Communication method and related apparatus

Abstract

The present application provides a communication method and a related apparatus, which are applied to a scenario where a communication system executes a sensing task. Upon receiving a sensing signal, a receiving end can notify, on the basis of the sensing signal, a transmitting end to retransmit the sensing signal or not to retransmit the sensing signal, thereby helping to improve accuracy of a sensing result while saving on time-domain resources.

Description

Communication methods and related devices

[0001] This application claims priority to Chinese Patent Application No. 202411546033.6, filed on October 31, 2024, entitled "Communication Method and Related Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of communication technology, specifically to a communication method and related apparatus. Background Technology

[0003] With the development and advancement of communication technology, in future cellular networks, base stations will not only be able to interconnect people and things, but will also possess sensing capabilities. The enabling technology that achieves the coexistence, mutual assistance, and mutual benefit of communication and sensing functions is called integrated sensing and communication. As research and development of integrated sensing and communication (ISAC) deepens in academia and industry, using radio frequency signals from communication systems to perform sensing tasks has become an increasingly popular research direction.

[0004] For example, a base station can act as a transmitter to send sensing signals, while other base stations, transmission reception points (TRPs), or terminal devices can act as receivers and computing nodes to receive sensing signals reflected and scattered by objects in the environment, and determine the sensing results based on the received sensing signals.

[0005] However, the sensing signal is a wireless signal in the communication system, which occupies the wireless transmission resources of the communication system (referred to as transmission resources). How to improve the accuracy of the sensing results while conserving the transmission resources of the communication system so as to meet the requirements of the sensing task has become an urgent problem to be solved. Summary of the Invention

[0006] Analysis revealed that expanding the temporal resources of the sensing signals transmitted by the transmitter improves the accuracy of the sensing results. To enhance accuracy, the transmitter can send sensing signals within a fixed, relatively large number of temporal resource units (denoted as N, where N is a positive integer greater than 1). Assume that when the transmitter sends sensing signals within M (M is a positive integer greater than 1) temporal resource units, the accuracy of the sensing results just meets the requirements of the sensing task. When N is greater than M, it leads to a waste of temporal resources; conversely, when N is less than M, the accuracy of the sensing results may fail to meet the requirements of the sensing task, thus degrading the user experience.

[0007] Therefore, this application provides a communication method and related apparatus. After receiving the sensing signal, the receiving end notifies the transmitting end to retransmit the sensing signal or not to retransmit the sensing signal based on the sensing signal, which is beneficial to improve the accuracy of the sensing results while saving time domain resources.

[0008] The solution provided in this application is described below.

[0009] Firstly, this application provides a communication method. The method is executed by a receiving end, which receives sensing signals. This application does not limit the type of the receiving end; for example, the receiving end can be a communication device in a communication system. The communication device can be a communication equipment, or a component within the communication equipment, such as a processor, chip (or chip system), logic module, or software product. This application does not limit the type of communication equipment; for example, the communication equipment can be a terminal or a network device.

[0010] In this method, the receiving end receives a first sensing signal, which is a sensing signal transmitted by the transmitting end using a first transmission resource. This sensing signal is used to sense the location of a target object. Subsequently, the receiving end can send a first message based on the first sensing signal. The first message includes either first information or second information, wherein the first information indicates that the sensing result based on the first sensing signal does not meet the requirements, and the second information indicates that the sensing result based on the first sensing signal meets the requirements.

[0011] By executing this method, the receiver can better assess whether the accuracy of the sensing results, estimated based on the sensing signals, meets the requirements of the sensing task, and, based on this assessment, notify the transmitter to retransmit or not retransmit the sensing signals. This allows the receiver to notify the transmitter to retransmit the sensing signals when the accuracy requirements are not met (in which case the number of time-domain resource units occupied by the sensing signals is less than M), and to notify the transmitter not to retransmit the sensing signals when the accuracy requirements are met (in which case the number of time-domain resource units occupied by the sensing signals is equal to M), thereby improving the accuracy of the sensing results while conserving time-domain resources.

[0012] The first transmission resource may include a first time-domain resource, which may include one or more time-domain resource units. The first transmission resource may be a transmission resource scheduled once or multiple times by the transmitter.

[0013] In this application, optionally, the first information may indicate a retransmission of the sensing signal. Alternatively, optionally, the first information may indicate that the signal quality of the received sensing signal (e.g., the first sensing signal) does not meet the signal quality requirements or is inferior to the signal quality threshold. Alternatively, optionally, the first information may be a negative acknowledge (NACK) character or indicate not OK.

[0014] In this application, optionally, the second information may indicate that the sensing signal should not be retransmitted. Alternatively, optionally, the second information may indicate that the signal quality of the received sensing signal (e.g., the first sensing signal) meets the signal quality requirements or is better than a signal quality threshold. Alternatively, optionally, the second information may be an acknowledgement (ACK) character or an OK indication.

[0015] Optionally, the first sensing signal is the initial sensing signal transmitted by the transmitter, or the first sensing signal includes the initial sensing signal transmitted by the transmitter and the sensing signal transmitted once or multiple times by the transmitter.

[0016] The sensing signal mentioned in this application can refer to a sensing signal used to perform the same sensing task, which is to sense the position of a target object. This application does not limit the number of target objects; for example, target objects may include one or more objects within the coverage area of ​​the sensing signal. This application does not limit the type of target object; target objects may include communication devices and / or non-communication devices, and target objects may include moving objects and / or stationary objects.

[0017] In one possible implementation, the coverage area of ​​the sensing signal includes the target object and one or more first objects, wherein the first objects are objects other than the target object. This application does not limit the type of the first objects; the one or more first objects may include communication devices and / or non-communication devices, and may include moving objects and / or stationary objects. The position of the first objects can be predetermined; for example, the position of the first objects can be determined before the receiving end receives the first sensing signal.

[0018] In one possible implementation, sending the first message based on the first sensing signal can be understood as sending the first message based on the sensing location of one or more of the first objects determined by the first sensing signal. The sensing location of the first object is the location of the first object as perceived by the first sensing signal. By using one or more first objects as anchor points and based on the sensing location of one or more first objects determined by the first sensing signal, the receiving end can more accurately estimate whether the accuracy of the sensing result meets the requirements of the sensing task.

[0019] In this application, the perception result based on the first sensing signal can be understood as the perception result of one or more objects in the coverage area of ​​the sensing signal based on the first sensing signal. These one or more objects may include the target object and / or one or more first objects.

[0020] In one possible implementation, the first message is sent based on the perceived location of one or more of the first objects, and the first message includes first information. This can be understood as sending the first message based on the perceived location of one or more of the first objects satisfying a first condition, wherein the first condition includes: the accuracy of the perceived location of one or more of the first objects is worse than an accuracy threshold.

[0021] In one possible implementation, the accuracy of the perceived location of one or more first objects is worse than an accuracy threshold. This can be understood as the distance between the perceived location of one or more first objects and the expected location of one or more first objects being greater than the threshold, and / or the perceived location of one or more first objects being located outside the first region corresponding to one or more first objects.

[0022] In one possible implementation, the first message is sent based on the perceived location of one or more of the first objects, and the first message includes second information. This can be understood as sending the first message based on the perceived location of one or more of the first objects satisfying a second condition, wherein the second condition includes: the accuracy of the perceived location of one or more of the first objects is better than an accuracy threshold.

[0023] In one possible implementation, the accuracy of the perceived location of one or more first objects is better than an accuracy threshold. This can be understood as the distance between the perceived location of one or more first objects and the expected location of one or more first objects being less than a threshold, and / or the perceived location of one or more first objects being located inside the first region corresponding to one or more first objects.

[0024] The expected position of the first object mentioned above can be a predetermined position of the first object, which can also be called the actual position of the first object.

[0025] The first region corresponding to the first object mentioned above refers to the region containing the first object. The first region can be a part of the coverage area of ​​the sensing signal. This application does not limit the size or shape of the first region.

[0026] This application does not limit the method of determining that the accuracy of the perceived position of one or more first objects is better than an accuracy threshold. Similarly, this application does not limit the method of determining that the accuracy of the perceived position of one or more first objects is worse than an accuracy threshold.

[0027] For example, the receiving end can input a first sensing signal into an AI model to determine whether the accuracy of the perceived location of one or more first objects is better than an accuracy threshold. The AI ​​model processes the sensing signal, and its output data can indicate the accuracy of the perceived location of one or more first objects determined based on the first sensing signal, or indicate that the accuracy is better than the threshold, or indicate that the accuracy is worse than the threshold.

[0028] For example, the receiver can determine the perceived location of one or more first objects based on the first sensing signal, then determine the distance between the perceived location of one or more first objects and the desired location of one or more first objects, and then determine whether the distance is less than or greater than a threshold.

[0029] Optionally, the first condition may also include other conditions. For example, the first condition may also include that the number of times the receiving end sends a first message including the first information is less than a number threshold.

[0030] When the accuracy of the perceived location of one or more first objects is worse than the accuracy threshold, and the number of times the receiver sends the first message is greater than the number threshold, the receiver may not send the first message to the transmitter.

[0031] In one possible implementation, before sending the first message based on the perceived location of one or more of the first objects, the receiving end also receives a second message indicating the desired location of one or more of the first objects and / or the threshold. The receiving end determines the desired location of one or more first objects by receiving the second message, which facilitates flexible configuration of the first objects as anchor points. The receiving end determines the threshold by receiving the second message, which facilitates configuring the threshold size according to the accuracy requirements of the perception task for the perception results.

[0032] This application does not limit the sender of the second message. For example, the receiver can receive the second message from the transmitter or other network elements besides the transmitter and receiver. Taking the transmitter sending the second message to the receiver as an example, optionally, the second message may also include scheduling information for the sensing signal, which may indicate the transmission resources and / or transmission parameters of the sensing signal.

[0033] In one possible implementation, the desired position and / or threshold of one or more first objects are predefined or preconfigured.

[0034] As described above, the first sensing signal can be the sensing signal transmitted by the transmitting end on the first transmission resource. In one possible implementation, after the receiving end transmits a first message including first information based on the first sensing signal, it receives a second sensing signal, wherein the second sensing signal is the sensing signal transmitted by the transmitting end on the second transmission resource after receiving the first message. After receiving the second sensing signal, the receiving end can perceive the location of the target object based on the first sensing signal and the second sensing signal.

[0035] This application does not limit the receiving end to immediately performing a sensing task based on the first and second sensing signals after receiving the second sensing signal. Optionally, the receiving end may also receive other sensing signals after receiving the second sensing signal and perform a sensing task based on each received sensing signal. For example, after receiving the second sensing signal, the receiving end may also send a first message including first information to the transmitting end based on the second sensing signal, and then receive a third sensing signal sent by the transmitting end on a third transmission resource, and then perform a sensing task based on the first, second, and third sensing signals.

[0036] This application does not limit the relationship between the size of the first transmission resource and the size of the second transmission resource. For example, the size of the first transmission resource may be equal to the size of the second transmission resource, or the size of the first transmission resource may be less than the size of the second transmission resource. The size of the transmission resource can be understood as the number of transmission resource units in the transmission resource. In this application, a transmission resource unit may be a resource block (RB) or a resource element (RE).

[0037] In one possible implementation, the first transmission resource includes a first time-domain resource and / or a first frequency-domain resource, and the second transmission resource includes a second time-domain resource and / or a second frequency-domain resource.

[0038] Optionally, the first frequency domain resource may be the same as or overlap with the second frequency domain resource, or the first frequency domain resource may be different from or not overlap with the second frequency domain resource, or the first frequency domain resource may partially overlap with the second frequency domain resource.

[0039] Optionally, the size of the first frequency domain resource can be equal to the size of the second frequency domain resource, or the size of the first frequency domain resource can be less than the size of the second frequency domain resource, or the size of the first frequency domain resource can be greater than the size of the second frequency domain resource. The size of the frequency domain resource can be understood as the number of subcarriers in the frequency domain resource.

[0040] Optionally, the size of the first time-domain resource is equal to the size of the second time-domain resource, or the size of the first time-domain resource is less than the size of the second time-domain resource, or the size of the first time-domain resource is greater than the size of the second time-domain resource. The size of a time-domain resource can be understood as the number of time-domain resource units in the time-domain resource. In this application, a time-domain resource unit can be a time slot or a time-domain symbol.

[0041] Secondly, this application provides a communication method. The method is executed by a transmitter, which transmits sensing signals. This application does not limit the type of transmitter; for example, the transmitter can be a communication device in a communication system. The communication device can be a communication equipment, or a component within a communication equipment, such as a processor, chip (or chip system), logic module, or software product. This application does not limit the type of communication equipment; for example, the communication equipment can be a terminal or a network device.

[0042] In this method, the transmitting end can send a sensing signal using a first transmission resource. This sensing signal is used to sense the location of a target object. The receiving end can receive this sensing signal (referred to as the first sensing signal). Subsequently, the transmitting end can receive a first message, which is sent by the receiving end based on the first sensing signal. The first message includes either first information or second information, wherein the first information indicates that the sensing result based on the first sensing signal does not meet the requirements, and the second information indicates that the sensing result based on the first sensing signal meets the requirements.

