Wireless communication method and apparatus, and device

Abstract

The present application belongs to the field of communications, and discloses a wireless communication method and apparatus, and a device. The wireless communication method of an embodiment of the present application comprises: a first device measures a first signal and obtains first information, the first information comprising at least one of the following: angle of arrival information of the first signal, first measurement information associated with angle of departure information of the first signal, distance information indicating a distance between the first device and a second device, angle of departure information of the first signal, and position information of a target object; and the first device sends the first information to the second device and / or a third device.

Description

Wireless communication methods, apparatus and devices

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411561164.1, filed on November 4, 2024, entitled "Wireless Communication Method, Apparatus and Device", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application belongs to the field of communication technology, specifically relating to a wireless communication method, apparatus, and device. Background Technology

[0004] In related technologies, the receiving end typically utilizes relevant electromagnetic wave detection theories and signal processing techniques to detect, locate, track, and identify target objects by measuring signals transmitted by a third party (such as a communication base station). Specifically, the receiving end can measure the signals transmitted by the third party to obtain the relative time delay of the path passing through the target object and the path not passing through the target object. Based on the relative time delay, it can then calculate the target object's location information and report the calculated location information to the third party, or report the relative time delay to the third party for further calculation of the target object's location information.

[0005] However, delay measurement requires a sufficiently large bandwidth configuration to ensure delay resolution, and the measurement results may be affected by timing errors caused by clock asynchrony, leading to inaccurate measurements and thus reducing the accuracy of the final calculated target object's position information. Summary of the Invention

[0006] This application provides a wireless communication method, apparatus, and device that can reduce bandwidth resource consumption and improve the accuracy of location information.

[0007] In a first aspect, a wireless communication method is provided, performed by a first device, the method comprising:

[0008] The first device measures the first signal and obtains the first information;

[0009] The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object;

[0010] The first device sends the first information to the second device and / or the third device.

[0011] Secondly, a wireless communication method is provided, performed by a second device, the method comprising:

[0012] The second device sends a first signal to the first device;

[0013] The second device sends third information to the third device;

[0014] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0015] Thirdly, a wireless communication method is provided, performed by a third device, the method comprising:

[0016] The third device receives the first information from the first device and / or receives the third information from the second device;

[0017] The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object;

[0018] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0019] Fourthly, a wireless communication device is provided, comprising:

[0020] The processing module is used to measure the first signal and obtain the first information;

[0021] The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the angle of departure information of the first signal, the distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the position information of the target object;

[0022] The sending module is used to send the first information to the second device and / or the third device.

[0023] Fifthly, a wireless communication device is provided, comprising:

[0024] The sending module is used for:

[0025] Send a first signal to the first device;

[0026] Send third information to a third device;

[0027] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0028] Sixthly, a wireless communication device is provided, comprising:

[0029] The receiving module is configured to receive first information from the first device and / or receive third information from the second device;

[0030] The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object;

[0031] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0032] In a seventh aspect, a wireless communication device is provided, the device being configured to perform the steps of the method described in the first aspect, or to implement the steps of the method described in the second aspect, or to implement the steps of the method described in the third aspect.

[0033] In an eighth aspect, a first device is provided, the first device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the first aspect.

[0034] In a ninth aspect, a first device is provided, including a processor and a communication interface, wherein the processor is used to measure a first signal to obtain first information;

[0035] The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the angle of departure information of the first signal, the distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the position information of the target object;

[0036] The communication interface is used to send the first information to the second device and / or the third device.

[0037] In a tenth aspect, a second device is provided, the second device including a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the second aspect.

[0038] Eleventhly, a second device is provided, including a processor and a communication interface, wherein the processor is used for:

[0039] Send a first signal to the first device;

[0040] Send third information to a third device;

[0041] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0042] In a twelfth aspect, a third device is provided, comprising a processor and a memory, the memory storing a program or instructions executable on the processor, the program or instructions, when executed by the processor, implementing the steps of the method as described in the third aspect.

[0043] In a thirteenth aspect, a third device is provided, including a processor and a communication interface, wherein the processor is used for:

[0044] Receive first information from the first device and / or receive third information from the second device;

[0045] The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object;

[0046] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0047] In a fourteenth aspect, a readable storage medium is provided, on which a program or instructions are stored, which, when executed by a processor, implement the steps of the method described in the first aspect, or the steps of the method described in the second aspect, or the steps of the method described in the third aspect.

[0048] In a fifteenth aspect, a wireless communication system is provided, comprising: a first device, a second device, and a third device, wherein the first device is configured to perform the steps of the method described in the first aspect, the second device is configured to perform the steps of the method described in the second aspect, and the third device is configured to perform the steps of the method described in the third aspect.

[0049] In a sixteenth aspect, a chip is provided, the chip including a processor and a communication interface coupled to the processor, the processor being configured to run a program or instructions to implement the method as described in the first aspect, or the method as described in the second aspect, or the steps of the method as described in the third aspect.

[0050] In a seventeenth aspect, a computer program / program product is provided, the computer program / program product being stored in a storage medium, the computer program / program product being executed by at least one processor to implement the steps of the wireless communication method as described in the first aspect, or the steps of the wireless communication method as described in the second aspect, or the steps of the method as described in the third aspect.

[0051] In this embodiment of the application, the first device measures the first signal to obtain the first information. The first information includes information that is not related to time delay. This means that the first device can avoid performing time delay measurement, thereby reducing the consumption of bandwidth resources and improving the accuracy of location information. Attached Figure Description

[0052] Figure 1 is a schematic diagram of a communication system architecture provided in an embodiment of this application.

[0053] Figure 2 is a schematic diagram of a UE local coordinate system provided in an embodiment of this application.

[0054] Figure 3 is a schematic diagram of a local coordinate system of a BS antenna array provided in an embodiment of this application.

[0055] Figure 4 is a schematic diagram of the transformation relationship between a local coordinate system and a global coordinate system provided in an embodiment of this application.

[0056] Figures 5 to 8 are schematic diagrams illustrating the spatial relationship between the target object and the transceiver device provided in the embodiments of this application.

[0057] Figure 9 is a schematic diagram of the spatial relationship between a transceiver device and a target object provided in an embodiment of this application.

[0058] Figure 10 is an example of a pre-encoded first signal provided in an embodiment of this application.

[0059] Figures 11 to 15 are schematic flowcharts of the wireless communication method provided in the embodiments of this application.

[0060] Figure 16 is an example of time-delay domain target path detection provided in an embodiment of this application.

[0061] Figure 17 is an example of time-delay-Doppler domain target path detection provided in an embodiment of this application.

[0062] Figure 18 is a schematic block diagram of a wireless communication device provided in an embodiment of this application.

[0063] Figure 19 is a schematic block diagram of another wireless communication device provided in an embodiment of this application.

[0064] Figure 20 is a schematic block diagram of another wireless communication device provided in an embodiment of this application.

[0065] Figure 21 is a schematic block diagram of a communication device provided in an embodiment of this application.

[0066] Figure 22 is a schematic diagram of the hardware structure of a terminal provided in an embodiment of this application.

[0067] Figure 23 is a schematic block diagram of a network-side device provided in an embodiment of this application. Detailed Implementation

[0068] The technical solutions of the embodiments of this application will be clearly described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application are within the scope of protection of this application.

[0069] The terms "first," "second," etc., used in this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such terms can be used interchangeably where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first" and "second" are generally of the same class, not limited in number; for example, the first object can be one or more. Furthermore, "or" in this application indicates at least one of the connected objects. For example, the scope of protection for "A or B" covers at least three scenarios: Scenario 1: including A but not B; Scenario 2: including B but not A; Scenario 3: including both A and B. In addition, the terms "A and / or B," "at least one of A and B," and "at least one of A or B" also cover at least the above three scenarios. The character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0070] The term "instruction" in this application can be either a direct instruction (or explicit instruction) or an indirect instruction (or implicit instruction). A direct instruction can be understood as one in which the sender explicitly informs the receiver of specific information, the operation to be performed, or the requested result, etc., in the instruction sent. An indirect instruction can be understood as one in which the receiver determines the corresponding information based on the instruction sent by the sender, or makes a judgment and determines the operation to be performed or the requested result, etc., based on the judgment result.

