program stored in the memory, so that a device or apparatus (such as a synchronization error elimination device for sensing) on ​​which the chip is installed performs the steps in the various method embodiments described above.

[0204] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments of this application can be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or some intermediate form. The computer-readable storage medium can include at least: any entity or device capable of carrying computer program code to a device / app, a recording medium, a computer memory, a read-only memory (ROM), a random access memory (RAM), an electrical carrier signal, a telecommunication signal, and a software distribution medium. Examples include USB flash drives, portable hard drives, magnetic disks, or optical disks. In some possible implementations, the computer-readable storage medium may not be an electrical carrier signal or a telecommunication signal.

[0205] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0206] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0207] In the embodiments provided in this application, it should be understood that the disclosed apparatus / devices and methods can be implemented in other ways. For example, the apparatus / device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0208] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0209] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for eliminating synchronization errors in sensing, characterized in that, include: Obtain the first measurement result of the first path, where the first path refers to the transmission path sent by the first device, received by the second device, and passing through the first object; Obtain a second measurement result for the second path, where the second path refers to the transmission path sent by the second device, received by the first device, and passing through the first object; The position of the first object is determined based on the first measurement result and the second measurement result.

2. The method according to claim 1, characterized in that, The first measurement result includes a first delay of the first path, and the second measurement result includes a second delay of the second path; The step of determining the position of the first object based on the first measurement result and the second measurement result includes: Calculate the average delay between the first delay and the second delay; The position of the first object is determined based on the average time delay.

3. The method according to claim 1 or 2, characterized in that, The method further includes: Determine whether the first path and the second path match based on the first measurement result and the second measurement result; The step of determining the position of the first object based on the first measurement result and the second measurement result includes: If the first path matches the second path, the position of the first object is determined based on the first measurement result and the second measurement result.

4. The method according to claim 3, characterized in that, The first measurement result includes first indication information, first time delay of the first path, departure angle of the first path and / or arrival angle of the first path; the second measurement result includes second indication information, second time delay of the second path, departure angle of the second path and / or arrival angle of the second path; the first indication information is used to indicate whether the first path is line-of-sight or non-line-of-sight; the second indication information is used to indicate whether the second path is line-of-sight or non-line-of-sight. The step of determining whether the first path and the second path match based on the first measurement result and the second measurement result includes: Based on the first measurement result and the second measurement result, determine whether the first path and the second path are a pair of round-trip paths.

5. The method according to claim 4, characterized in that, The step of determining whether the first path and the second path are a pair of round-trip paths based on the first measurement result and the second measurement result includes: The first path and the second path are determined to be a round-trip path pair if one or more of the following conditions are met: The first indication information is the same as the second indication information; The difference between the first delay and the second delay is less than or equal to the first threshold. The difference between the departure angle of the first path and the arrival angle of the second path is less than or equal to the second threshold. The difference between the arrival angle of the first path and the departure angle of the second path is less than or equal to a first threshold.

6. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Send a first message, which indicates the measurement interval between the first measurement result and the second measurement result.

7. The method according to claim 6, characterized in that, The method further includes: Send a second message, which instructs to perform a measurement based on the measurement interval.

8. The method according to any one of claims 1 to 5, characterized in that, The method further includes: Receive first information, which indicates the measurement interval between the first measurement result and the second measurement result.

9. The method according to claim 8, characterized in that, The method further includes: Receive second information, which is used to instruct a measurement to be performed based on the measurement interval.

10. The method according to any one of claims 1 to 9, characterized in that, The measurement interval between the first measurement result and the second measurement result is related to one or more of the following: The type of the first object; The velocity of the first object; The task type corresponding to the first measurement result; The task type corresponding to the second measurement result.

11. A synchronization error elimination device for sensing, characterized in that, include: A module or unit for performing the method as described in any one of claims 1 to 10.

12. A synchronization error elimination device for sensing, characterized in that, include: A processor and a memory, the processor being coupled to the memory, the memory being used to store a computer program, the computer program being executed by the processor causing the apparatus to perform the method as described in any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 10.

14. A computer program product, characterized in that, include: A computer program that, when run on a computer, causes the computer to perform the method as described in any one of claims 1 to 10.

15. A chip, characterized in that, include: A processor and a memory, the memory for storing a computer program, the processor for calling and running the computer program stored in the memory, causing a device or apparatus on which the chip is mounted to perform the method as described in any one of claims 1 to 10.

Images