[0043] After receiving the first sensing signal, the receiving end can estimate whether the accuracy of the sensing result meets the requirements of the sensing task based on the first sensing signal, and send a first message based on this assessment. The transmitting end, by receiving the first message, can retransmit the sensing signal if the first message includes first information, and not retransmit the sensing signal if the first message includes second information. This allows the transmitting end to retransmit the sensing signal when the accuracy requirement is not met (in which case the number of time-domain resource units occupied by the sensing signal is less than M), and not retransmit the sensing signal when the accuracy requirement is met (in which case the number of time-domain resource units occupied by the sensing signal is equal to M), thereby improving the accuracy of the sensing result while conserving time-domain resources.

[0044] In one possible implementation, after receiving the first message including the first information, the transmitting end can retransmit the sensing signal on the second transmission resource.

[0045] The first information, the second information, the first message, the first transmission resource, and the second transmission resource can be understood by referring to the relevant content in the first aspect, and will not be repeated here.

[0046] In one possible implementation, after receiving a first message including the first information, the transmitting end may retransmit the sensing signal using a second transmission resource if the number of times the transmitting end retransmits the sensing signal does not exceed a retransmission threshold. Alternatively, after receiving the first message including the first information, the transmitting end may choose not to retransmit the sensing signal if the number of times the transmitting end retransmits the sensing signal reaches or exceeds the retransmission threshold.

[0047] A third aspect of this application provides a communication device comprising a plurality of interacting functional modules, exemplarily including a transmitting unit and a receiving unit.

[0048] In some examples, the communication device is used to implement the method described in the first aspect or any possible implementation of the first aspect, or the second aspect or any possible implementation of the second aspect, and to achieve the corresponding technical effects. Accordingly, the communication device can be a receiving end or a transmitting end. Specific details can be found in the foregoing corresponding methods, which will not be repeated here. For example, the sending unit is used to perform the steps corresponding to the "sending" operation in the above method, and the receiving unit is used to perform the steps corresponding to the "receiving" operation in the above method.

[0049] A fourth aspect of this application provides a communication device including at least one processor coupled to a memory for storing programs or instructions. The at least one processor executes the program or instructions to enable the communication device to implement the methods described in the first aspect or any possible implementation of the first aspect, or the second aspect or any possible implementation of the second aspect, and to achieve the corresponding technical effects. Accordingly, the communication device can be a receiving end or a transmitting end.

[0050] Optionally, the communication device may also include the memory.

[0051] A fifth aspect of this application provides a communication device including at least one logic circuit and an input / output interface. The logic circuit is used to implement the method described in the first aspect or any possible implementation thereof, or the second aspect or any possible implementation thereof, and to achieve the corresponding technical effects. Accordingly, the communication device can be a receiver or a transmitter.

[0052] The sixth aspect of this application provides a chip or chip system including at least one processor. For example, the chip can be a SoC chip (such as a SoC chip containing a modem core), a SIP chip, or a communication module. In one possible design, the chip or chip system may further include a memory for storing program instructions and data necessary for the communication device. The chip system can be composed of chips or may include chips and other discrete devices. Optionally, the chip system further includes an interface circuit that provides program instructions and / or data to the at least one processor. The chip or chip system is used to implement the methods described in the first aspect or any possible implementation of the first aspect, or the second aspect or any possible implementation of the second aspect, and to achieve the corresponding technical effects. Accordingly, the chip or chip system can be a receiver or a transmitter.

[0053] A seventh aspect of this application provides a communication system. Optionally, the communication system includes the transmitter and receiver described above.

[0054] An eighth aspect of this application provides a computer-readable storage medium for storing one or more computer-executable instructions, which, when executed by a processor, implement the method described in the first aspect or any possible implementation thereof, or the second aspect or any possible implementation thereof.

[0055] The ninth aspect of this application provides a computer program product (or computer program) that, when executed by a processor, implements the method described in the first aspect or any possible implementation thereof, or the second aspect or any possible implementation thereof.

[0056] The technical effects of any of the design methods in aspects three through nine can be found in the technical effects of the corresponding design methods in aspects one through two above, and will not be repeated here. Attached Figure Description

[0057] Figure 1A shows a schematic diagram of the OFDM system architecture;

[0058] Figure 1B shows a schematic diagram of the architecture of the DFT-s-OFDM system;

[0059] Figure 1C shows the time-frequency resources occupied by dual-symbol DMRS Type 1;

[0060] Figure 1D shows the time-frequency resources occupied by dual-symbol DMRS Type 2;

[0061] Figure 2A schematically illustrates a dual-base sensing scenario;

[0062] Figure 2B schematically illustrates a single-base sensing scenario;

[0063] Figure 2C is another schematic diagram of a dual-base sensing scenario;

[0064] Figure 2D schematically illustrates the principle of TDOA;

[0065] Figure 2E schematically illustrates the principle of DL-AoD;

[0066] Figure 2F schematically illustrates the principle of Multi-RTT;

[0067] Figure 2G schematically illustrates the principle of E-CID;

[0068] Figure 2H schematically illustrates the time-frequency domain mapping of PRS;

[0069] Figure 2I schematically illustrates two types of repeating patterns for RS resource duplication;

[0070] Figure 3-1 schematically illustrates another possible bibasic sensing scenario;

[0071] Figure 3-2 schematically illustrates the location sensing of the UE by the BS1;

[0072] Figure 4 schematically illustrates one possible flow of the method provided in this application;

[0073] Figure 5-1 schematically illustrates the principle by which the receiver determines the angle based on the received sensing signal;

[0074] Figure 5-2 schematically illustrates the method by which a network device determines and sends configuration information to a terminal device;

[0075] Figure 6-1 is a schematic diagram of the transmission resources 0 and 1 occupied by sensing signal 0 and sensing signal 1;

[0076] Figure 6-2 is another schematic diagram of the transmission resources 0 and 1 occupied by sensing signal 0 and sensing signal 1.

[0077] Figure 7 illustrates an exemplary method for a network device to transmit sensing signals;

[0078] Figure 8 shows a simplified schematic diagram of the terminal structure;

[0079] Figure 9 shows a simplified schematic diagram of a RAN node. Detailed Implementation

[0080] Before introducing the technical solution of this application, the relevant technical terms involved in this application are explained. It is understood that these explanations are intended to make this application easier to understand and should not be regarded as a limitation on the scope of protection claimed in this application.

[0081] 1. Orthogonal Frequency Division Multiplexing (OFDM)

[0082] OFDM is a multi-carrier modulation (MCM) technique. Its core principle is to divide the channel into several orthogonal sub-channels and perform narrowband modulation and transmission on each sub-channel to reduce interference between them. Figure 1A illustrates an example of an OFDM system architecture. In Figure 1A, the data sequence at the transmitter undergoes sequential processing including serial-to-parallel (S / P), subcarrier mapping, N-point inverse discrete fourier transform (IDFT), parallel-to-serial (P / S), cyclic prefix (CP), and digital-to-analog converter (DAC) before being transmitted as a radio frequency (RF) signal. This signal then reaches the receiver after transmission through the channel. Accordingly, the signal received by the receiver can be processed sequentially through analog-to-digital converter (ADC), cyclic prefix removal, serial-to-parallel conversion, N-point discrete Fourier transform (DFT), subcarrier demapping / equalization, and parallel-to-serial conversion to obtain the above data sequence.

[0083] Taking a data sequence of S(kM), S(kM+1), ..., S(kM+M-1) as an example, serial-to-parallel conversion can transform the data sequence into an M-dimensional data block, such as S k =[S(kM),S(kM+1),…,S(kM+M-1)] T Where k is the OFDM symbol number, [] T This indicates transpose. S can be achieved through subcarrier mapping. k The M data carried modulate N subcarriers. sc N subcarriers, of which N sc =M, the rest (NN) sc The subcarriers can be understood as being modulated by data 0. After subcarrier mapping, an N-dimensional data vector X can be obtained. k X kAfter N-point IDFT and parallel-to-serial conversion, a set of N complex time-domain sampling points x can be obtained. k (0),x k (1),…,x k (N-1).

[0084] After parallel-to-serial conversion, the transmitter can insert a guard field at the beginning of each OFDM symbol, such as adding a guard field (CP) to the beginning of the OFDM symbol, to eliminate inter-symbol interference (ISI) caused by multipath propagation (such as radio signals reaching the receiver through two or more paths). Let the OFDM symbol be x. k Taking (n) as an example, the transmitter can copy x k The last G sampling points of (n) are appended to x. k At the beginning of (n), the time-domain OFDM signal is obtained. That is, an OFDM symbol contains valid data x k (n) and CP, where CP can be considered as redundant data.

[0085] Correspondingly, after receiving the OFDM signal, the receiver can demodulate it through inverse processing. For example, if time and frequency synchronization can be obtained and the cyclic prefix length is sufficient, the receiver can perform a cyclic prefix removal operation (e.g., removing the first G samples from the received signal) to obtain a data block containing N samples with no ISI. This data block can be equivalent to the OFDM symbol x. k The time-domain circular convolution is then performed with the channel impulse response. Subsequently, the receiver can convert the time-domain circular convolution into a frequency-domain dot product using DFT, and then perform channel equalization with low complexity using frequency-domain single-tap equalization.

[0086] As is understandable, the above data sequence is a sequence obtained by modulating a data signal, so S k This can include modulation symbols and / or redundant signal sampling points. Modulation symbols, also known as modulation signals, can be obtained by modulating a (coded) bitstream. Redundant signal sampling points can include phase tracking reference signal (PTRS) sampling points, demodulation reference signals, tone-preserving signals, etc.

[0087] Understandable, if N sc N represents the number of subcarriers within the transmission bandwidth. sc It can be equal to M, N sc It can also be greater than M. For example, in this application, S of length M can be... kPerform sequence expansion, assuming the length of the expanded sequence is equal to N. sc .

[0088] 2. Discrete Fourier transform spreading OFDM (DFT-s-OFDM).

[0089] DFT-s-OFDM technology, also known as single-carrier OFDM or linear precoding OFDM, is a single-carrier technology based on OFDM waveforms. It can also be understood as a modulation method that uses multiple carriers to achieve a single-carrier waveform. The difference between DFT-s-OFDM and OFDM is that the transmitter can perform DFT before subcarrier mapping, giving the DFT-s-OFDM signal single-carrier characteristics. Correspondingly, the receiver can perform IDFT after decarrier mapping. Figure 1B illustrates the architecture of a DFT-s-OFDM system. In Figure 1B, the data sequence at the transmitter undergoes serial-to-parallel conversion, M-point DFT, subcarrier mapping, N-point IDFT, parallel-to-serial conversion, cyclic prefix addition, and digital-to-analog conversion before being transmitted as a radio frequency signal. This signal then reaches the receiver after transmission through the channel. Accordingly, the signal received at the receiving end can be sequentially processed through analog-to-digital conversion, cyclic prefix removal, serial-to-parallel conversion, N-point DFT, subcarrier demapping, M-point IDFT, and parallel-to-serial conversion to obtain the aforementioned data sequence. Specifically, the M-dimensional data block S obtained at the transmitting end after serial-to-parallel conversion and M-point DFT... k This may include modulation symbols and / or redundant signal sampling points. Modulation symbols can be obtained by modulating the (encoded) bitstream. Redundant signal sampling points may include PTRS sampling points, unique words, zeros, etc.

[0090] 3. Component carrier (CC): A carrier refers to a radio wave modulated to transmit a signal at a specific frequency band, or an electromagnetic wave with a certain bandwidth.

[0091] 4. Port

[0092] A port, also known as an antenna port, is a logical concept. One antenna port can correspond to one physical transmit antenna or multiple physical transmit antennas. In both cases, the terminal's receiver will not decompose signals from the same antenna port. From the terminal's perspective, regardless of whether the channel is formed by a single physical transmit antenna or by combining multiple physical transmit antennas, the reference signal (RS) corresponding to this antenna port defines it. For example, the antenna port corresponding to the demodulation reference signal (DMRS) is the DMRS port, and the terminal can obtain the channel estimate for this antenna port based on this reference signal. Each antenna port corresponds to a time / frequency resource grid and has its own independent reference signal. One antenna port is one channel, and the terminal performs channel estimation and data demodulation based on the reference signal corresponding to this antenna port.

[0093] 5. Reference signal

[0094] A reference signal, also known as a pilot signal, is a known signal that can be provided to the receiver by the transmitter. Because information may change during transmission (due to noise, fading, etc.), the received information may differ from the transmitted information. To accurately reconstruct the correct information, it is necessary to understand what changes the information has undergone during transmission; therefore, a reference signal (RS) is introduced.

[0095] The transmitter and receiver pre-agree on a known signal (denoted as RS). RS, along with the information to be transmitted, is transmitted through the transmission channel. After receiving the signal (denoted as RS'), the receiver compares the differences between RS and RS' to understand the changes in the information during transmission, performs channel characteristic estimation, and obtains the channel characteristic H. Based on the channel characteristic H, the received information can be reconstructed into the correct transmitted information.

[0096] Reference signals can be used for channel estimation, channel detection, or target sensing. Based on the transmission direction, reference signals can be divided into uplink reference signals and downlink reference signals.

[0097] Uplink reference signals refer to signals sent from the terminal to the RAN node. Examples include DMRS or sounding reference signals (SRS). Uplink reference signals can be used for uplink channel estimation (e.g., for coherent demodulation and detection in the RAN node or for precoding calculation), uplink channel quality measurement, or target sensing. Downlink reference signals refer to signals sent from the RAN node to the terminal. Examples include DMRS, channel state information reference signals (CSI-RS), or tracking reference signals (TRS). Downlink reference signals can be used for downlink channel estimation, downlink channel measurement, or target sensing.