[0071] It is worth noting that the technologies described in this application are not limited to Long Term Evolution (LTE) / LTE-Advanced (LTE-A) systems, but can also be used in other wireless communication systems, such as Code Division Multiple Access (CDMA), Time Division Multiple Access (TDMA), Frequency Division Multiple Access (FDMA), Orthogonal Frequency Division Multiple Access (OFDMA), Single-carrier Frequency-Division Multiple Access (SC-FDMA), or other systems. The terms "system" and "network" in this application are often used interchangeably, and the described technologies can be used with the systems and radio technologies mentioned above, as well as with other systems and radio technologies. The following description describes New Radio (NR) systems for illustrative purposes, and the term NR is used in most of the following description; however, these technologies can also be applied to systems other than NR systems, such as 6th generation (6G) radio systems. th Generation 6G communication system.

[0072] To facilitate a better understanding of the embodiments of this application, the related technologies are described.

[0073] (1) Integration of sensory perception.

[0074] Future mobile communication systems, such as B5G or 6G systems, will possess sensing capabilities in addition to communication capabilities. Sensing capabilities refer to the ability of one or more devices to sense the location, distance, and speed of target objects through the transmission and reception of wireless signals, or to detect, track, identify, and image target objects, events, or environments. With the deployment of small base stations with high-frequency, high-bandwidth capabilities such as millimeter waves and terahertz waves in 6G networks, the resolution of sensing will be significantly improved compared to centimeter waves, enabling 6G networks to provide more refined sensing services. Typical sensing functions and application scenarios are shown in Table 1.

[0075] Table 1

[0076] Communication and sensing integration refers to the integrated design of communication and sensing functions within the same system through spectrum sharing and hardware sharing. While transmitting information, the system can sense information such as location, distance, and speed, and detect, track, and identify target devices or events. The communication system and the sensing system complement each other, thereby improving overall performance and bringing a better service experience.

[0077] The integration of communication and radar is a typical application of communication-sensing integration (communication-sensing fusion). In the past, radar systems and communication systems were strictly distinguished due to different research objects and focuses, and in most scenarios, the two systems were studied independently. In fact, radar and communication systems are both typical methods of information transmission, acquisition, processing, and exchange, and they share many similarities in terms of working principles, system architecture, and frequency bands. The design of integrated communication and radar systems is highly feasible, mainly in the following aspects: First, both communication and sensing systems are based on electromagnetic wave theory, using the transmission and reception of electromagnetic waves to complete information acquisition and transmission; second, both communication and sensing systems have structures such as antennas, transmitters, receivers, and signal processors, resulting in significant overlap in hardware resources; with technological advancements, their operating frequency bands also increasingly overlap; furthermore, they share similarities in key technologies such as signal modulation and reception detection, and waveform design. The integration of communication and radar systems can bring many advantages, such as cost savings, size reduction, power consumption reduction, improved spectral efficiency, and reduced mutual interference, thereby improving the overall system performance.

[0078] Figure 1 is an example of a communication system 100 provided in an embodiment of this application.

[0079] As shown in Figure 1, the wireless communication system 100 includes a sensing function network element, base station A, base station B, terminal A, and terminal B.

[0080] The sensing function network element can be a core network device, which may include, but is not limited to, at least one of the following: core network node, core network function, Mobility Management Entity (MME), Access and Mobility Management Function (AMF), Session Management Function (SMF), User Plane Function (UPF), Policy Control Function (PCF), Policy and Charging Rules Function (PCRF), Edge Application Server Discovery Function (EASDF), Unified Data Management (UDM), Unified Data Repository (UDR), Home Subscriber Server (HSS), Centralized network configuration (CNC), Network Repository Function (NRF), Network Exposure Function (NEF), Local NEF (or L-NEF), and Binding Support. Functions such as BSF, Application Function (AF), Location Management Function (LMF), Gateway Mobile Location Centre (GMLC), and Network Data Analytics Function (NWDAF) are described. It should be noted that this application embodiment only uses core network equipment in the NR system as an example and does not limit the specific type of core network equipment. Alternatively, the functional description of the Sensing Function network element can be found in (2) Sensing Network Function in the terminology explanation below.

[0081] Base station A or base station B can also be referred to as Radio Access Network (RAN) equipment, RAN function, or RAN unit. Access network equipment can include base stations, Wireless Local Area Network (WLAN) access points (APs), or Wireless Fidelity (WiFi) nodes, etc. The base station may be referred to as Node B (NB), Evolved Node B (eNB), Next Generation Node B (gNB), New Radio Node B (NR Node B), Access Point, Relay Base Station (RBS), Serving Base Station (SBS), Base Transceiver Station (BTS), Radio Base Station, Radio Transceiver, Basic Service Set (BSS), Extended Service Set (ESS), Home Node B (HNB), Home Evolved Node B, Transmission Reception Point (TRP), or any other suitable term in the field, as long as the same technical effect is achieved. The base station is not limited to specific technical terms. It should be noted that the embodiments of this application only use the base station in the NR system as an example for introduction, and do not limit the specific type of base station.

[0082] Terminal A or Terminal B can be a mobile phone, tablet computer, laptop computer, notebook computer, personal digital assistant (PDA), handheld computer, netbook, ultra-mobile personal computer (UMPC), mobile internet device (MID), augmented reality (AR), virtual reality (VR) device, robot, wearable device, flight vehicle, vehicle user equipment (VUE), shipboard equipment, pedestrian user equipment (PUE), smart home (home devices with wireless communication capabilities, such as refrigerators, televisions, washing machines, or furniture), game console, personal computer (PC), ATM, or self-service machine, etc. Wearable devices include: smartwatches, smart bracelets, smart earphones, smart glasses, smart jewelry (smart bracelets, smart chains, smart rings, smart necklaces, smart anklets, smart anklets, etc.), smart wristbands, smart clothing, etc. Among these, in-vehicle devices can also be referred to as in-vehicle terminals, in-vehicle controllers, in-vehicle modules, in-vehicle components, in-vehicle chips, or in-vehicle units, etc. It should be noted that the embodiments in this application do not limit the specific type of terminal A or terminal B.

[0083] As shown in Figure 1, based on the different transmitting and receiving nodes of the sensing signal, there are six basic sensing methods, specifically including:

[0084] 1. Base station self-transmitting and self-receiving sensing. In this method, the base station sends sensing signals and obtains the sensing results by receiving the echo of the sensing signals.

[0085] 2. Inter-base station air interface sensing. At this time, base station 2 receives the sensing signal sent by base station 1 and obtains the sensing result.

[0086] 3. Air interface sensing. At this time, the base station receives the sensing signal sent by the UE and obtains the sensing result.

[0087] 4. Linear interface sensing. At this time, the UE receives the sensing signal sent by the base station and obtains the sensing result.

[0088] 5. Terminal self-transmitting and receiving sensing. In this case, the UE sends a sensing signal and obtains the sensing result by receiving the echo of the sensing signal.

[0089] 6. Sidelink sensing between terminals. For example, UE 2 receives sensing signals sent by UE 1 and obtains sensing results.

[0090] It is worth noting that each sensing link in Figure 1 uses one transmitting node and one receiving node as an example. In actual systems, different sensing links can be selected according to different sensing requirements. Each sensing link can have one or more transmitting and receiving nodes, and the actual sensing system can include a variety of different sensing links. The sensing objects in Figure 1 are people and vehicles as examples, but the sensing objects in the actual system will be much more diverse. This application does not specifically limit this.

[0091] (2) Bistatic radar.

[0092] Radars can be classified into monostatic radars and bistatic / multistatic radars based on whether the transmitter and receiver are separate. Bistatic radars generally require a long distance between the transmitting and receiving antennas, comparable to the radar's effective range. External radiation source radar is a special case of bistatic radar. It utilizes relevant electromagnetic wave detection theories and signal processing techniques to acquire non-cooperative electromagnetic signals emitted by a third party (such as a communication base station) to achieve the detection, location, tracking, and identification of targets. It is also called passive radar, bistatic / multistatic passive radar, passive radar, non-cooperative illumination source radar, or non-cooperative passive detection system.

[0093] The following section describes the bistatic positioning method based on angle of arrival and time delay.

[0094] The specific calculation process for the position information of a target object in 3D space based on angle of arrival and time delay / distance is as follows:

[0095] Step 1:

[0096] The device that calculates the location information of the target object obtains one or more of the following information: target diameter AoA T Target path ZoA T Line-of-Sight (LOS) AoA L LOS path ZoA L The time delay difference Δτ between the target path and the LOS path (or the first-reaching path or the reference path reflected by a known target object) (or the propagation distance difference ΔL = c·Δτ between the target path and the LOS path, where c represents the speed of light), and the absolute time delay τ of the LOS path (or the first-reaching path or the reference path reflected by a known target object). L (or the distance d between signal transceivers) Tx-Rx =c·τ L, that is, the LOS path propagation distance). Among them, the LOS path is usually considered to be the first path when the signal transceiver meets the LOS condition. The target path refers to the path associated with the part of the signal propagation that is reflected by the perceived target object. The specific definition of the path is given in the terminology explanation below (1) target path and LOS path.

[0097] Among them, AoA L ZoA L , τ L It can be LOS path-related information obtained through signal measurement, or it can be based on the location information of the transmitting device (x). Tx ,y Tx ,z Tx ), receive device location information (x Rx ,y Rx ,z Rx The calculation yielded the following:

[0098] AoA L =atan2(y Tx -y Rx ,x Tx -x Rx ), atan2 represents finding the arctangent function value in the four quadrants;

[0099] acos represents finding the value of the inverse cosine function.

[0100] Among them, the target path AoA T Target path ZoA T LOS path AoA L LOS path ZoA L This refers to angle information in the global coordinate system (GCS) or angle information in the local coordinate system (LCS).

[0101] If the obtained angle information is the local coordinate system (LCS) angle information, i.e., the target diameter AoA′ T Target path ZoA′ T ,LOS Path AoA′ L ,LOS Path ZoA′ L Then, the angle information of the global coordinate system can be calculated based on the transformation relationship between the local coordinate system and the global coordinate system.

[0102] The LCS can be, for example, a reference coordinate system defined with the UE antenna array as the reference, or a reference coordinate system defined with the UE device itself as the reference. For example, as shown in Figure 2, the horizontal direction of the UE screen is the x' axis, the vertical direction of the UE screen is the y' axis, and the normal direction of the UE screen is the z' axis. Alternatively, the LCS can also be, for example, a reference coordinate system defined with the BS antenna array as the reference, as shown in Figure 3, where the normal direction of the BS antenna array is the x' axis, the horizontal direction of the BS antenna array is the y' axis, and the vertical direction of the BS antenna array is the z' axis.

[0103] GCS can be, for example, an East-North-Sky reference coordinate system (the transformation relationship information between the local coordinate system and the global coordinate system includes: LCS and GCS rotation angle α around the z-axis, rotation angle β around the y-axis, and rotation angle γ around the x-axis), as shown in Figure 4.

[0104] Step 2:

[0105] Based on the arrival angles of the LOS and target paths, the angle between the incoming waves of the LOS and target paths is calculated using the following formula: θ R =cos -1 (sin(ZoA T sin(ZoA) L )cos(AoA L -AoA T )+cos(ZoA T )cos(ZoA L )).

[0106] Step 3:

[0107] Calculate the distance from the target object to the receiving device using the following formula:

[0108] Where, d Tw-Target +d Target-Rx =ΔL+d Tx-Rx =c·(Δτ+τ) L ), Δτ+τ L That is, the absolute time delay of the target path.

[0109] Step 4:

[0110] The position information of the target object is calculated based on the distance between the target object and the receiving device and the angle information of the target diameter.

[0111] For example, based on the reflection radius angle AoA of the target object in the global coordinate system. T ZoA T d Target-Rx Calculate the relative position coordinates (x, y) of the target object with respect to the receiving device in the global coordinate system. Target-Rx ,y Target-Rx,z Target-Rx ), where x Target-Rx =d Target-Rx ·sin(ZoA T )·cos(AoA T ), y Target-Rx =d Target-Rx ·sin(ZoA T )·sin(AoA T ), z Target-Rx =d Target-Rx ·cos(ZoA T Furthermore, based on the relative position coordinates with the receiving device in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target object in the global coordinate system are calculated. Target ,y Target ,z Target )=(x Target-Rx ,y Target-Rx ,z Target-Rx )+(x Rx ,y Rx ,z Rx ).

[0112] For example, it could also be based on the reflection radius angle AoA′ of the target object in the local coordinate system. T ZoA′ T d Target-Rx Calculate the position coordinates (x′) of the target object in the local coordinate system. Target ,y′ Target ,z′ Target ), where x′ Target-Rx =d Target-Rx ·sin(ZoA′ T )·cos(AoA′ T ), y′ Target-Rx =d Target-Rx ·sin(ZoA′ T )·sin(AoA′ T ), z′ Target-Rx =d Target-Rx ·cos(ZoA′ T Furthermore, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target object and the receiving device in the global coordinate system are obtained. Target-Rx ,y Target-Rx ,z Target-Rx Then, based on the relative position coordinates with the receiving device in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target object in the global coordinate system are calculated. Target ,y Target ,z Target ).

[0113] It is important to note that in some applications, what is needed is not the target object's position coordinates in the global coordinate system, but rather the target object's position information relative to the receiving device. This position information could be, for example, the target object's position coordinates in a local coordinate system with the receiving device as the reference, or it could be the distance R of the target object relative to the receiving device. R And the angle AoA′ relative to the receiving device T ZoA′ T .

[0114] The spatial relationship between the target object and the signal transceiver in bistatic sensing mode is shown in Figures 5 and 6. The x, y, and z axes are global coordinate system (GCS) axes, and the x', y', and z' axes are local coordinate system (LCS) axes.

[0115] Among them, AoA′ T ZoA′ is the azimuth angle of arrival in the local coordinate system, i.e., the angle of the projection of the target object's direction vector in the local coordinate system onto the x'Oy' plane relative to the x' axis. T To perceive the zenith angle of arrival of a target object in the local coordinate system, which is the angle of the target object's direction vector relative to the z' axis in the local coordinate system, the azimuth angle of arrival (AoA′) of the LOS path in the local coordinate system is also considered. L and reaching the zenith angle ZoA′ L The azimuth angle of arrival of the target path in the global coordinate system, AoA T Reaching the zenith angle (ZoA) T The azimuth angle AoA of the LOS path in the global coordinate system L Reaching the zenith angle (ZoA) L The definition is similar and will not be repeated here.

[0116] Where, θ R The angle between the LOS path and the target path (i.e., the angle between the line connecting the signal transceiver and the line connecting the receiver and the target) is reflected on the plane defined by the transmitting device, the receiving device, and the target. This plane can also be called the bistatic plane.