[0098] It is understood that the reference signal mentioned in this application can be any of the above-mentioned reference signals, that is, the method provided in this application can be applied to any of the above-mentioned reference signals. In order to better understand the method provided in this application, the following embodiments of this application will be described using DMRS as an example. The relevant concepts of DMRS will be briefly described below.

[0099] When considering spatial division multiplexing (SDM), multiple data streams are transmitted simultaneously. These streams occupy the same time-frequency resources but different spatial resources. Spatial resources are divided into "layers," with each layer corresponding to one data stream and mapped to a logical "antenna port." Each antenna port corresponds to a time-frequency resource grid and a corresponding DMRS. The time-frequency resource grid simultaneously carries the DMRS and service data, enabling the receiver to perform channel estimation and coherent demodulation of the service data. To ensure the quality of channel estimation, the DMRSs on different antenna ports are orthogonal in the frequency or code domain.

[0100] In the time domain, DMRS can occupy one or two symbols, so DMRS can be divided into single-symbol DMRS and dual-symbol DMRS. In the frequency domain, based on the maximum number of supported antenna ports, DMRS can be divided into Type 1 and Type 2. For Type 1, DMRS is distributed in a comb pattern in the frequency domain, and the DMRS ports can be divided into two code division multiplexing (CDM) groups, with CDM multiplexing used between ports within each group. For example, a single-symbol DMRS supports a maximum of 4 antenna ports, divided into two CDM groups: {1000, 1001} and {1002, 1003}; a dual-symbol DMRS supports a maximum of 8 antenna ports, divided into two CDM groups: {1000, 1001, 1004, 1005} and {1002, 1003, 1006, 1007}.

[0101] For example, Figure 1C illustrates the time-frequency resources occupied by dual-symbol DMRS Type 1. In the time direction, under the regular cyclic prefix, one slot contains 14 symbols (e.g., symbols 0 to 13). In the frequency direction, one RB contains 12 subcarriers (e.g., subcarriers 0 to 11). One resource element (RE) corresponds to one symbol in the time direction and one subcarrier in the frequency direction. In Figure 1C, one antenna port has 6 REs within one RB for transmitting DMRS. Within the time-frequency resource grid corresponding to one symbol and one RB, the first CDM group occupies even-indexed subcarriers, such as subcarriers 0, 2, 4, 6, 8, and 10, and the second CDM group occupies odd-indexed subcarriers, such as subcarriers 1, 3, 5, 7, 9, and 11. In Figure 1C, symbols 0 and 1 can represent PDCCH respectively, and symbols 4 to 13 can represent PDSCH or PUSCH respectively.

[0102] Compared to Type 1, Type 2 reduces the frequency domain density of DMRS. In this case, one antenna port has four REs within one RB for DMRS transmission. For Type 2, DMRS ports can be divided into three CDM groups, with code division multiplexing used between ports within each group. For example, a single-symbol DMRS supports a maximum of six antenna ports, divided into three CDM groups: {1000, 1001}, {1002, 1003}, and {1004, 1005}. A dual-symbol DMRS supports a maximum of twelve antenna ports, divided into three CDM groups: {1000, 1001, 1006, 1007}, {1002, 1003, 1008, 1009}, and {1004, 1005, 1010, 1011}.

[0103] For example, Figure 1D illustrates the time-frequency resources occupied by a dual-symbol DMRS Type 2. Within the time-frequency resource grid corresponding to one symbol and one RB, the first CDM group occupies subcarriers with indices 0, 1, 6, and 7; the second CDM group occupies subcarriers with indices 2, 3, 8, and 9; and the third CDM group occupies subcarriers with indices 4, 5, 10, and 11. In Figure 1D, symbols 0 and 1 can represent PDCCH, and symbols 4 through 13 can represent PDSCH or PUSCH, respectively.

[0104] 6. Sensing signal (SS): This refers to the radio frequency signal used to sense the environment or target. SS can be a sensing reference signal (SERS), a positioning reference signal (PRS), CSI-RS, or SRS, etc. After being transmitted and / or reflected or scattered by an object (or target), the sensing signal can reach the receiving end.

[0105] After receiving the sensing signal, the receiver can calculate the location of the target object using the sensing signal. The target object can be one or more objects within the coverage area of ​​the sensing signal. Taking the target object as the environment within the coverage area of ​​the sensing signal as an example, the sensing result can refer to the environmental point cloud calculated using the sensing signal.

[0106] 7. Beam: A beam is a communication resource. A beam can be wide, narrow, or other types of beams. The technology used to form a beam can be beamforming or other techniques. Beamforming technology can specifically be digital beamforming, analog beamforming, and hybrid digital or analog beamforming. Different beams can be considered different resources. The beam used to transmit signals can be called the transmission beam (Tx beam), and the beam used to receive signals can be called the reception beam (Rx beam). The transmission beam refers to the distribution of signal strength in different directions in space after the signal is transmitted through the antenna, and the reception beam refers to the distribution of signal strength in different directions in space of the wireless signal received from the antenna.

[0107] 8. Transmission (Tx): A communication device that transmits communication signals and / or sensing signals; it can also be called a transmitting node or transmitting device.

[0108] 9. Receiver (Rx): A communication device that receives communication signals and / or sensing signals; it can also be called a receiving node or receiving device.

[0109] 10. Terminal Equipment: This can be a wireless terminal equipment capable of receiving scheduling and instruction information from access network equipment. A wireless terminal equipment can be a device that provides voice and / or data connectivity to a user, a handheld device with wireless connectivity, another processing device connected to a wireless modem, or a device with sensing capabilities.

[0110] Terminal equipment, also known as user equipment (UE), mobile station (MS), mobile terminal (MT), etc., is a device that includes wireless communication functions and / or sensing functions (providing voice or data connectivity to users), such as handheld devices with wireless connectivity or vehicle-mounted devices. Currently, examples of terminals include: mobile phones, tablets, laptops, PDAs, mobile internet devices (MIDs), wearable devices, virtual reality (VR) devices, augmented reality (AR) devices, wireless terminals in industrial control, wireless terminals in autonomous driving, wireless terminals in remote medical surgery, wireless terminals in smart grids, wireless terminals in transportation safety, wireless terminals in smart cities, wireless terminals in smart homes, cellular phones, cordless phones, session initiation protocol (SIP) phones, wireless local loop (WLL) stations, personal digital assistants (PDAs), handheld devices with wireless communication capabilities, computing devices or other processing devices connected to a wireless modem, wearable devices, terminal devices in 5G networks, or future public land mobile communication networks. The embodiments of this application do not limit the terminal devices in a network (PLMN), etc. In vehicle-to-everything (V2X) communication, the communication terminal on the vehicle is a type of terminal device, and the roadside unit (RSU) can also be considered a type of terminal device. A drone carrying a communication terminal can also be regarded as a type of terminal device.

[0111] Terminal devices can also be wearable devices. Wearable devices, also known as wearable smart devices, are a general term for devices that utilize wearable technology to intelligently design and develop everyday wearables, such as glasses, gloves, watches, clothing, and shoes. Wearable devices are portable devices that are worn directly on the body or integrated into the user's clothing or accessories. Wearable devices are not just hardware devices, but also achieve powerful functions through software support, data interaction, and cloud interaction. Broadly speaking, wearable smart devices include those that are feature-rich, large in size, and can achieve complete or partial functions without relying on a smartphone, such as smartwatches or smart glasses, as well as those that focus on a specific application function and require the use of other devices such as smartphones, such as various smart bracelets and smart jewelry for vital sign monitoring.

[0112] Terminal devices can also be terminal devices in Internet of Things (IoT) systems. IoT is an important part of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network that connects people and machines and things.

[0113] 11. Network equipment: This refers to equipment deployed in a radio access network that can communicate with terminal equipment, or in other words, equipment that provides wireless communication and / or sensing functions for terminal equipment. For example, access network equipment can be a radio access network (RAN) node (or RAN equipment). Access network equipment can also be equipment deployed in a radio access network that can communicate with other access network equipment and provide wireless communication and / or sensing functions between access network equipment.

[0114] Network equipment can broadly encompass, or be replaced by, various names including: base station, NodeB, evolved NodeB (eNB), next-generation NodeB (gNB), relay station, access point, transmitting and receiving point (TRP), transmitting point (TP), master eNodeB (MeNB), secondary eNodeB (SeNB), multi-standard radio (MSR) node, home base station, network controller, access node, wireless node, access point (AP), transmission node, transceiver node, baseband unit (BBU), remote radio unit (RRU), active antenna unit (AAU), remote radio head (RRH), central unit (CU), distributed unit (DU), positioning node, etc. A base station can be a macro base station, micro base station, relay node, donor node, or similar entities, or combinations thereof. A base station can also refer to a communication module, modem, or chip installed within the aforementioned equipment or apparatus. A base station can also be a mobile switching center, equipment performing base station functions in D2D, V2X, and M2M communications, network-side equipment in 6G networks, and equipment performing base station functions in future communication systems. A base station can support networks using the same or different access technologies. This application does not limit the specific technologies or equipment forms used in the network equipment.

[0115] Base stations can be fixed or mobile. For example, a helicopter or drone can be configured to act as a mobile base station, and one or more cells can move depending on the location of the mobile base station. In other examples, a helicopter or drone can be configured as a device to communicate with another base station.

[0116] Network equipment and terminal equipment can be deployed on land, including indoors or outdoors, handheld or vehicle-mounted; they can also be deployed on water; and they can also be deployed in the air on aircraft, balloons, and satellites. This application does not limit the scenario in which the network equipment and terminal equipment are located.

[0117] In some deployments, a gNB may include a centralized unit (CU) and a dedicated unit (DU). The gNB may also include an active antenna unit (AAU). The CU implements some of the gNB's functions, and the DU implements others. For example, the CU handles non-real-time protocols and services, implementing radio resource control (RRC) and packet data convergence protocol (PDCP) layer functions. The DU handles physical layer protocols and real-time services, implementing radio link control (RLC), media access control (MAC), and physical (PHY) layer functions. The AAU implements some physical layer processing functions, radio frequency processing, and active antenna-related functions. Information from the RRC layer ultimately becomes information from the PHY layer, or is derived from PHY layer information. Therefore, in this architecture, higher-layer signaling (such as RRC layer signaling) can be considered to be sent by the DU, or by both the DU and AAU. It is understood that access network equipment can be one or more of the following: CU nodes, DU nodes, and AAU nodes. In addition, the CU can be classified as an access network device in the radio access network (RAN) or as an access network device in the core network (CN), and this application does not limit this.

[0118] The method provided in this application can be applied to a communication system capable of performing sensing tasks. These sensing tasks are used to perceive the location of a target object. The execution of the sensing task can be implemented in either a bi-static or uni-static sensing scenario. A bi-static sensing scenario is also known as a two-station (bi-static) sensing scenario. A bi-static sensing scenario refers to a sensing scenario where the transmitter and receiver of the sensing signal are separate communication devices. A uni-static sensing scenario refers to a sensing scenario where the transmitter and receiver of the sensing signal are integrated, and the transmitter and receiver of the sensing signal belong to the same communication device. A uni-static sensing scenario can also be called a self-sensing scenario.

[0119] The dual-base sensing scenario can be understood by referring to Figure 2A. As shown in Figure 2A, this dual-base sensing scenario includes two transmitters, four receivers, and multiple target objects. The two transmitters are transmitter Tx101 and transmitter Tx102; the four receivers are receiver Rx103, receiver Rx104, receiver Rx105, and receiver Rx106; the target objects can be communication equipment, various types of buildings, or other objects. In this application, the target objects can also be referred to as target objects, target objects, targets, or sensing objects.

[0120] The transmitter Tx101 transmits a sensing signal SS1, and the sensing signal ES1 generated by SS1 through the building is received by the receiver Rx103.

[0121] Transmitter Tx102 transmits SS2, and SS2 passing through a building generates ES2, which is received by receiver Rx103; transmitter Tx102 transmits SS3, and SS3 passing through a building generates ES3, which is received by receiver Rx104; transmitter Tx102 transmits SS4, and SS3 passing through a building generates ES4, which is received by receiver Rx105; ES5 is received by receiver Rx106.

[0122] It should be noted that SS2, SS3, and SS4 can be sensing signals emitted from the same transmitting beam. However, sensing signals within the range of this transmitting beam will generate sensing signals in different directions when encountering buildings at different locations, such as ES2, ES3, ES4, and ES5. Sensing signals in different directions can be received by different receiving terminals. Of course, SS2, SS3, and SS4 can also be sensing signals in different beams of the transmitting terminal Tx102.

[0123] In a dual-base sensing scenario, sensing signals transmitted from the same transmitter can be received by different receivers. For example, ES2 is received by receiver Rx103, ES3 by receiver Rx104, ES4 by receiver Rx105, and ES5 by receiver Rx106. Sensing signals transmitted from different transmitters can also be received by the same receiver, such as ES1 and ES2 being received by receiver Rx103. Of course, sensing signals transmitted from the same transmitter can also be received by only one receiver. This application does not limit the correspondence between transmitters and receivers; it is related to the number of transmitters or receivers within a certain area. In either case, the receiver can determine the sensing result based on its received sensing signals. Alternatively, the receiver can transmit relevant data from the received sensing signals to other communication devices for them to determine the sensing result.

[0124] In addition, this dual-base sensing scenario may also include a computing node 107 as shown in Figure 2A. The computing node 107 can communicate with one or more receivers and one or more transmitters. When the computing node 107 is included in the dual-base sensing scenario, the computing node 107 can assist one or more receivers and one or more transmitters in completing some computing functions.

[0125] The single-base sensing scenario can be understood with reference to Figure 2B. As shown in Figure 2B, this single-base sensing scenario may include a measurement node 108 and multiple target objects. The measurement node includes a transmitter and a receiver of sensing signals. When measuring a target object in the environment, the measurement node can transmit one or more beams. The sensing signals SS on these beams can detect target objects at different locations. The measurement node then receives the corresponding sensing signals ES, and can determine the sensing result based on the ES. Alternatively, the measurement node can also send relevant data from the received sensing signals to other communication devices for further determination of the sensing result.

[0126] In addition, this single-base sensing scenario may also include a computing node 107 as shown in Figure 2B, which can communicate with the measurement node 108. When the computing node 107 is included in the single-base sensing scenario, it can assist the measurement node 108 in performing some calculation functions.

[0127] In the scenarios described in Figures 2A and 2B above, the receiver, transmitter, and measurement node can all be terminal devices or access network devices. The receiver, transmitter, measurement node, and computing node shown in Figures 2A and 2B are not limited to their specific forms.

[0128] The following section uses a dual-base sensing scenario as an example, and takes a network device as the transmitter, a terminal device as the receiver and computing node, and a terminal device as the sensing object to introduce the solution provided in this application. In practical applications, this application does not limit the types of transmitters, receivers, and computing nodes. For example, the transmitter, receiver, and computing node can be the same or different communication devices in a communication system. The communication device can be a communication equipment or a component of a communication equipment, such as a processor, chip (or chip system), logic module, or software product.

[0129] Figure 2C is another schematic diagram of a dual-base sensing scenario. Figure 2C schematically shows BS1, UE1, virtual transmission point (VTP)1, and VTP2. As shown in Figure 2C, BS1 transmits sensing signals (such as PRS / SRS), and after UE1 receives and demodulates them, the reliability of the range and angle estimations differs, generally with the RV spectrum being better than the angle spectrum (under the same algorithm framework). This is because the angle estimation occurs first, before any antenna gain is achieved, and the angle is more sensitive to the signal-to-interference-plus-noise ratio (SNR), while the R and V domains can achieve greater gain due to the signal accumulation of signal symbols and subcarriers.

[0130] The area where UE1 is located can have more than one base station and UE device. Other base stations and other UEs can be used to detect nearby devices of the tested UE1, and then the location of UE1 can be informed to BS1 through cooperative communication.

[0131] The BS can use fixed targets around it, such as billboards, walls, and corners, as anchor points. In addition, other UEs can also communicate with different BSs, as long as certain communication quality requirements are met.

[0132] The following describes the model of the transmitted signal (such as a sensing signal) from the transmitter. Analysis of the OFDM system model shows that one frame of OFDM signal consists of M OFDM symbols, and one OFDM symbol consists of N orthogonal subcarriers Ψ. n Composed of (t), each subcarrier can be expressed as: ψ n (t)=exp(j2πnΔf(tT G ),0≤t <T O

[0133] In the formula, Δf is the spacing between adjacent subcarriers, n is the subcarrier index, and T G Given the cyclic prefix time, based on the orthogonality condition between subcarriers, we have: Δf = 1 / T

[0134] Where T is the effective integration time, such as the inverse fast fourier transform (IFFT) time and the cyclic prefix time T. G (Guard interval) The two constitute the duration T of an OFDM symbol. s That is, T s =T+T G Then an OFDM symbol can be represented as:

[0135] Where x n The modulation domain data is on the nth subcarrier in the OFDM symbol, and g(t) is the rectangular pulse shaping window:

[0136] Therefore, at the transmitting end of the integrated system, the equivalent baseband complex envelope transmission frame signal of an OFDM frame is:

[0137] In the above formula, m is the symbol index, x m,n Let be the modulated data on the nth subcarrier of the mth OFDM symbol. Then, the expression for a frame of OFDM baseband analog signal can be expressed as:

[0138] Define f c Let be the radio frequency carrier frequency. Since the transmitted signal is a linear superposition of multiple modulated subcarriers, the expression for the transmitted signal can be expressed as:

[0139] The following describes the received signal model. In actual channel environments, there are signal reflections, refractions, scattering, and other types of interference signals. Due to the complexity of the channel environment, we assume that the integrated signal propagates at line-of-sight in the channel. At the receiver, the signal transmitted by the transmitter is scattered by multiple targets and then returns to the receiving antenna. The receiving antenna sends the received signal to the RF processing module. This module mainly performs noise reduction and down-conversion on the signal. The down-converted signal then undergoes D / A conversion and enters the receiving processing module. After processing by relevant algorithms, information such as the target's distance and velocity is estimated.

[0140] Assume the transmitted signal returns to the radar receiver after being scattered by P targets, with its distance and velocity denoted as r. p and The corresponding time delay and Doppler frequency are denoted as τ. p and Considering only the effects of distance and relative velocity on the sensed signal, the following relationship holds: r p =τ p c / 2

[0141] Here, λ n Let f be the wavelength of the nth subcarrier, and c be the speed of light. c >>Δf

[0142] Therefore, the above formula can be approximately expressed as:

[0143] The relative velocity of target P can then be expressed as: v p =fdp c / (2f c )

[0144] Under the IEEE Standard 802.11p, OFDM signals are narrowband signals. It can be assumed that the channel coherence bandwidth is greater than the signal bandwidth, and that the attenuation and group delay characteristics of each subcarrier are the same. The total duration of one OFDM frame is approximately 1 ms. It can also be assumed that the channel coherence bandwidth is greater than the signal bandwidth, and that the attenuation and group delay characteristics of each symbol are also the same.

[0145] After the signal is scattered by the target, it experiences time delay and Doppler frequency shift. Since the signal is narrowband, the Doppler shift of the baseband signal can be ignored. Therefore, the received signal is:

[0146] Where A p Let n(t) be the amplitude and phase attenuation of the p-th path, and σ be the variance. 2 If the white noise has a single-sided power spectral density of N0, then the down-converted signal can be expressed as:

[0147] To ensure orthogonality between symbols, τ is usually used. p <T G Then the term in the above equation exp(j2πf) c τ p If this can be ignored, then the received signal after down-conversion is:

[0148] As can be seen from the above formula, the baseband time-domain signal at the receiving end is the superposition of multiple transmitted signals after amplitude attenuation, phase shift, and frequency shift.

[0149] As mentioned earlier, the sensing signal includes the Positioning Reference Signal (PRS). The following section introduces the Positioning Reference Signal (PRS) and the basic principles of positioning technology.

[0150] Based on the different positioning reference signals used, positioning methods can be divided into three types: those relying on downlink (DL) PRS are called downlink-based methods; similarly, there are uplink (UL)-based methods and methods based on both UL and DL. Currently, the positioning technologies supported by new radio (NR) include:

[0151] 1) Two DL-only methods: DL time difference of arrival (TDOA) and DL angle of departure (AOD);

[0152] 2) Two UL-only methods: UL TDOA and UL angle of arrival (AOA);

[0153] 3) One UL+DL method: multi-round-trip times (multi-RTT);

[0154] 4) One method that does not belong to the above categories: Enhanced cell-ID (E-CID).

[0155] Since UL-based positioning methods require uplink positioning reference signals, why isn't UL-PRS introduced here? Because UL-PRS is essentially SRS. However, it differs slightly from the SRS in Release 15 (Rel 15) of the 3rd Generation Partner Project (3GPP) for fifth-generation (5G) mobile communication technology, which we will discuss later.

[0156] 1. TDOA (including UL-TDOA and DL-TDOA)

[0157] As shown in Figure 2D, the principle of DL-TDOA is to simultaneously transmit DL-PRS from different base stations. The UE determines the distance difference between the UE and the different base stations based on the arrival time difference of the PRS. If we consider the UE as a moving point in a plane and the base stations as fixed points in the plane, then the TDOA model can be understood as follows: the trajectory of a moving point in the plane with a constant distance difference between two fixed points is a hyperbola. Therefore, using three base stations, we can obtain two hyperbolas, and the intersection of these two hyperbolas is the UE's position. DL-TDOA requires high-time synchronization between base stations. Of the three base stations, one is the serving cell base station, and the other two are neighbor cell base stations. UL-TDOA is similar and will not be elaborated further.

[0158] 2. DL-AoD

[0159] As shown in Figure 2E, the principle of DL-AoD is that the base station performs beam scanning and sends different DL-PRS using different beams. By using the strength of different beams, such as the reference signal receiving power (RSRP), the angular position of the UE can be measured, and the two base stations can determine the position of the UE.

[0160] 3. UL-AoA

[0161] The principle of UL-AoA is actually different from that of DL-AoD; it is not the reverse process of AoD. UL-AoA involves the base station measuring the direction of arrival (ROA) of the UL-PRS transmitted by the UE. Compared to DL-AoD, the two differences are: first, the direction of the reference signal is different; second, the content measured is also different. DL-AoD involves the UE measuring the intensity (e.g., RSRP) of the DL-PRS on different beams, while UL-AoA involves the base station measuring the ROA of the UL-PRS, resulting in a single direction measurement.

[0162] 4. Multi-RTT

[0163] As shown in Figure 2F, the principle of Multi-RTT is to use the round-trip time from multiple base stations to the UE to determine the distance to the other UEs. The intersection of the three circles is the UE's location (i.e., the most likely transmitter location). High-time synchronization between the base station and the mobile phone is required.

[0164] 5. E-CID

[0165] As shown in Figure 2G, the principle of E-CID is to roughly determine the UE location (within the cell coverage area) based on the cell ID, and then combine it with other technologies, such as AoA and RTT, to further refine the UE location.

[0166] Note that the positioning methods described above are all RAT-dependent positioning technologies, requiring the participation of 5G base stations and a location management function (LMF), but not satellites. Therefore, it is not the commonly used Global Positioning System (GPS) satellite positioning, but rather a "built-in" positioning method of 5G. Furthermore, this technology is not currently commercially available; 3GPP has only researched and standardized it, and even that standardization is not yet complete, only covering certain aspects. The following section will introduce DL-PRS in detail.

[0167] The following section introduces the downlink positioning reference signal and the basic principles of positioning technology.

[0168] 1. The role of DL-PRS

[0169] As can be seen from the preceding introduction to the principles of positioning methods, the DL positioning process always uses the DL positioning reference signal, namely the D-PRS, whether measuring the RSRP of the DL-PRS or its reference signal time of arrival (RTOA). Table 1 exemplifies the measurement content and supported positioning technologies.

[0170] Table 1

[0171] 2. Sequence Generation

[0172] This section can be found in the latest version 38.21. The sequence generation formula is as follows:

[0173] The pseudo-random sequence c(i) uses a 31st-order Gold sequence, and its initial sequence generation formula is as follows:

[0174] It is related to the sequence ID and the time-frequency domain location of the sequence mapping given by the higher level.

[0175] 3. Resource Mapping

[0176] The sequence mapping formula is shown below:

[0177] For specific variable meanings and parameter indications, please refer to the relevant explanations in the 3GPP 38855 protocol to avoid trouble and misunderstandings during the editing process.

[0178] In simple terms, the four parameters mentioned above represent the offset of the starting symbol of the PRS relative to symbol0 in a slot; the number of symbols occupied in the time domain; the comb size used in the frequency domain; and the comb offset in the frequency domain.

[0179] k' is indicated by Table 2.

[0180] Table 2

[0181] As described in the protocol, PRS supports four comb formats (comb2 / 4 / 6 / 12) in the frequency domain and four symbol quantity configurations (2 / 4 / 6 / 12) in the time domain.

[0182] According to the mapping formula, PRS supports some time-frequency domain patterns as summarized in Table 3 below.

[0183] Table 3

[0184] Taking the Comb4 with 4 symbol as an example, Figure 2H schematically illustrates its time-frequency domain mapping by filling gray squares.

[0185] 4. Parameter Configuration

[0186] The PRS parameter structure is a three-layer structure: positioning frequency layer -> PRS resource set -> PRS resource. A layer can contain multiple sets, and a set can contain multiple resources. Some parameters are layer-level, meaning their scope applies to all resources within that layer. Some parameters are set-level, applying to all resources within that set. The remaining parameters are resource-level, indicating only the configuration of that specific resource.

[0187] 5. Time Domain Period

[0188] The formula for the PRS time-domain slot is as follows:

[0189] 6. Repetition of RS resources

[0190] DL-PRS will be repeated for the following purpose:

[0191] 1. Beam scanning (similar to SSB) enables DL-AoD and UL-AoA;

[0192] 2. Combine gains to extend coverage;

[0193] 3. Implement muting. For example, for rate matching, some PRS locations will be muted.

[0194] When configuring repetition, base stations must consider that multiple resources, plus their multiple repetitions, must not exceed the total length that the set can occupy, and the set must not exceed the set period and occupy the resources of the next set. According to the above parameters, different repetition patterns will be generated when different repetition factors and time gaps are configured. Two examples are shown in Figure 2I below. In Figure 2I, the same rectangle represents the repeated DL-PRS.