[0117] In particular, some sensing scenarios only require 2D positioning. For example, when the transceiver and the target object are on the same or approximately on the same horizontal plane, or when the transmitting device only supports a linear antenna array, calculating the target object's position based on a single-dimensional angle and latency information can only yield 2D position coordinates. The difference between acquiring the position information of a target object in 2D space and acquiring it in 3D space lies in:

[0118] 1. Target radius ZoA in global coordinate system T LOS path ZoA L In scenarios where the target object and the signal transceiver are on the same horizontal plane, the angle can be set to 90° by default, meaning no measurement is required.

[0119] 2. Target Path AoA T LOS path AoA L This refers to angle information in the global coordinate system (GCS). If the angle information obtained is in the local coordinate system (LCS), such as the target diameter ZoA′, then this is incorrect. T ,LOS Path ZoA′ L (For cases where the transmitting end supports a linear array, LCS uses the linear array axis direction as the z' axis to measure the ZoA angle information in the local coordinate system. In scenarios where the target object and the signal transceiver are located on the same horizontal plane, AoA in the local coordinate system can be set to 0° by default, or left unmeasured, i.e., no measurement is required.) Then, the global coordinate system angle information can be calculated based on the transformation relationship between the local coordinate system and the global coordinate system.

[0120] 3. Based on the arrival angle information of the LOS path and the target path, calculate the angle θ between the incoming waves of the LOS path and the target path. T =|ZoA′ L -ZoA′ T |(Calculated in the local coordinate system); Optionally, if the target object and the signal transceiver are located on the same horizontal plane, it can also be θ. R =|AoA L -AoA T | mod 180° (calculated in the global coordinate system).

[0121] 4. The location information of the target object only includes xOy plane coordinate information and does not include z-axis coordinate information, or only includes latitude and longitude information and does not include height information.

[0122] The definitions of the coordinate system and angle information are similar to those in 3D target object localization scenarios, and will not be repeated here. Specifically, θ... RThe angle between the LOS path and the target path (i.e., the angle between the line connecting the signal transceiver and the line connecting the receiver and the target) is reflected on the plane defined by the transmitting device, the receiving device, and the target. When the target and the signal transceiver are on the same horizontal plane, the angle is reflected on the global coordinate system xOy plane, which is the bistatic plane.

[0123] The following section describes the bistatic positioning method based on departure angle and time delay.

[0124] The specific calculation process for the position information of a target object in 3D space based on the departure angle and time delay / distance is as follows:

[0125] Step 1:

[0126] The device that calculates the location information of the target object obtains one or more of the following information: target diameter (AoD). T Target path ZoD T LOS path AoD L , LOS diameter ZoD L The time delay difference Δτ between the target path and the LOS path (or the first-reaching path or the reference path reflected by a known target object) (or the propagation distance difference ΔL = c·Δτ between the target path and the LOS path, where c represents the speed of light), and the absolute time delay τ of the LOS path (or the first-reaching path or the reference path reflected by a known target object). L (or the distance d between signal transceivers) Tx-Rx =c·τ L , that is, the LOS path propagation distance). Among them, the LOS path is usually considered to be the first path when the signal transceiver meets the LOS condition. The target path refers to the path associated with the part of the signal propagation that is reflected by the perceived target object. The specific definition of the path is given in the terminology explanation below (1) target path and LOS path.

[0127] Among them, AoD L ZoD L , τ L It can be LOS path-related information obtained through signal measurement, or it can be based on the location information of the transmitting device (x). Tx ,y Tx ,z Tx ), receive device location information (x Rx ,y Rx ,z Rx The calculation yielded the following:

[0128] AoD L =atan2(y Rx -y Tx ,x Rx -x Tx), atan2 represents finding the arctangent function value in the four quadrants;

[0129] acos represents finding the value of the inverse cosine function.

[0130] Among them, the target path AoD T Target path ZoD T LOS path AoD L , LOS diameter ZoD L This refers to angle information in the global coordinate system (GCS) or angle information in the local coordinate system (LCS).

[0131] If the obtained angle information is the local coordinate system (LCS) angle information, i.e., the target diameter AoD′ T Target path ZoD′ T ,LOS Path AoD′ L , LOS diameter ZoD′ L Then, the angle information of the global coordinate system can be calculated based on the transformation relationship between the local coordinate system and the global coordinate system.

[0132] Step 2:

[0133] Based on the departure angles of the LOS path and the target path, calculate the wave angle between the LOS path and the target path using the following formula: θ T =cos -1 (sin(ZoD T )sin(ZoD L )cos(AoD L -AoD T )+cos(ZoD T )cos(ZoD L )).

[0134] It should be understood that the wave-removal angle can also be understood as the angle between the direction vector from the transmitting device to the receiving device and the direction vector from the transmitting device to the target object. Of course, in other embodiments, it can also be the cosine value of the wave-removal angle, cos(θ). T ) = sin(ZoD T )sin(ZoD L )cos(AoD L -AoD T )+cos(ZoD T )cos(ZoD L ).

[0135] Step 3:

[0136] Calculate the distance from the target object to the sending device using the following formula:

[0137] Where, d Tx-Target +d Target-Rx =ΔL+d Tx-Rx =c·(Δτ+τ) L ), Δτ+τ L The absolute time delay of the target path can also be understood as the signal propagation delay associated with the reflection path of the target object.

[0138] Step 4:

[0139] The position information of the target object is calculated based on the distance between the target object and the receiving device and the angle information of the target diameter.

[0140] For example, based on the reflection radius angle (AoD) of the target object in the global coordinate system. T ZoD T d Tx-Target Calculate the relative position coordinates (x, y) of the target object with respect to the transmitting device in the global coordinate system. Target-Tx ,y Target-Tx ,z Target-Tx ), where x Target-Tx =d Tx-Target ·sin(ZoD T )·cos(AoD T ), y Target-Tx =d Tx-Target ·sin(ZoD T )·sin(AoD T ), z Target-Tx =d Tx-Target ·cos(ZoD T Furthermore, based on the relative position coordinates with the receiving device in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target object in the global coordinate system are calculated. Target ,y Target ,z Target )=(x Target-Tx ,y Target-Tx ,z Target-Tx )+(x Tx ,y Tx ,z Tx ).

[0141] For example, it could be based on the reflection radius angle AoD′ of the target object in the local coordinate system. T ZoD′ T d Tx-Target Calculate the position coordinates (x′) of the target object in the local coordinate system. Target-Tx ,y′ Target-Tx ,z′ Target-Tx ), where x′Target-Tx =d Tx-Target ·sin(ZoD′ T )·cos(AoD′ T ), y′ Target-Tx =d Tx-Target ·sin(ZoD′ T )·sin(AoD′ T ), z′ Target-Tx =d Tx-Target ·cos(ZoD′ T Furthermore, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target object and the transmitting device in the global coordinate system are obtained. Target-Tx ,y Target-Tx ,z Target-Tx Then, based on the relative position coordinates with the receiving device in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target object in the global coordinate system are calculated. Target ,y Target ,z Target ).

[0142] It is important to note that in some applications, what is needed is not the target object's position coordinates in the global coordinate system, but rather the target object's position information relative to the transmitting device. This position information could be, for example, the target object's position coordinates in a local coordinate system with the transmitting device as the reference, or it could be the distance d between the target object and the transmitting device. Tx-Target And the angle AoD′ relative to the transmitting device T ZoD′ T .

[0143] The spatial relationship between the target object and the signal transceiver in bistatic sensing mode is shown in Figures 7 and 8. The x, y, and z axes are global coordinate system (GCS) axes, and the x', y', and z' axes are local coordinate system (LCS) axes.