[0195] 7. Muting pattern

[0196] Shielding means that not all PRS resources actually occupy resources. Some time-frequency domain resources, such as those used to avoid SSB and other physical signals, will be shielded. In other words, PRS will not be configured in places that should be PRS.

[0197] There are two main types of shielding operations:

[0198] Option 1: Inter-instance muting

[0199] This method of muting is applied at the set level and involves two parameters: the PRS masking bit and the repetition factor. Each bit in the bitmap represents a consecutive set (1, 2, 4, 8), within which all resources are masked.

[0200] Option 2: Intra-instance muting

[0201] This method of masking is applied within a set. Each bit in the bitmap represents a resource. If a resource is to be masked, then all duplicates of that resource must also be masked.

[0202] The above has introduced the relevant content of the perception field. The following describes the method for applying the perception field provided in this application.

[0203] Figure 3-1 schematically illustrates another possible bi-base sensing scenario. As shown in Figure 3-1, a network device can send sensing signals, and a terminal device can receive them. Assume the coverage area of ​​the sensing signals is a rectangular region 0. As shown in Figure 3-1, region 0 includes not only the network device and the terminal device, but also objects 1 to 5. As shown in Figure 3-1, after the network device sends the sensing signal, the sensing signal received by the terminal device includes both signals directly transmitted from the network device to the terminal device, and signals transmitted from the network device after being reflected or scattered by objects 1 to 5. After receiving the sensing signal, the terminal device can calculate its own position based on the sensing signal.

[0204] Considering that during the signal-level sensing process, there may be situations where the Doppler delay and the estimated signal-to-noise ratio (SNR) of AOA / EOA cannot be perfectly matched, the accuracy of the sensing results calculated by the terminal device based on the sensing signal may not meet the requirements of the sensing task.

[0205] Figure 3-2 schematically illustrates the BS1's detection of the UE's location. For downlink detection by the UE, the BS transmits a PRS signal, CSI / RS, or other reference signals, and the UE performs the detection. The angle error is relatively large and is determined by the downlink synchronization signal / PBCH block (SSB) / DOA estimation on the UE side. For uplink detection by the BS, the UE transmits an SRS signal, and the BS performs the detection. The BS can perform DOA estimation, which is related to antenna configuration, but the low transmit power on the UE side will reduce the detection capability. UE location detection via PRS / SRS, regardless of whether it is LOS / NLOS, can result in misjudgments or large errors, requiring appropriate reporting of these errors.

[0206] Analysis revealed that expanding the temporal resources of the sensing signals transmitted by the transmitter can improve the accuracy of the sensing results. To enhance accuracy, the transmitter can send sensing signals within a fixed, relatively large number (denoted as N, where N is a positive integer greater than 1) of temporal resource units. For example, by employing appropriate retransmission processing methods, the transmitter can estimate the 4D parameters of the target object with high robustness.

[0207] Suppose that when the transmitter sends sensing signals in M ​​time-domain resource units (M is a positive integer greater than 1), the accuracy of the sensing results just meets the requirements of the sensing task. When N is greater than M, it leads to a waste of time-domain resources, while when N is less than M, the accuracy of the sensing results may fail to meet the requirements of the sensing task, thus reducing the user experience.

[0208] To this end, this application proposes a method in which the receiving end, after receiving the sensing signal, notifies the transmitting end to retransmit the sensing signal or not to retransmit it, which is beneficial to improve the accuracy of the sensing results while saving time domain resources.

[0209] The following describes an example of the method provided in this application. Figure 4 schematically illustrates a possible flow of the method, as shown in Figure 4, which may include steps S401 to S409.

[0210] S401, network devices and terminal devices respectively obtain sensing task requests;

[0211] Network devices and terminal devices can each obtain a sensing task request, which is used to instruct the execution of a sensing task, which is used to sense the location of a target object.

[0212] This application does not limit the way a network device obtains a sensing task request. For example, a network device can generate a sensing task request itself, or it can receive a sensing task request sent by other devices.

[0213] Similarly, this application does not limit the way the terminal device obtains the sensing task request. For example, the terminal device can generate the sensing task request itself, or it can receive the sensing task request sent by other devices.

[0214] S402. The network device sends sensing signal 0 on transmission resource 0, and correspondingly, the terminal device receives sensing signal 0 on transmission resource 0.

[0215] After receiving a sensing task request, the network device can send a sensing signal 0 on transmission resource 0. All or part of the sensing signal 0 can be transmitted to the terminal device after being reflected or scattered by one or more objects, or all or part of the sensing signal 0 can be directly transmitted to the terminal device.

[0216] Transmission resources may include time-domain resources and / or frequency-domain resources. The following description assumes that transmission resources include both time-domain and frequency-domain resources. In this application, the time-domain resources and frequency-domain resources in transmission resource 0 are referred to as time-domain resource 0 and frequency-domain resource 0, respectively.

[0217] To facilitate more accurate reception of sensing signal 0 by terminal devices, network devices can send scheduling information (called scheduling information 0) of sensing signal 0 to terminal devices before transmission resource 0 sends sensing signal 0. The scheduling information 0 can indicate transmission resource 0, and optionally, the scheduling information 0 can also indicate the transmission parameters of sensing signal 0.

[0218] In S401, obtaining the sensing task request is an optional step for the network device. In some examples, the network device may not obtain the sensing task request; for instance, the network device may send sensing signal 0 on transmission resource 0 based on an event or time trigger.

[0219] Similarly, in S401, obtaining the sensing task request is an optional step for the terminal device. In some examples, the terminal device may not obtain the sensing task request; for example, the terminal device may receive sensing signal 0 on transmission resource 0 based on an event or time trigger.

[0220] S403. The terminal device sends message 0 to the network device based on the sensing signal 0, wherein message 0 includes first information;

[0221] After receiving the sensing signal 0, the terminal device can send message 0 to the network device based on the received sensing signal (i.e., sensing signal 0). Message 0 includes first information. The first information may indicate that the sensing result based on sensing signal 0 does not meet the requirements, or it may indicate that the sensing signal should be retransmitted, or it may indicate that the signal quality of sensing signal 0 does not meet the signal quality requirements or is inferior to the signal quality threshold, or it may be a NACK character, or it may indicate that it is not possible.

[0222] For example, a message carrying first information (such as message 0) may include a flag bit, which can be called a sensing data indicator (SDI). The SDI is a first value, which can be understood as the message including first information, or in other words, the first information being the value of the SDI being the first value. Taking the SDI occupying 1 bit as an example, the first value can be 0 or 1.

[0223] Optionally, a hybrid automatic repeat request (HARQ) process may store an SDI value, which can be either 0 or 1. The sensing requester (such as a network device) can use the SDI value to indicate to the receiver (such as a terminal device) whether the transmission is an initial transmission or a retransmission.

[0224] S404. Based on the first information in message 0, the network device sends sensing signal 1 in transmission resource 1, and the terminal device receives sensing signal 1 in transmission resource 1 accordingly.

[0225] After receiving message 0, the network device can send sensing signal 1 on transmission resource 1 based on the first information in message 0. Correspondingly, the terminal device can receive sensing signal 1 on transmission resource 1.

[0226] In this application, the time-domain resources and frequency-domain resources in transmission resource 1 are referred to as time-domain resource 1 and frequency-domain resource 1, respectively.

[0227] To facilitate more accurate reception of sensing signal 1 by terminal devices, network devices can send scheduling information (referred to as scheduling information 1) of sensing signal 1 to terminal devices before transmission resource 1 sends sensing signal 1. Scheduling information 1 can indicate transmission resource 1, and optionally, scheduling information 1 can also indicate the transmission parameters of sensing signal 1.

[0228] S405. The terminal device sends message 1 to the network device based on sensing signal 0 and sensing signal 1, wherein message 1 includes first information;

[0229] After receiving sensing signal 1, the terminal device can send message 1 to the network device based on the received sensing signals (i.e., sensing signal 0 and sensing signal 1). Message 1 includes first information. The first information may indicate that the sensing result based on sensing signals 0 and 1 does not meet the requirements; or, the first information may indicate that the sensing signals should be retransmitted; or, the first information may indicate that the signal quality of sensing signals 0 and 1 does not meet the signal quality requirements or is inferior to the signal quality threshold; or, the first information may be a NACK character; or, the first information may indicate that it is not possible.

[0230] Terminal devices can accumulate sensing signals received from different time-frequency resources to obtain a higher SNR gain (e.g., 9dB), thereby sensing target objects with low SNR.

[0231] S406. Based on the first information in message 1, the network device sends sensing signal 2 in transmission resource 2, and correspondingly, the terminal device receives sensing signal 2 in transmission resource 2.

[0232] After receiving message 1, the network device can send sensing signal 2 on transmission resource 2 based on the first information in message 1. Correspondingly, the terminal device can receive sensing signal 2 on transmission resource 2.

[0233] In this application, the time-domain resources and frequency-domain resources in transmission resource 2 are referred to as time-domain resource 2 and frequency-domain resource 2, respectively.

[0234] To facilitate more accurate reception of sensing signal 2 by terminal devices, network devices may send scheduling information (referred to as scheduling information 2) of sensing signal 2 to terminal devices before transmission resource 2 sends sensing signal 2. Scheduling information 2 may indicate transmission resource 2, and optionally, scheduling information 2 may also indicate transmission parameters of sensing signal 2.

[0235] S407. The terminal device sends message 2 to the network device based on sensing signal 0, sensing signal 1 and sensing signal 2, wherein message 2 includes second information;

[0236] After receiving sensing signal 2, the terminal device can send message 2 to the network device based on the received sensing signals (i.e., sensing signal 0, sensing signal 1, and sensing signal 2). Message 2 includes second information. The second information may indicate that the sensing result based on the received sensing signals meets the requirements; or, the second information may indicate that the sensing signals will not be retransmitted; or, the second information may indicate that the signal quality of the received sensing signals meets the signal quality requirements or is better than a signal quality threshold; or, the second information may be an ACK character; or, the second information may indicate that it is acceptable.

[0237] As mentioned earlier, the message may include SDI, and the first information is that the value of SDI is the first value. Optionally, the second information is that the value of SDI is the second value. Taking SDI occupying 1 bit as an example, the first value and the second value are 0 and 1 respectively, or 1 and 0 respectively.

[0238] S408, The network device determines the end of the perception task request based on the second information;

[0239] After receiving message 2, the network device can determine, based on the second information in message 2, whether the sensing task request has ended, the sensing task request has been completed, the task of sending sensing signals indicated by the sensing task request has been completed, or the sensing signal will not be retransmitted.

[0240] S409. The terminal device determines the location of the target object based on sensing signal 0 to sensing signal 2.

[0241] A sensing task request can instruct a terminal device to determine the location of a target object based on received sensing signals. The terminal device can determine itself as the receiver and computing node for this sensing task based on the sensing task request. After sending message 2, which includes the second information, the terminal device can determine the location of the target object based on the received sensing signals (i.e., sensing signal 0, sensing signal 1, and sensing signal 2).

[0242] This application does not limit the method by which a terminal device perceives the position of an object based on sensing signals received in multiple time-domain resource units and / or multiple frequency-domain resource units. For example, the terminal device can accumulate the sensing signals received in multiple time-domain resource units and / or multiple frequency-domain resource units, and then perceive the position of the object based on the accumulated sensing signals. For example, the terminal device determining the position of a target object based on sensing signals 0 to 2 can be understood as the terminal device determining the position of the target object based on the accumulated signal of sensing signals 0 to 2.

[0243] Compared to sensing signal 0, sensing signals 0 to 2 or the cumulative signal of sensing signals 0 to 2 occupy more time-domain resources. The terminal device determines the location of the target object based on sensing signals 0 to 2, which helps to improve the accuracy of the sensing result and meet the requirements of the sensing task.

[0244] The location of a target object determined by the terminal device can be represented by distance and / or angle. In other words, the terminal device can determine the distance and / or angle of the target object based on the received sensing signal. This angle can be the AOA (Optical Range). Even if there is Doppler delay or a mismatch between the estimated SNR and the AOA / EOA during signal-level sensing, appropriate retransmission processing methods can help the terminal device estimate the target's location with high robustness. This location can be a 4-dimensional (4D) parameter.

[0245] As shown in Figure 5-1, angle estimation is directly related to and positively correlated with multiple sampling. Therefore, the accumulated signal obtained by accumulating sensing signals over multiple time-domain symbols can directly increase the overall angle estimation performance of the system. In this application, signal accumulation can also be referred to as signal accumulation.

[0246] S409 is an optional step. For example, in some examples, the terminal device may act as the receiver of the sensing task but not as the computing node for that task, with another device acting as the computing node. This other device may be a network device acting as the transmitter, or a device other than the network device. Accordingly, the terminal device may send the received sensing signal or the data of the received sensing signal to the computing node, wherein the data of the sensing signal is used to calculate the location of the target object. Then, the computing node may calculate the location of the target object based on the sensing signal or the data of the sensing signal sent by the terminal device.

[0247] Optionally, the sensing signal sent by the network device in transmission resource 0 can be understood as the initial sensing signal of the network device, and the sensing signal sent by the network device in transmission resource 1 and the sensing signal sent in transmission resource 2 can be understood as the retransmission sensing signal of the network device, respectively.

[0248] In the method example corresponding to Figure 4, taking the case where the terminal device sends a message carrying second information to the network device after the network device retransmits the sensing signal twice, the network device retransmits the sensing signal twice. In practical applications, this application does not limit the number of times the network device retransmits the sensing signal. For example, when the signal quality of sensing signal 0 meets the signal quality requirements, the terminal device can send a message carrying second information to the network device based on receiving sensing signal 0, and the network device does not retransmit the sensing signal. Or, for example, when the signal quality of sensing signal 2 still does not meet the signal quality requirements, the terminal device can continue to send a message carrying first information to the network device based on receiving sensing signal 2, and the network device can continue to retransmit the sensing signal based on the first information.

[0249] In the method example corresponding to Figure 4, the network device determines the end of the sensing task request based on receiving the second information and does not retransmit the sensing signal. Optionally, when the termination condition is met, the network device can also determine the end of the sensing task request based on receiving the first information and not retransmit the sensing signal. For example, the termination condition may include the network device sending sensing signals a number of times that reaches or exceeds a retransmission threshold, where the retransmission threshold may indicate a threshold value for the number of times the sensing signal is retransmitted.

[0250] After receiving the sensing signal, the terminal device can assess whether the accuracy of the sensing result obtained based on the sensing signal meets the requirements of the sensing task, and then send first information or second information based on the assessment result. For example, in S403 and S405, if the terminal device confirms that the accuracy of the sensing result obtained based on the received sensing signal does not meet the requirements of the sensing task, the terminal device sends first information to the network device. For example, in S407, if the terminal device confirms that the accuracy of the sensing result obtained based on the received sensing signal meets the requirements of the sensing task, the terminal device sends second information to the network device.

[0251] The following example illustrates a method for evaluating whether the accuracy of sensing results obtained from sensing signals meets the requirements of the sensing task (hereinafter referred to as the sensing signal evaluation method).

[0252] In one possible implementation, the coverage area of ​​the sensing signal may include not only the target object but also one or more first objects. These one or more first objects can serve as anchor points for the sensing task. The terminal device can use these one or more first objects as anchor points to execute the sensing signal evaluation method. The marked anchor points are used to determine whether the quality of the current sensing signal is functional, or whether the sensing result meets the requirements of the sensing task. When erroneous detection occurs due to interference or other factors (or the sensing result does not meet the requirements of the sensing task), retransmission information can be fed back based on the signal or location sensed by the anchor points.

[0253] Optionally, the communication system can mark the steady-state object, for example, by associating and storing the object with its actual location, which can also be called the object's label or expected location. This application does not limit the type of the first object; for example, one or more first objects may include communication devices and / or non-communication devices, and one or more first objects may include moving objects and / or stationary objects. As an example, one or more first objects may include at least one of objects such as billboards, corner reflections, or the walls of buildings.

[0254] Optionally, the terminal device may determine whether the accuracy of the sensing result obtained based on the sensing signal meets the requirements based on the sensing location of one or more of the first objects. Here, the sensing location of the one or more first objects refers to the location of one or more first objects determined by the terminal device based on the received sensing signal.

[0255] For example, a terminal device may determine that the perception result obtained based on the perception signal does not meet the requirements of the perception task if the accuracy of the perceived location of one or more of the first objects is worse than an accuracy threshold. The statement that the accuracy of the perceived location of one or more of the first objects is worse than an accuracy threshold can be understood as the error in the perceived location of one or more of the first objects being greater than an error threshold. This error threshold can be Euclidean distance resolution.

[0256] For example, a terminal device can determine that the perception result obtained based on the perception signal meets the requirements of the perception task based on the accuracy of the perceived location of one or more of the first objects being better than an accuracy threshold. The accuracy of the perceived location of one or more of the first objects being better than an accuracy threshold can be understood as the error of the perceived location of one or more of the first objects being less than an error threshold.

[0257] This application does not limit the method by which the terminal device determines the position of the first object based on the received sensing signal. For example, the terminal device can determine the distance *r* of the first object based on the received sensing signal, where *r* can be the distance between the first object and the network device. The terminal device can also determine the beam angle θ of the sensing signal corresponding to the received sensing signal, where the beam angle θ can be the angular position of the first object relative to the network device. Accordingly, the position of the first object determined by the terminal device can be (r, θ), where (r, θ) represents the distance *r* of the first object and the angular position *θ* of the first object.

[0258] This application does not limit the method by which the terminal device evaluates the relationship between the accuracy of the perceived location of one or more of the first objects and an accuracy threshold. For example, the terminal device may determine that the accuracy of the perceived location of one or more of the first objects is above the accuracy threshold based on a first condition; the terminal device may determine that the accuracy of the perceived location of one or more of the first objects is better than the accuracy threshold based on a second condition.

[0259] The first and second conditions are illustrated with examples below.

[0260] In one possible implementation, the first condition includes condition 1-1 and / or condition 2-1, wherein condition 1-1 is that the distance between the perceived location of one or more of the first objects and the desired location of one or more of the first objects is greater than a threshold, and condition 2-1 is that the perceived location of one or more of the first objects is located outside the first region corresponding to one or more of the first objects.

[0261] In this application, an object can be abstracted as a single point or a group of points. Based on the terminal device treating the first object as a single point, the perceived position and desired position of the first object can be the perceived position and desired position of the single point corresponding to the first object, respectively. Based on the terminal device treating the first object as a group of points, the perceived position and desired position of the first object can be the perceived position and desired position of the positioning point of the group of points, respectively. This positioning point can be any point in the group of points (e.g., the point located at the center of the group of points), or the perceived position of the first object can include the positions of multiple points in the group of points, or the perceived position of the first object can be the position of the positioning area of ​​the group of points (e.g., the boundary of the positioning area). The positioning area of ​​the group of points can be determined based on the information of the positioning points and the positioning area of ​​the group of points. The information of the positioning area can indicate the size and shape of the positioning area. For example, the information of the positioning area can indicate that the positioning area is a circle with radius r, and the positioning area of ​​the group of points can be a circular area with radius r centered on the positioning point of the group of points.

[0262] In one possible implementation, the second condition includes condition 1-2 and / or condition 2-2, wherein condition 1-2 is that the distance between the perceived location of one or more first objects and the desired location of one or more first objects is less than a threshold, and condition 2-2 is that the perceived location of one or more first objects is located inside the first region corresponding to one or more first objects.

[0263] Condition 1-1 or Condition 1-2 may further include that the distance between the perceived location of one or more of the first objects and the desired location of one or more of the first objects is equal to a threshold. Hereinafter, Condition 1-2, which includes the distance between the perceived location of one or more of the first objects and the desired location of one or more of the first objects being equal to a threshold, will be used as an example.

[0264] Similarly, condition 2-1 or condition 2-2 may also include that the perceived location of one or more of the first objects is located on the boundary of the first region corresponding to one or more of the first objects. Hereinafter, condition 2-2, which includes the perceived location of one or more of the first objects being located on the boundary of the first region corresponding to one or more of the first objects, will be used as an example.

[0265] Below, taking object 1 shown in Figure 3-1 as the first object and the first region corresponding to object 1 as region 1 shown in Figure 3-1 as an example, we will introduce the first condition and the second condition.

[0266] Condition 1-1 can be that the distance between the perceived position of object 1 (i.e., the position of object 1 as perceived by the sensing signal received by the terminal device) and the expected position (or the actual position or the measured position) of object 1 is greater than a threshold. Condition 1-2 can be that the distance between the perceived position of object 1 and the expected position of object 1 is less than or equal to the threshold. Condition 2-1 can be that the perceived position of object 1 is located outside region 1. Condition 2-2 can be that the perceived position of object 1 is located inside region 1 or on the boundary of region 1.

[0267] The distance between the perceived position and the desired position of the first object can be understood as the error in the perception result of the first object. This application does not limit the method by which the terminal device determines the distance between the perceived position and the desired position of object 1. Taking object 1 shown in Figure 3-1 as the first object, the perceived position of object 1 as (r, θ), and the desired position of object 1 as (r', θ) as an example, condition 1-1 can be that (r, θ) satisfies formula 1-1, and condition 1-2 can be that (r, θ) satisfies formula 2-1, where formula 1-1 is:

[0268] |r*cosθ-r'*cosθ|+|r*sinθ-r'*sinθ|>threshold;

[0269] Formula 2-1 is:

[0270] |r*cosθ-r'*cosθ|+|r*sinθ-r'*sinθ|<=threshold.

[0271] Alternatively, condition 1-1 can be that (r, θ) satisfies formula 1-2, and condition 1-2 can be that (r, θ) satisfies formula 2-2, where formula 1-2 is:

[0272] Formula 2-2 is:

[0273] Taking a terminal device using multiple first objects as anchor points as an example, in condition 1-1, the distance between the perceived position and the desired position of the multiple first objects being greater than a threshold can be understood as at least one of the multiple sets of distances being greater than the threshold, or the sum of the multiple sets of distances being greater than the threshold. Here, the multiple sets of distances include the distance corresponding to each of the multiple first objects, where the distance corresponding to a first object is the distance between its perceived position and its desired position. In condition 1-2, the distance between the perceived position and the desired position of the multiple first objects being less than or equal to the threshold can be understood as each of the multiple sets of distances being less than or equal to the threshold, or the sum of the multiple sets of distances being less than or equal to the threshold. In condition 2-1, the perceived position of the multiple first objects being located outside the first region corresponding to the multiple first objects can be understood as a first number of first objects being erroneous objects, and the perceived position of the erroneous object being located outside the first region corresponding to that erroneous object. In condition 2-2, the perception location of multiple first objects being located inside or on the boundary of the first region corresponding to the multiple first objects can be understood as the second number of first objects among the multiple first objects being correct objects, and the perception location of the correct objects being located inside or on the boundary of the first region corresponding to the correct objects. Assume that the multiple first objects include n first objects, where n is a positive integer greater than 1, and both the first number and the second number are positive integers less than or equal to n. For example, the first number is any positive integer less than or equal to n, and the second number is n.

[0274] This application does not limit the number or type of the first objects among multiple first objects. Below, we will use objects 1, 2, and 3 as shown in Figure 3-1 as examples, with the first region corresponding to object 1 being region 1 in Figure 3-1, the first region corresponding to object 2 being region 2 in Figure 3-1, and the first region corresponding to object 3 being region 3 in Figure 3-1, to illustrate the first and second conditions.

[0275] Condition 1-1 can be that at least one of the following distances is greater than a threshold: the distance between the perceived position of object 1 and the desired position of object 1 (referred to as distance 1), the distance between the perceived position of object 2 and the desired position of object 2 (referred to as distance 2), and the distance between the perceived position of object 3 and the desired position of object 3 (referred to as distance 3); or the sum of distance 1, distance 2, and distance 3 is greater than a threshold. Condition 1-2 can be that each of the following distances is less than or equal to a threshold: the distance between the perceived position of object 1 and the desired position of object 1 (referred to as distance 1), the distance between the perceived position of object 2 and the desired position of object 2 (referred to as distance 2), and the distance between the perceived position of object 3 and the desired position of object 3 (referred to as distance 3); or the sum of distance 1, distance 2, and distance 3 is less than or equal to a threshold.

[0276] Assume that the perceived position of object 1 is (r1, θ), and the desired position of object 1 is (r1', θ); the perceived position of object 2 is (r2, θ), and the desired position of object 2 is (r2', θ); the perceived position of object 3 is (r3, θ), and the desired position of object 3 is (r3', θ); the distance i can be |ri*cosθ-ri'*cosθ|+|ri*sinθ-ri'*sinθ|, or the distance i can be... Where i can be 1, 2, or 3.

[0277] Taking a distance i of |ri*cosθ-ri'*cosθ|+|ri*sinθ-ri'*sinθ| as an example, condition 1-1 can be that (r1, θ), (r2, θ) and (r3, θ) satisfy formula 3-1, and condition 1-2 can be that (r1, θ), (r2, θ) and (r3, θ) satisfy formula 4-1. Formula 3-1 is:

[0278] |r1*cosθ-r1'*cosθ|+|r1*sinθ-r1'*sinθ|+|r2*cosθ-r2'*cosθ|+|r2*sinθ-r2'*sinθ|+|r3*cosθ-r3'*cosθ|+|r3*sinθ-r3'*sinθ|> threshold;

[0279] Formula 4-1 is:

[0280] |r1*cosθ-r1'*cosθ|+|r1*sinθ-r1'*sinθ|+|r2*cosθ-r2'*cosθ|+|r2*sinθ-r2'*sinθ|+|r3*cosθ-r3'*cosθ|+|r3*sinθ-r3'*sinθ|<= threshold.

[0281] Alternatively, condition 1-1 can be that (r1, θ), (r2, θ), and (r3, θ) satisfy formula 3-2, and condition 1-2 can be that (r1, θ), (r2, θ), and (r3, θ) satisfy formula 4-2, where formula 3-2 is:

[0282] |r1*cosθ-r1'*cosθ|+|r1*sinθ-r1'*sinθ|>threshold, or |r2*cosθ-r2'*cosθ|+|r2*sinθ-r2'*sinθ|>threshold, or |r3*cosθ-r3'*cosθ|+|r3*sinθ-r3'*sinθ|>threshold;

[0283] Formula 4-2 is:

[0284] The following conditions are true: |r1*cosθ-r1'*cosθ|+|r1*sinθ-r1'*sinθ|<=threshold, and |r2*cosθ-r2'*cosθ|+|r2*sinθ-r2'*sinθ|<=threshold, and |r3*cosθ-r3'*cosθ|+|r3*sinθ-r3'*sinθ|<=threshold.