[0144] Among them, AoD′ T ZoD′ is the azimuth angle of departure in the local coordinate system, which is the angle of the projection of the direction vector from the transmitting device to the target object onto the x'O'y' plane relative to the x' axis in the local coordinate system. T To sense the zenith angle of departure of the target object in the local coordinate system, which is the angle of the direction vector from the transmitting device to the target object relative to the z' axis in the local coordinate system, the azimuth angle of departure of the LOS path in the local coordinate system is AoD′. Land away from the zenith angle ZoD′ L The target's azimuth angle (AoD) in the global coordinate system. T , leave the zenith corner ZoD T The LOS azimuth angle (AoD) in the global coordinate system L , leave the zenith corner ZoD L The definition is similar and will not be repeated here.

[0145] Where, θ T The angle between the LOS path and the target path (i.e., the angle between the line connecting the signal transceiver and the line connecting the transmitting device and the target object; the angle can also be understood as the angle between the direction vector from the transmitting device to the receiving device and the direction vector from the transmitting device to the target object). This angle is reflected on the plane determined by the transmitting device, the receiving device, and the target object, which can also be called the bistatic plane.

[0146] In particular, some sensing scenarios only require 2D positioning. For example, when the transceiver and the target object are on the same or approximately on the same horizontal plane, or when the transmitting device only supports a linear antenna array, calculating the target object's position based on a single-dimensional angle and latency information can only yield 2D position coordinates. The difference between acquiring the position information of a target object in 2D space and acquiring it in 3D space lies in:

[0147] 1. Target radius (ZoD) in global coordinate system T , LOS diameter ZoD L In scenarios where the target object and the signal transceiver are on the same horizontal plane, the angle can be set to 90° by default, meaning no measurement is required.

[0148] 2. Target Path (AoD) T LOS path AoD L This refers to angle information in the global coordinate system (GCS). If the angle information obtained is in the local coordinate system (LCS), such as the target diameter ZoD′, then this is incorrect. T , LOS diameter ZoD′ L (For cases where the transmitting end supports a linear array, LCS uses the linear array axis direction as the z' axis to measure the ZoD angle information in the local coordinate system. In scenarios where the target object and the signal transceiver are located on the same horizontal plane, the AoD in the local coordinate system can be set to 0° by default, or left unmeasured, i.e., no measurement is required.) Then, the global coordinate system angle information can be calculated based on the transformation relationship between the local and global coordinate systems.

[0149] 3. Based on the departure angle information of the LOS path and the target path, calculate the wave angle θ between the LOS path and the target path. T =|ZoD′L -ZoD′ T |(Calculated in the local coordinate system); Optionally, if the target object and the signal transceiver are located on the same horizontal plane, it can also be θ. T =|AoD L -AoD T | mod 180° (calculated in the global coordinate system).

[0150] 4. The location information of the target object only includes xOy plane coordinate information and does not include z-axis coordinate information, or only includes latitude and longitude information and does not include height information.

[0151] The definitions of the coordinate system and angle information are similar to those in 3D target object localization scenarios, and will not be repeated here. Specifically, θ... T The angle between the LOS path and the target path (i.e., the angle between the line connecting the signal transceiver and the line connecting the transmitting device and the target object) is reflected on the plane determined by the transmitting device, the receiving device, and the target object. When the target object and the signal transceiver are located on the same horizontal plane, the angle is reflected on the global coordinate system xOy plane, which is the bistatic plane.

[0152] Based on the above analysis, it can be seen that both bistatic positioning based on angle of arrival and time delay and bistatic positioning based on departure angle and time delay require time delay measurement, that is, a sufficiently large bandwidth configuration is needed to ensure time delay resolution, and they are affected by timing errors caused by clock asynchrony. The target path time delay measured in bistatic sensing is generally the relative time delay (time difference of arrival) of the target path with respect to the first path. If the propagation time delay (ToF) of the first path (or propagation path length) is unknown, the propagation time delay (ToF) of the target object's reflection path (or propagation path length) cannot be obtained. Therefore, it is impossible to calculate the distance from the transmitting device to the target object or the distance from the target object to the receiving device based on the propagation time delay (ToF) of the target object's reflection path, and it is even more impossible to calculate the position information based on the distance from the transmitting device to the target object or the distance from the target object to the receiving device.

[0153] This application further obtains the location information of the target object by measuring the angle of arrival and the angle of departure. It solves the problems of excessive bandwidth consumption and inaccurate measurement caused by timing errors when obtaining the location information of the target object through delay measurement. It also solves the problem that when the propagation delay (or propagation path length) of the first path is unknown, the propagation delay (or propagation path length) of the target object's reflection path cannot be obtained, thus making it impossible to calculate the distance from the transmitting device to the target object or the distance from the target object to the receiving device based on the propagation delay of the target object's reflection path, and even more impossible to calculate the location information based on the distance from the transmitting device to the target object or the distance from the target object to the receiving device.

[0154] Furthermore, some scenarios utilize multi-node collaborative sensing, such as one-to-many, multiple-to-one, or multiple-to-multiple-to-receive sensing methods. While these methods can obtain the target object's position information solely through angle measurement, eliminating the need for latency measurement, a problem arises when multiple target objects exist in the environment. The measurement results from each node contain angle information associated with multiple target objects, leading to an angle information matching problem. This means it's impossible to determine whether the angle information from different nodes is associated with the same target object, resulting in incorrect target object position calculations. The message interaction flow proposed in this application solves the problem of incorrect target object position calculations caused by mismatched angle measurement information of multiple target objects in multi-node collaborative sensing.

[0155] In addition to providing a bistatic positioning method based on angle of arrival and angle of departure (including a method for calculating the position information of passive sensing target objects in bistatic sensing scenarios and a method for calculating various intermediate measurement results) and a message interaction process, this application also provides a signal configuration method and a measurement quantity definition method.

[0156] The bistatic positioning method based on angle of arrival and angle of departure provided in this application will be described below.

[0157] The specific calculation process for the target object's position information based on the angle of arrival and departure angle in bistatic sensing mode is as follows:

[0158] Step 1:

[0159] The device for calculating the location information of a target object acquires measurement information, including at least one of the following:

[0160] 1. Angle of arrival information, including target path AoA T Target path ZoA T LOS path AoA L LOS path ZoA L At least one of them;

[0161] 2. Departure angle information, including target radius (AoD) T Target path ZoD T LOS path AoD L , LOS diameter ZoD L At least one of them;

[0162] 3. Distance information: the distance d between signal transceivers. Tx-Rx =c·τ L This refers to the propagation distance of the LOS path; it can also be time delay information, including the propagation delay τ of the LOS path. L(It can also be understood as propagation time, time of flight (ToF), absolute arrival time or absolute delay), or relative arrival time of the LOS path (RTOA, Relative Time of Arrival), that is, the arrival time relative to a specific point in time.

[0163] 4. Device location information, including the device location information to be sent (x Tx ,y Tx ,z Tx ), receive device location information (x Rx ,y Rx ,z Rx ).

[0164] The LOS path distance information or delay information can be calculated based on the device location information, i.e.

[0165] The LOS (Path of Arrival) information can be calculated based on the device location information, i.e., AoA. L =atan2(y Tx -y Rx ,x Tx -x Rx ), atan2 represents finding the arctangent function value in the four quadrants. acos represents finding the value of the inverse cosine function;

[0166] The LOS (Path Departure Angle) information can be calculated based on the device location information, i.e., AoD (Aspect-Oriented Departure Angle). L =atan2(y Rx -y Tx ,x Rx -x Tx ), atan2 represents finding the arctangent function value in the four quadrants. acos represents finding the value of the inverse cosine function;

[0167] The arrival angle information or departure angle information can be angle information in the global coordinate system (GCS) or angle information in the local coordinate system (LCS).

[0168] Among them, the LOS path (where the signal transceiver meets the LOS condition) can usually be considered as the first path, and the target path refers to the path associated with the part of the signal propagation that is reflected by the perceived target object. The specific definition of the path is given in the terminology explanation below (1) Target path and LOS path.