[0285] With distance i as For example, condition 1-1 can be that (r1, θ), (r2, θ), and (r3, θ) satisfy formula 5-1, and condition 1-2 can be that (r1, θ), (r2, θ), and (r3, θ) satisfy formula 6-1. Formula 5-1 is:

[0286] Formula 6-1 is:

[0287] Alternatively, condition 1-1 can be that (r1, θ), (r2, θ), and (r3, θ) satisfy formula 5-2, and condition 1-2 can be that (r1, θ), (r2, θ), and (r3, θ) satisfy formula 6-2, where formula 5-2 is:

[0288] or or

[0289] Formula 6-2 is:

[0290] and,

[0291] and,

[0292] Assume the first quantity is any positive integer less than or equal to 3, and the second quantity is 3. The first condition 2-1 can be that at least one of objects 1 to 3 is an incorrect object, and the second condition 2-2 can be that each of objects 1 to 3 is a correct object. Here, object i is an incorrect object if it is located outside region i, and a correct object if it is located inside or on the boundary of region i. Here, i is any positive integer less than or equal to 3.

[0293] In one possible implementation, the receiving end may receive configuration information before sending the first or second information, or in other words, before transmitting the initial sensing signal. This configuration information may indicate the accuracy threshold mentioned above. Alternatively, the configuration information may indicate a first condition and / or a second condition. Alternatively, the configuration information may indicate the desired locations of one or more first objects, for example, (r1', θ), (r2', θ), and (r3', θ), or r1', r2', and r3' respectively. Alternatively, the configuration information may indicate the threshold mentioned above. Alternatively, the configuration information may indicate the threshold and, respectively, indicate the desired locations of one or more first objects. Alternatively, the configuration information may indicate the first region corresponding to one or more first objects. This configuration information can be understood in conjunction with the second message described above.

[0294] This application does not limit the sender of the configuration information. For example, the terminal device can receive the configuration information from a network device or other devices besides the network device. The configuration information can be special signaling issued by the terminal device or the network device. For example, the configuration information issued by the network device can be a bistatic sensing downlink threshold, and the configuration information issued by the terminal device can be a bistatic sensing uplink threshold.

[0295] Taking the sending of configuration information from a network device to a terminal device as an example, optionally, the configuration information and the scheduling information 0 described above can be carried in the same message. Figure 5-2 schematically illustrates the method by which a network device determines and sends configuration information to a terminal device. As shown in Figure 5-2, this method may include steps S501 to S505.

[0296] S501, Network devices distribute time and frequency resources;

[0297] Network devices can distribute time-frequency resources and send sensing signal 0 on those resources. Sensing signal 0 is used to sense the position of an object that serves as an anchor point.

[0298] S502, The computing node establishes a perception group based on one or more objects;

[0299] Computational nodes can establish perception groups based on one or more objects, which can serve as anchor points as described earlier. The first object mentioned earlier can come from this perception group.

[0300] S503. The computing nodes use the perception algorithm to coordinate and obtain the perception results of the objects.

[0301] Computing nodes can utilize perception algorithms for overall coordination to obtain perception results for objects within a perception group. This application does not limit the deployment location of the computing nodes. For example, the computing nodes can be deployed in the same communication equipment as the transmitter or receiver, or the computing nodes can be deployed in other communication equipment besides the transmitter and receiver.

[0302] S504. The network device collects the perception results of each object in the perception group and labels them.

[0303] Network devices can collect the perception results of each object in the perception group from computing nodes and label them. Labeling can be understood as recording the perception results of each object in the perception group. For example, it can associate the object's identifier with the object's expected location, or associate the object's identifier with the first region corresponding to the object.

[0304] S505, the network device sends configuration information to the terminal device.

[0305] Network devices can send configuration information to terminal devices based on the perception results of each object in the collected perception group. As described above, the configuration information may indicate a threshold and / or information about one or more first objects. The information about the first objects may include the desired location of the first object and / or the first region corresponding to the first object. One or more first objects may be all objects in the perception group, or one or more first objects may be objects in the perception group located within the coverage area of ​​the perception signal described above.

[0306] Optionally, the configuration information may also include configuration of signal parameters that need to be verified, such as at least one of parameters including subcarrier spacing (SCS), pilot configuration, and resolution. The pilot configuration may include resource scheduling information for the sensing signal, such as indicating the transmission resources used to transmit the sensing signal as described above. After receiving the resolution, the terminal device can determine the threshold value described above and / or the size of the positioning area based on the resolution. After receiving the configuration information, the terminal device can estimate the parameters of the target object, including distance and / or AOA, based on the sensing signal, and then determine whether to send the first information or the second information.

[0307] As mentioned above, this application does not limit the relationship between the first transmission resource and the second transmission resource. Correspondingly, this application does not limit the relationship between different transmission resources in the method shown in Figure 4. Below, taking transmission resource 0 and transmission resource 1 as examples, we will introduce the possible relationships between different transmission resources.

[0308] Taking transmission resources 0 and 1 as portions of RB 0 and RB 1 respectively as examples, Figure 6-1 shows schematic diagrams of transmission resources 0 and 1 occupied by sensing signal 0 and sensing signal 1, respectively. In Figure 6-1, squares represent transmission resource units (e.g., REs) in RB, gray squares in RB 0 represent transmission resource 0, and gray squares in RB 1 represent transmission resource 1. Furthermore, a single square in the x-direction represents a single time-domain resource unit, and a single square in the y-direction represents a single frequency-domain resource unit. For example, a time-domain resource unit can be a time-domain symbol, and a frequency-domain resource unit can be a subcarrier. As shown in Figure 6-1, the mapping position of transmission resource 0 in RB 0 is the same as the mapping position of transmission resource 1 in RB 1. In other words, the frequency-domain resource 0 occupied by transmission resource 0 in RB 0 is the same as the frequency-domain resource 1 occupied by transmission resource 1 in RB 1, and the time-domain resource 0 occupied by transmission resource 0 in RB 0 is the same as the time-domain resource 1 occupied by transmission resource 1 in RB 1. Since noise is incoherent while signals (such as sensing signals) are coherent, coherent accumulation can optimize the SNR of the received sensing signals (or the cumulative signal of each sensing signal), thereby enabling the estimated position of the target object to meet the requirements of the sensing task under low false alarm conditions.

[0309] Continuing with the example of transmission resources 0 and 1 being portions of RB0 and RB1 respectively, Figure 6-2 shows another possible schematic diagram of the transmission resources 0 and 1 occupied by sensing signal 0 and sensing signal 1, respectively. In Figure 6-2, squares still represent transmission resource units in RB, gray squares in RB0 represent transmission resource 0, and gray squares in RB1 represent transmission resource 1. Furthermore, a single square in the x-direction represents a single time-domain resource unit, and a single square in the y-direction represents a single frequency-domain resource unit. For example, a time-domain resource unit can be a time-domain symbol, and a frequency-domain resource unit can be a subcarrier. As shown in Figure 6-2, the mapping position of transmission resource 0 in RB0 is different from the mapping position of transmission resource 1 in RB1. Moreover, transmission resource 1 occupies more frequency-domain resource 1 in RB1 than transmission resource 0 occupies in RB0, and transmission resource 1 occupies more time-domain resource 1 in RB1 than transmission resource 0 occupies in RB0. Increasing the frequency domain resources in transmission resource 1 can improve the signal quality of sensing signal 1, thereby improving the resolution and SNR of sensing signal 1. Increasing the time domain resources (e.g., the number of symbols) in transmission resource 1 can directly improve the SNR of sensing signal 1, which is beneficial to improving the resolution and SNR of the cumulative signal of sensing signal 0 and sensing signal 1.

[0310] Figures 6-1 and 6-2 are for illustrative purposes only. Optionally, time-domain resource 1 may be less than time-domain resource 0, and frequency-domain resource 1 may be less than frequency-domain resource 0.

[0311] Optionally, after initially transmitting the sensing signal, the network device can schedule transmission resources (including time-domain resources and frequency-domain resources) for the sensing signal according to different time-frequency resource configuration schemes, and send the sensing signal on the scheduled transmission resources. For example, the network device can first retransmit the sensing signal according to a first time-frequency resource configuration scheme, and then retransmit the sensing signal according to a second time-frequency resource configuration scheme. The second time-frequency resource configuration scheme indicates more time-domain resources than the first time-frequency resource configuration scheme, and / or, the second time-frequency resource configuration scheme indicates more frequency-domain resources than the first time-frequency resource configuration scheme. For example, the time-domain resources and frequency-domain resources of the sensing signal scheduled by the network device according to the first time-frequency resource configuration scheme are shown as time-domain resource 0 and frequency-domain resource 0 in Figure 6-2, and the time-domain resources and frequency-domain resources of the sensing signal scheduled by the network device according to the second time-frequency resource configuration scheme are shown as time-domain resource 1 and frequency-domain resource 1 in Figure 6-2.

[0312] Optionally, network devices can first increase the frequency domain resource configuration, for example, to support up to 273 RBs. If the frequency domain resources are fully utilized, then increase the time domain resource configuration, for example, from the original 4 symbols to 8 symbols, doubling the SNR, which increases it by 3dB.

[0313] Figure 7 illustrates an exemplary method for a network device to transmit sensing signals. As shown in Figure 7, the method performed by the network device may include S701 to S709.

[0314] S701. Send sensing signals according to the first time-frequency resource allocation scheme;

[0315] Network devices schedule transmission resources according to the first time-frequency resource allocation scheme and send sensing signals on the scheduled transmission resources.

[0316] S702, Receive messages sent by the terminal device;

[0317] After a network device sends a sensing signal, it can receive messages sent by a terminal device, which may include first information or second information.

[0318] S703. Determine the information carried by the message. If the message carries the first information, execute S704. If the message carries the second information, execute S709.

[0319] After receiving a message, the network device can determine the information carried in the message. If the message carries the first information, execute S704; if the message carries the second information, execute S709.

[0320] S704. Determine whether the number of times the sensing signal is sent according to the first time-frequency resource configuration scheme (referred to as number 1) exceeds the number threshold 1. If yes, execute S705; otherwise, execute S701.

[0321] Based on the message sent by the terminal device carrying the first information, the network device can determine whether the number of times the sensing signal is sent according to the first time-frequency resource configuration scheme exceeds the number threshold 1. If yes, then execute S705; if no, then execute S701. The number threshold 1 is a positive integer. This application does not limit the value of the number threshold 1. For example, the number threshold 1 can be any positive integer from 1 to 8.

[0322] S705. Send sensing signals according to the second time-frequency resource allocation scheme;

[0323] If the network device sends sensing signals more than the threshold value 1 according to the first time-frequency resource configuration scheme, the network device considers that the same time-frequency resource can no longer support the sensing task of the terminal device and needs to reschedule the time-frequency resource. The network device can then schedule transmission resources according to the second time-frequency resource configuration scheme and send sensing signals on the scheduled transmission resources.

[0324] S706, Receive messages sent by terminal devices;

[0325] After a network device sends a sensing signal, it can receive messages sent by a terminal device, which may include first information or second information.

[0326] S707. Determine the information carried by the message. If the message carries the first information, execute S708. If the message carries the second information, execute S709.

[0327] S708. Determine whether the number of times the sensing signal is sent according to the second time-frequency resource configuration scheme (referred to as number 2) exceeds the number threshold 2. If yes, then execute S709; otherwise, then execute S701.

[0328] Based on the message sent by the terminal device carrying the first information, the network device can determine whether the number of times the sensing signal is sent according to the second time-frequency resource configuration scheme exceeds the number threshold 2. If yes, then execute S709; if no, then execute S701. The number threshold 2 is a positive integer. This application does not limit the value of the number threshold 2. For example, the number threshold 2 can be any positive integer from 1 to 8.

[0329] S709. Determine not to retransmit the sensing signal.

[0330] Based on the second information carried in the message sent by the terminal device, the network device can determine not to retransmit the sensing signal. Optionally, the network device can determine that the sensing task request has ended. Sensing problems caused by SNR quality can be significantly improved by accumulating symbol counts and frequency domain resources multiple times, thereby ensuring that the signal quality of the sensing signal meets the signal quality requirements.

[0331] If the terminal device sends sensing signals more than the threshold value 2 according to the second time-frequency resource configuration scheme, and if the terminal device still cannot sense the target object or the signal quality of the sensing signal does not meet the signal quality requirements, it indicates that the signal quality of the sensing signal is too poor. The network device may not retransmit the sensing signal, but may instead feed back to the upper layer of the radio link control protocol (RLC) / packet data convergence protocol (PDCP) to inform that sensing processing cannot be performed and wait for the next decision.

[0332] The previous example used a dual-base sensing scenario, with a network device as the transmitter, a terminal device as the receiver, and the terminal device as the target object. In practical applications, the network device can be replaced with the transmitter, the terminal device with the receiver, and the target object with any object other than the receiver.

[0333] In a single-base scenario, the transmitter and receiver are deployed in the same communication device. In this case, the communication device can execute the methods executed by the network device and the terminal device as described above. Furthermore, since the transmitter and receiver are deployed in the same communication device, the transmitter may not send the scheduling information of the sensing signal to the receiver, and the receiver may not send the message including the first information to the transmitter, or it may not send the message including the second information to the transmitter.

[0334] The communication apparatus provided in the third aspect of this application has been described above. This communication apparatus may include a transmitting unit and a receiving unit; optionally, it may also include a processing unit.