[0169] Step 2:

[0170] The angle difference information, i.e., the angle θ of the incoming wave, is calculated based on the arrival angle or departure angle information.R and the angle θ between the waves T .

[0171] For example, based on the target object's arrival angle (AoA) in the global coordinate system T and ZoA T ) and LOS path arrival angle (AoA) L and ZoA L Calculate the angle θ between the target radius and the LOS radius relative to the receiving equipment on the bistatic plane. R =cos -1 (sin(ZoA T sin(ZoA) L )cos(AoA L -AoA T )+cos(ZoA T )cos(ZoA L ));θ R The angle of arrival (LOS) is the angle between the LOS path and the target path, i.e., the angle between the lines connecting the signal transceiver equipment and the lines connecting the receiver and the target object. The LOS angle can also be understood as the angle between the direction vector from the receiver to the transmitter and the direction vector from the receiver to the target object. This angle is reflected on the plane defined by the transmitter, receiver, and target object, which can also be called the bistatic plane. The LOS angle can also be called the relative angle of arrival or angle difference between the target path and the LOS path on the bistatic plane.

[0172] Based on the target object's departure angle (AoD) in the global coordinate system T and ZoD T ) and LOS path departure angle (AoD) L and ZoD L Calculate the angle θ between the target path and the LOS path on the bistatic plane relative to the transmitting device. T =cos -1 (sin(ZoD T )sin(ZoD L )cos(AoD L -AoD T )+cos(ZoD T )cos(ZoD L )). θ TThe deflection angle is the angle between the LOS path and the target path, which is the angle between the connection between the signal transceiver and the connection between the transmitting device and the target object. The deflection angle can also be understood as the angle between the direction vector from the transmitting device to the receiving device and the direction vector from the transmitting device to the target object. The deflection angle can also be called the relative departure angle or departure angle difference between the target path and the LOS path on the bistatic plane.

[0173] Step 3:

[0174] According to the angle θ of the incoming wave R , the angle between the waves θ T and the distance d between signal transceivers Tx-Rx The distance from the sending device to the target object or the distance from the target object to the receiving device is calculated using the following method:

[0175] Distance from target object to receiving device

[0176] Distance from sending device to target object

[0177] As shown in Figure 9, the angle θ of the incoming wave R , the angle between the waves θ T and the distance d between signal transceivers Tx-Rx The three satisfy the following relationship: d Tx-Target sin(θ) T )=d Target-Rx sin(θ) R ), and d Tx-Target ·cos(θ T )+d Target-Rx ·cos(θ R )=d Tx-Rx .

[0178] Step 4:

[0179] Calculate the location information of the target object.

[0180] In one implementation, the location information of the target object is calculated based on the distance and angle of arrival from the target object to the receiving device, specifically including:

[0181] Based on the target object's reflection radius angle AoA in the global coordinate system T ZoA T d Target-Rx Calculate the relative position coordinates (x, y) of the target object with respect to the receiving device in the global coordinate system. Target-Rx ,y Target-Rx ,z Target-Rx ), where x Target-Rx =d Target-Rx·sin(ZoA T )·cos(AoA T ), y Target-Rx =d Target-Rx ·sin(ZoA T )·sin(AoA T ), z Target-Rx =d Target-Rx ·cos(ZoA T Furthermore, based on the relative position coordinates with the receiving device in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target object in the global coordinate system are calculated. Target ,y Target ,z Target )=(x Target-Rx ,y Target-Rx ,z Target-Rx )+(x Rx ,y Rx ,z Rx ).

[0182] Alternatively, it can be based on the reflection radius angle AoA′ of the target object in the local coordinate system. T ZoA′ T d Target-Rx Calculate the position coordinates (x′) of the target object in the local coordinate system. Target ,y′ Target ,z′ Target ), where x′ Target-Rx =d Target-Rx ·sin(ZoA′ T )·cos(AoA′ T ), y′ Target-Rx =d Target-Rx ·sin(ZoA′ T )·sin(AoA′ T ), z′ Target-Rx =d Target-Rx ·cos(ZoA′ T Furthermore, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target object and the receiving device in the global coordinate system are obtained. Target-Rx ,y Target-Rx ,z Target-Rx Then, based on the relative position coordinates with the receiving device in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target object in the global coordinate system are calculated. Target ,y Target ,z Target ).

[0183] It is important to note that in some applications, what is needed is not the target object's position coordinates in the global coordinate system, but rather the target object's position information relative to the receiving device. This position information could be, for example, the target object's position coordinates in a local coordinate system with the receiving device as the reference, or it could be the distance d between the target object and the receiving device. Target-Rx And the angle AoA′ relative to the receiving device T ZoA′ T .

[0184] In another implementation, the position information of the target object is calculated based on the distance and departure angle information from the transmitting device to the target object, including:

[0185] Based on the target object's reflection radius angle (AoD) in the global coordinate system T ZoD T d Tx-Target Calculate the relative position coordinates (x, y) of the target object with respect to the transmitting device in the global coordinate system. Target-Tx ,y Target-Tx ,z Target-Tx ), where x Target-Tx =d Tx-Target ·sin(ZoD T )·cos(AoD T ), y Target-Tx =d Tx-Target ·sin(ZoD T )·sin(AoD T ), z Target-Tx =d Tx-Target ·cos(ZoD T Furthermore, based on the relative position coordinates with the receiving device in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target object in the global coordinate system are calculated. Target ,y Target ,z Target )=(x Target-Tx ,y Target-Tx ,z Target-Tx )+(x Tx ,y Tx ,z Tx ).

[0186] Alternatively, it can be based on the reflection radius angle AoD′ of the target object in the local coordinate system. T ZoD′ T d Tx-Target Calculate the position coordinates (x′) of the target object in the local coordinate system. Target-Tx ,y′ Target-Tx ,z′ Target-Tx ), where x′ Target-Tx =dTx-Target ·sin(ZoD′ T )·cos(AoD′ T ), y′ Target-Tx =d Tx-Target ·sin(ZoD′ T )·sin(AoD′ T ), z′ Target-Tx =d Tx-Target ·cos(ZoD′ T Furthermore, based on the transformation relationship between the global coordinate system and the local coordinate system, the relative position coordinates (x, y) of the target object and the transmitting device in the global coordinate system are obtained. Target-Tx ,y Target-Tx ,z Target-Tx Then, based on the relative position coordinates with the receiving device in the global coordinate system, and the position coordinates of the receiving device in the global coordinate system, the position coordinates (x, y) of the target object in the global coordinate system are calculated. Target ,y Target ,z Target ).

[0187] It is important to note that in some applications, what is needed is not the target object's position coordinates in the global coordinate system, but rather the target object's position information relative to the transmitting device. This position information could be, for example, the target object's position coordinates in a local coordinate system with the transmitting device as the reference, or it could be the distance d between the target object and the transmitting device. Tx-Target And the angle AoD′ relative to the transmitting device T ZoD′ T .

[0188] In particular, some sensing scenarios only require 2D positioning. For example, when the transceiver and the target object are on the same horizontal plane or approximately on the same horizontal plane, or when the transmitting device only supports a linear antenna array, calculating the target object's position based on a single-dimensional angle and time delay can only yield 2D position coordinates. The difference between obtaining the target object's position information in 2D space and in 3D space is described in the background section and will not be repeated here.

[0189] The measurement information involved in this scheme, namely the measurement-related information elements, are defined as shown in the following table:

[0190] Table 2. Measurement information associated with target object location

[0191] It is understood that the target diameter AOA, AOD, ZOA, or ZOD may include one or more AOA, AOD, ZOA, or ZOD information (due to excessive antenna spacing causing angular ambiguity, resulting in multiple angle measurement results, all of which are reported), based on the antenna spacing of the measuring equipment. For example, if the spacing of the measuring equipment is d, then the target diameter... Multiple angles can be obtained based on the value of d.

[0192] Where k is an integer.

[0193] Similarly, this also applies to the arrival or departure angle of the LOS path, and / or the angle difference between the target path and the LOS path.

[0194] It should also be noted that the departure angle in this scheme is obtained based on measurement information associated with the departure angle and auxiliary information for calculating the departure angle. The measurement information associated with the departure angle is obtained by the receiving device through measurement of the first signal, and includes at least one of the following:

[0195] 1. Phase information or phase difference information of a signal path associated with at least one port or signal resource, the signal path including a target path and a reference path, the reference path being the first path / LOS path, if the location information of the transceiver is known, the signal path may include only the target path (wherein, the specific definitions of the target path or LOS path are given in the terminology explanation below (1) target path and LOS path);

[0196] 2. Amplitude information of the signal path associated with at least one port or signal resource (optional);

[0197] 3. Spectral information associated with at least one port or signal resource (optional), such as at least one of time delay spectrum, range spectrum, Doppler spectrum, velocity spectrum, or joint spectral information of at least two of time delay / range and Doppler / velocity, such as time delay-Doppler spectrum.

[0198] The spectral information refers to complex results, such as the time-delay-Doppler spectrum, which refers to the time delay, Doppler index, and corresponding complex values ​​(amplitude and phase values) of the sampling points in the 2D spectrum. In addition, the spectral information can be the complete spectral information calculated based on the channel information, or it can be a subset of the complete spectral information, such as a subset of the spectral information corresponding to a specific time delay or Doppler range in the time-delay-Doppler spectrum.

[0199] 4. Precoding information, such as a Precoding Matrix Indicator (PMI), which includes precoding information associated with the signal path. The precoding information associated with the signal path refers to the index identifier of the precoding vector of the best matching signal path (e.g., maximizing the signal path power, or maximizing the SNR / SINR (i.e., the ratio of signal path power to noise or interference power) obtained by the UE through traversing all or part of the precoding matrix. The signal path includes the target path and also includes a reference path. The reference path can be the first-to-arrive path / LOS path. If the device calculating the departure angle or the location information of the target object knows the location information of the transceiver device, the signal path may only include the target path.

[0200] The precoding information also includes oversampling information. When the UE searches for the precoding vector that maximizes the signal path power, in addition to using the default oversampling factor to generate the precoding vector, it can also use a further refined oversampling factor to generate the precoding vector, thereby obtaining a better precoding vector search result and more accurate departure angle information. Specifically, the oversampling information includes an indicator of whether further oversampling is performed, the actual oversampling factor used, and the improvement factor relative to the default oversampling factor (which may be indicated to the UE by the BS).

[0201] 5. Port identifier, such as port index, the port identifier includes port identifiers associated with the signal path, wherein the port identifier associated with the signal path refers to the identifier of the port with the highest power corresponding to the signal path, the signal path includes the target path and also includes the reference path, the reference path can be the first-to-arrive path / LOS path, if the device calculating the departure angle or the location information of the target object knows the location information of the transceiver device, then the signal path may only include the target path;

[0202] 6. Signal resource identifier, such as resource ID, the signal resource identifier includes signal resource identifiers associated with the signal path, wherein the port identifier associated with the signal path refers to the identifier of the signal resource with the highest power corresponding to the signal path, the signal path includes the target path and also includes the reference path, the reference path can be the first-to-arrive path / LOS path, if the device calculating the departure angle or the location information of the target object knows the location information of the transceiver device, then the signal path may only include the target path.

[0203] The auxiliary information for calculating the departure angle includes antenna configuration information, which includes at least one of the following:

[0204] The number of antennas in the horizontal dimension;

[0205] The number of antennas in the vertical dimension;

[0206] Antenna spacing in the horizontal dimension;

[0207] Antenna spacing in the vertical dimension;

[0208] The position information of the antenna elements in the antenna array, such as the position coordinates of the antenna elements under LCS (optional, applicable to non-uniform or irregular antenna arrays);

[0209] Polarization information (optional);

[0210] Information on the transformation relationship between the local and global coordinate systems of the antenna array.

[0211] Wherein, the first signal is a signal for sensing, including at least one of the following:

[0212] Specialized sensing signals, such as sensing signals generated based on Chirp or FMCW signals, or sensing signals generated based on PN sequences, ZC sequences, or other sequences;

[0213] Reference signals, such as DMRS, CSI-RS, SRS, PRS, etc.;

[0214] Synchronization signals, such as PSS and SSS;

[0215] Signals that carry communication data, such as PDSCH, PUSCH, PDCCH, PUCCH, etc.

[0216] Wherein, for the phase information or phase difference information of the signal path associated with at least one port or signal resource, or for the amplitude information of the signal path associated with at least one port or signal resource, different ports or signal resources are transmitted through different physical antennas. At this time, the transmitting device transmits the first signal through N antennas. The first signal is a signal that has not undergone precoding at the transmitting end, characterized by:

[0217] 1. It includes N signal resources, each of which is a single-port signal resource, and different signal resources are associated with different physical antennas.

[0218] Specifically, different resource IDs can be associated with different physical antenna indices, and the associated physical antenna information (such as physical antenna index or location coordinates) can be carried in the signal configuration information. Alternatively, a default mapping rule can be followed, such as a one-to-one correspondence between resource IDs sorted in ascending order and physical antenna indices sorted in ascending order, or resource IDs sorted in ascending order can be associated with antennas at different locations in the antenna array.

[0219] 2. This includes a signal resource consisting of N ports, with each port associated with a different physical antenna. Specifically, different port indices can be associated with different physical antenna indices. This can follow a default mapping rule, such as a one-to-one correspondence between ascending port indices and ascending physical antenna indices, or associating ascending port indices with antennas at different locations within the antenna array.

[0220] 3. Includes M signal resources, each signal resource having N values. i Signal resources of ports, and N0+N1+N2+…N M-1 = N, where ports of different signal resources are associated with different physical antennas. Specifically, different resource IDs and different port indices can be associated with different physical antenna indices. This can follow a default mapping rule, for example, N0 ports of resource #0 correspond to N0 specific physical antennas, where the specific physical antennas can be those with specific indices or antennas at specific locations on an antenna array.

[0221] If the receiving device uses a dual-polarized antenna to transmit and follows the default mapping rules, different resources or ports can be mapped to different antennas corresponding to polarization 1 first, and then mapped to different antennas corresponding to polarization 2; or, different resources can be mapped to either polarization 1 or polarization 2.

[0222] For port identifiers or signal resource identifiers, different ports or signal resources use different precoding vectors, that is, different transmission beams. For example, as shown in Figure 10, resource #0 (or port #0) is the signal resource (or port) with the highest LOS path power, and resource #1 (or port #1) is the signal resource (or port) with the highest target path power.

[0223] The wireless communication method provided in this application will be described in detail below with reference to the accompanying drawings and through some embodiments and application scenarios.

[0224] This application relates to message interaction between the following devices: a first device (e.g., a receiving device or a signal receiving device), a second device (e.g., a transmitting device or a signal transmitting device), and a third device (a sensing function network element or a sensing information / result calculation device).

[0225] In this context, the first device is a terminal, the second device is a base station (or TRP), or other devices, such as the first device being a base station and the second device being a terminal; or both the first and second devices being base stations; or both the first and second devices being terminals. The third device can be a core network sensing network function or sensing function network element (see (2) sensing network function in the terminology explanation below), or other core network network functions or network elements, or other base stations or terminals. In particular, the third device and the second device can also refer to the same device.