[0335] Optionally, the communication device can be used to execute the steps or processes performed by the network device in the method examples shown in Figure 4, 5-2, or 7, or to execute the steps or processes performed by the terminal device in the method example shown in Figure 4. The sending unit can be used to perform the sending step, the receiving unit can be used to perform the receiving step, and the processing unit can be used to perform internal operations or actions.

[0336] In this application, the internal operation or action can be other operations besides the sending and receiving operations in the flowchart of the communication method, such as the steps described within the rectangles of the flowchart.

[0337] The preceding text also describes a communication apparatus provided in the fourth aspect of this application. This communication apparatus includes at least one processor, which executes a computer program stored in a memory, such that the processor performs the steps executed by the network device in the method examples shown in FIG4, FIG5-2, or FIG7, or performs the steps executed by the terminal device in the method example shown in FIG4.

[0338] The preceding text also introduced the communication apparatus provided in the fifth aspect of this application, which includes at least one logic circuit and an input / output interface. The logic circuit is used to implement the steps performed by the network device in the method examples shown in Figure 4, 5-2, or 7, or to implement the steps performed by the terminal device in the method example shown in Figure 4 and achieve the corresponding technical effects.

[0339] The preceding text also describes a chip (or chip device or chip system) provided in the sixth aspect of this application. This chip includes a processor for calling a computer program or computer instructions stored in memory, causing the processor to execute the steps performed by the network device in the method examples shown in Figure 4, 5-2, or 7, or the steps performed by the terminal device in the method example shown in Figure 4. Optionally, the processor is coupled to the memory via an interface.

[0340] In this application, the processor mentioned anywhere may be a general-purpose central processing unit, a microprocessor, an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of a program that controls the methods provided in any of the above embodiments. The memory mentioned anywhere above may be read-only memory (ROM) or other types of static storage devices capable of storing static information and instructions, such as random access memory (RAM).

[0341] The preceding text also describes a computer-readable storage medium provided in the eighth aspect of this application, the storage medium including computer instructions that, when executed on a computer, cause the computer to perform the steps performed by a network device in the method examples shown in Figure 4, 5-2, or 7, or to perform the steps performed by a terminal device in the method example shown in Figure 4.

[0342] The preceding text also describes a computer program product including computer instructions provided in the ninth aspect of this application, which, when run on a computer, causes the computer to perform the steps performed by a network device in the method examples shown in Figure 4, 5-2, or 7, or to perform the steps performed by a terminal device in the method example shown in Figure 4.

[0343] The preceding text also describes the communication system provided in the seventh aspect of this application, which may include one or more transmitters and one or more receivers as shown in FIG2A, or may include the measurement node 108 and computing node 107 as shown in FIG2B, or may include the network device and terminal device as shown in FIG3-1.

[0344] In this application, the processing unit can be implemented by at least one processor or processor-related circuitry. Specifically, the processor may include a modem chip, or a SoC chip or SIP chip containing a modem core. The transmitting unit and receiving unit (or collectively referred to as transceiver units) can be implemented by a transceiver or transceiver-related circuitry. The transceiver unit may also be referred to as a communication module or communication interface. The storage module can be implemented by at least one memory.

[0345] Optionally, in this application, when the communication device is a circuit or chip responsible for communication functions, such as a modem chip or a SoC chip or SIP chip containing a modem core, the function of the processing unit can be implemented by a circuit system in the aforementioned chip that includes one or more processors or processing cores. The function of the transceiver unit can be implemented by the interface circuit or data transceiver circuit on the aforementioned chip.

[0346] In this application, when the communication device is a terminal, Figure 8 shows a simplified schematic diagram of the terminal structure. As shown in Figure 8, the terminal includes a processor, a memory, and a transceiver. The memory can store computer program code, and the transceiver includes a transmitter 831, a receiver 832, radio frequency circuitry (not shown in the figure), an antenna 833, and input / output devices (not shown in the figure).

[0347] The processor is primarily used for processing communication protocols and data; controlling the terminal; executing software programs; and processing data from those programs. The memory is primarily used for storing software programs and data. The radio frequency (RF) circuitry is primarily used for converting baseband signals to RF signals and processing RF signals. The antenna is primarily used for transmitting and receiving RF signals in the form of electromagnetic waves. Input / output devices may include touchscreens, displays, or keyboards. These devices are primarily used for receiving user input and outputting data to the user. It should be noted that some types of terminals may not have input / output devices.

[0348] When data needs to be transmitted, the processor performs baseband processing on the data to be transmitted and outputs a baseband signal to the radio frequency (RF) circuit. The RF circuit then processes the baseband signal and transmits it outwards via an antenna as electromagnetic waves. When data is sent to the terminal, the RF circuit receives the RF signal through the antenna. The RF circuit converts the RF signal back into a baseband signal and outputs it to the processor. The processor converts the baseband signal back into data and processes the data. For ease of explanation, Figure 8 only shows one memory, processor, and transceiver. In actual terminal products, there may be one or more processors and one or more memories. Memory can also be called storage medium or storage device, etc. Memory can be independent of the processor or integrated with the processor; this embodiment does not limit this.

[0349] In the embodiments of this application, the antenna and radio frequency circuit with transceiver function can be regarded as the transceiver unit of the terminal, and the processor with processing function can be regarded as the processing unit of the terminal.

[0350] As shown in Figure 8, the terminal includes a processor 810, a memory 820, and a transceiver 830. The processor 810 can also be referred to as a processing unit, processing board, processing unit, or processing device, etc. The transceiver 830 can also be referred to as a transceiver unit, transceiver, or transceiver device, etc.

[0351] Optionally, the devices in transceiver 830 used to implement the receiving and / or transmitting functions can be considered as transceiver units. A transceiver may also be referred to as a transceiver module, transceiver circuit, etc.

[0352] The processor 810 is used to execute the processing actions performed by the terminal device in the method example shown in Figure 4 above. The transceiver 830 is used to execute the sending and receiving actions of the terminal in the example shown in Figure 4 above. It should be understood that Figure 8 is only an example and not a limitation, and the terminal including the sending and receiving unit and the processing unit described above may not depend on the structure shown in Figure 8.

[0353] When the communication device 800 is a chip, the chip includes a processor, a memory, and a transceiver. The transceiver can be an input / output circuit or a communication interface. The processor can be a processing unit integrated on the chip, a microprocessor, or an integrated circuit. In the above method embodiments, the terminal's sending operation can be understood as the chip's output, and the terminal's receiving operation in the above method embodiments can be understood as the chip's input.

[0354] In this application, when the communication device is a network device, such as a RAN node (e.g., a gNB or base station), Figure 9 shows a simplified schematic diagram of a RAN node. The RAN node includes parts 910, 920, and 930.

[0355] The 910 section is mainly used for baseband processing and controlling RAN nodes; the 910 section is usually the control center of the RAN node, which can be called the processor, and is used to control the RAN node to perform the processing operations on the access network equipment side in the above method embodiments.

[0356] Section 920 is primarily used to store computer program code and data.

[0357] Section 930 is primarily used for transmitting and receiving radio frequency (RF) signals, as well as converting RF signals to baseband signals. Section 930 is commonly referred to as a transceiver unit, transceiver module, transceiver, transceiver circuit, or transceiver. The transceiver module of section 930, also called a transceiver, includes antenna 933 and RF circuitry (not shown in the figure), where the RF circuitry is mainly used for RF processing. Optionally, the device in section 930 that performs the receiving function can be considered a receiver, and the device that performs the transmitting function can be considered a transmitter; that is, section 930 includes receiver 932 and transmitter 931. The receiver can also be called a receiving unit, receiver circuit, or receiving unit, and the transmitter can be called a transmitting module, transmitter, or transmitting circuit.

[0358] Sections 910 and 920 may include one or more boards, each board may include one or more processors and one or more memories. The processor is used to read and execute programs in the memory to implement baseband processing functions and control the RAN nodes. If multiple boards exist, they can be interconnected to enhance processing capabilities. As an alternative implementation, multiple boards may share one or more processors, multiple boards may share one or more memories, or multiple boards may simultaneously share one or more processors.

[0359] For example, in one implementation, the transceiver module in section 930 is used to execute the transceiver-related processes performed by the network device in the method examples shown in Figure 4, Figure 5-2, or Figure 7. The processor in section 910 is used to execute the processing-related processes performed by the network device in the method examples shown in Figure 4, Figure 5-2, or Figure 7.

[0360] It should be understood that Figure 9 is merely an example and not a limitation, and the network devices described above, including processors, memory, and transceivers, may not depend on the structure shown in Figure 9.

[0361] When the communication device 900 is a chip, the chip includes a transceiver, a memory, and a processor. The transceiver can be an input / output circuit or a communication interface; the processor can be a processor integrated on the chip, a microprocessor, or an integrated circuit. In the above method embodiments, the transmitting operation of the RAN node can be understood as the chip's output, and the receiving operation of the RAN node in the above method embodiments can be understood as the chip's input.

[0362] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the explanations and beneficial effects of the relevant contents in any of the above-mentioned devices can be referred to the corresponding method embodiments provided above, and will not be repeated here.

[0363] In the several embodiments provided in this application, it should be understood that the disclosed systems, apparatuses, and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of 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 an indirect coupling or communication connection between apparatuses or units through some interfaces, and may be electrical, mechanical, or other forms.

[0364] 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.

[0365] Furthermore, the functional units in the various embodiments of this application 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.

[0366] 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, the essential contribution of the technical solution of this application, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0367] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit it. 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 scope of the technical solutions of the embodiments of this application.

Claims

1. A communication method, characterized in that, include: Receive a first sensing signal, which is a sensing signal sent by the transmitting end in the first transmission resource, and the sensing signal is used to sense the position of the target object; A first message is sent based on the first sensing signal. The first message includes first information or second information, wherein the first information indicates that the sensing result based on the first sensing signal does not meet the requirements, and the second information indicates that the sensing result based on the first sensing signal meets the requirements.

2. The method according to claim 1, characterized in that, The coverage area of ​​the sensing signal includes the target object and one or more first objects, and sending the first message based on the first sensing signal includes: The first message is sent based on the perceived location of one or more of the first objects, wherein the perceived location of the first objects is the location of the first objects perceived based on the first sensing signal.

3. The method according to claim 2, characterized in that, Sending the first message based on the perceived location of one or more of the first objects includes: Based on the fact that the perceived location of one or more of the first objects meets a first condition, the first message is sent, and the first message includes the first information; The first condition includes: the distance between the perceived location of one or more first objects and the expected location of one or more first objects is greater than a threshold, and / or, the perceived location of one or more first objects is located outside the first region corresponding to one or more first objects, and the first region corresponding to the first object is the region containing the first object in the coverage area.

4. The method according to claim 2, characterized in that, Sending the first message based on the perceived location of one or more of the first objects includes: Based on the fact that the perceived location of one or more of the first objects meets the second condition, the first message is sent, and the first message includes the second information; The second condition includes: the distance between the perceived location of one or more of the first objects and the expected location of one or more of the first objects is less than a threshold, and / or, the perceived location of one or more of the first objects is located inside the first region corresponding to one or more of the first objects, and the first region corresponding to the first objects is the region in the coverage area that contains the first objects.

5. The method according to claim 3 or 4, characterized in that, Before sending the first message based on the perceived location of one or more of the first objects, the method further includes: Receive a second message, which indicates the desired location of one or more of the first objects and / or the threshold.

6. The method according to any one of claims 1-5, characterized in that, The first message includes first information, and the method further includes: After sending the first message based on the first sensing signal, a second sensing signal is received, wherein the second sensing signal is the sensing signal sent by the transmitting end on the second transmission resource; The location of the target object is perceived based on the first sensing signal and the second sensing signal.

7. The method according to claim 6, characterized in that, The first transmission resource includes a first frequency domain resource, and the second transmission resource includes a second frequency domain resource, wherein the second frequency domain resource includes frequency domain resources that do not overlap with the first frequency domain resource.

8. A communication method, characterized in that, include: Send a first sensing signal, which is a sensing signal sent in the first transmission resource, and the sensing signal is used to sense the position of the target object; A first message is received, which is sent by the receiving end based on a first sensing signal. The first message includes first information or second information, wherein the first information indicates that the sensing result based on the first sensing signal does not meet the requirements, and the second information indicates that the sensing result based on the first sensing signal meets the requirements.

9. The method according to claim 8, characterized in that, The first message includes the first information, and the method further includes: Send a second sensing signal, which is the sensing signal retransmitted on the second transmission resource.

10. The method according to claim 9, characterized in that, The first transmission resource includes a first frequency domain resource, and the second transmission resource includes a second frequency domain resource, wherein the second frequency domain resource includes frequency domain resources that do not overlap with the first frequency domain resource.

11. A communication device, characterized in that, The communication device includes multiple functional modules that interact with each other to implement the method as described in any one of claims 1 to 10.

12. A communication device, characterized in that, It includes at least one processor, said at least one processor being used to perform the method as described in any one of claims 1 to 10.

13. A chip, characterized in that, Includes a processor for invoking a computer program or computer instructions in memory to cause the processor to perform the method as described in any one of claims 1 to 10.

14. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program or instructions that, when executed by a communication device, implement the method as described in any one of claims 1 to 10.

15. A computer program product, characterized in that, It includes a computer program or instructions that, when executed by a computer, implement the method as described in any one of claims 1 to 10.

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