[0226] Taking Figure 1 as an example, signaling transmission between the base station and the terminal, and between terminal A and terminal B, can be via RRC signaling, MAC CE, Layer 1 signaling, or other newly defined sensing signaling; signaling transmission between the sensing network function and the terminal can be via NAS signaling (forwarded via AMF) and / or via RRC signaling, MAC CE, Layer 1 signaling, or other newly defined sensing signaling; interaction between the sensing network function and the base station can be via AMF forwarding to the radio access network through the N2 interface; or the core network sensing network function sends the signal to the UPF, and the UPF sends it to the radio access network through the N3 interface; or it sends it to the radio access network (base station) through a newly defined interface; signaling transmission between base stations can be via the Xn interface.

[0227] Figure 11 is a schematic flowchart of a wireless communication method 210 according to an embodiment of this application.

[0228] As shown in Figure 11, the wireless communication method 210 may include at least some of the following:

[0229] S211, The first device measures the first signal and obtains the first information;

[0230] The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the angle of departure information of the first signal, the distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object.

[0231] For example, the first measurement information is the information measured by the first device, and the first measurement information is used to determine the departure angle information. The distance information is determined based on the position information of the first device and the position information of the second device, or the distance information is the information measured by the first device, and the distance information can be used to determine the arrival angle information, the departure angle information, or the position information of the target object. The position information of the target object is determined based on the arrival angle information and the departure angle information. It should be understood that the scheme for determining the distance information, the arrival angle information, the departure angle, and the position information of the target object can refer to the bistatic positioning method based on the arrival angle and departure angle described above, and will not be repeated here to avoid repetition.

[0232] S212, the first device sends the first information to the second device and / or the third device.

[0233] For example, the first device may send the first information only to the second device, or the first device may send the first information only to the third device, or the first device may send the first information to both the second device and the third device. It should be noted that when the first device sends the first information to both the second device and the third device, the first information sent by the first device to the second device and the first information sent by the first device to the third device may be the same, partially the same, or different; this application does not specifically limit this.

[0234] In this embodiment of the application, the first device measures the first signal to obtain the first information. The first information includes information that is not related to time delay. This means that the first device can avoid performing time delay measurement, thereby reducing the consumption of bandwidth resources and improving the accuracy of location information.

[0235] In some embodiments, prior to S211, method 210 further includes:

[0236] The first device receives second information from the second device or the third device, the second information including at least one of the following:

[0237] First configuration information of the first signal;

[0238] Second configuration information for angle measurement;

[0239] Third configuration information used to report the first information;

[0240] Auxiliary information used to determine the departure angle information;

[0241] Perceive demand information.

[0242] For example, the first device receiving the second information from the second device may be the second device receiving the second information from the third device through the second device.

[0243] For example, the first configuration information may include port information, including at least one of the following: total number of ports, number of ports in a first dimension (e.g., vertical dimension), and number of ports in a second dimension (e.g., horizontal dimension), wherein the number of ports in the first or second dimension may refer to the number of ports in the same polarization direction. Optionally, the first configuration information may also include signal configuration information as described below, specifically referring to (2) sensing network function in the terminology explanation below.

[0244] For example, the second configuration information can be used to measure the angle of the first signal or information associated with the angle of the first signal. For instance, the second configuration information can be used to measure the angle of arrival of the first signal and information associated with the angle of departure of the first signal. The first device determines the type of information included in the first information based on the second configuration information; that is, the first device can determine the first information based on the second configuration information.

[0245] For example, the first device may send the first information to the second device or the third device based on the third configuration information.

[0246] For example, the auxiliary information and the first measurement information are used to determine the departure angle information.

[0247] For example, the sensing requirement information may include information indicating sensing requirements. The sensing requirement information may be used to determine at least one of the first configuration information, the second configuration information, and the third configuration information. Alternatively, the sensing requirement information may be used to determine accuracy requirements or time delay requirements related to the measurement results. Or, the sensing requirement information may be used to determine signal processing methods, such as determining whether to perform static clutter cancellation or target path detection methods.

[0248] In some embodiments, if the second information does not include the auxiliary information, then the first information includes the angle of arrival information and at least one of the following: the first measurement information and the distance information; or, if the second information includes the auxiliary information, then the first information includes the angle of arrival information and at least one of the following: the departure angle information and the location information of the target object.

[0249] For example, if the second information does not include the auxiliary information, it means that the first device cannot determine the departure angle information based solely on the first measurement information, and therefore cannot determine the location information of the target object based on the arrival angle information and the departure angle information. In this case, the first information includes the arrival angle information and at least one of the following: the first measurement information and the distance information. Similarly, if the second information includes the auxiliary information, it means that the first device can determine the departure angle information based on the auxiliary information and the first measurement information, and therefore can determine the location information of the target object based on the arrival angle information and the departure angle information. In this case, the first information includes the arrival angle information and at least one of the following: the departure angle information and the location information of the target object.

[0250] Of course, in other embodiments, when the second information includes the auxiliary information, the first information may also include at least one of the following: the first measurement information and the distance information. In this case, the device receiving the first information may also determine the departure angle information based on the first measurement information and the auxiliary information, or the device receiving the first information may also determine the position information of the target object based on the arrival angle information and the departure angle information.

[0251] In some embodiments, the second configuration information includes at least one of the following:

[0252] Information indicating the expected range of angle measurement;

[0253] Indicates information within the codebook range;

[0254] Information indicating the first signal;

[0255] Measurement indication information;

[0256] The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity.

[0257] For example, the information indicating the expected angle measurement range includes information on the expected departure angle measurement range or the expected arrival angle measurement range, such as the AOD range of the LOS diameter, the AOD range of the target diameter, the AOA range of the LOS diameter, the AOA range of the target diameter, etc.

[0258] For example, the information indicating the codebook range includes information indicating a subset of the codebook. When the first device performs the optimal precoding vector search, it only traverses the precoding vectors corresponding to the codebooks within the codebook subset, reducing the search complexity of the first device. Alternatively, the information indicating the codebook range includes information indicating an invalid codebook subset. When the first device performs the optimal precoding vector search, it does not traverse the precoding vectors corresponding to the codebooks within the invalid codebook subset.

[0259] For example, the information indicating the first signal includes the identifier of the first signal or the resource identifier.

[0260] For example, the measurement indication information can be used to indicate a Doppler measurement. For instance, the measurement indication information can indicate at least one of the following: an angle measurement, a distance measurement, a time delay measurement, or a position measurement. Furthermore, the measurement indication information can also be used to indicate a Doppler measurement.

[0261] In some embodiments, if the second information does not include the auxiliary information and the measurement indication information includes the angle measurement, then the first information includes the angle of arrival information and the first measurement information; or, if the second information does not include the auxiliary information and the measurement indication information includes the angle measurement and at least one of the following: distance measurement and time delay measurement, then the first information includes the angle of arrival information, the first measurement information, and the distance information; or, if the second information includes the auxiliary information and the measurement indication information includes the angle measurement and at least one of the following: distance measurement and time delay measurement, then the first information includes the angle of arrival information and the departure angle information; or, if the second information includes the auxiliary information and the measurement indication information includes the angle measurement and the position measurement, then the first information includes the position information of the target object.

[0262] For example, if the second information does not include the auxiliary information, it means that the first device cannot determine the departure angle information based solely on the first measurement information, and therefore cannot determine the location information of the target object based on the arrival angle information and the departure angle information. In this case, the first information does not include the following: the departure angle information and the location information. Similarly, if the second information includes the auxiliary information, it means that the first device can determine the departure angle information based on the auxiliary information and the first measurement information, and can determine the location information of the target object based on the arrival angle information and the departure angle information. In this case, the first information may include at least one of the following: the departure angle information and the location information.

[0263] For example, when the measurement indication information includes the angle measurement, the first information may include the angle of arrival information and the first measurement information; when the measurement indication information includes the distance measurement or the time delay measurement, the first information may include the distance information; when the measurement indication information includes the position measurement, the first information may include the position information of the target object.

[0264] In some embodiments, the angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the line-of-sight (LOS) path, the zenith of arrival of the LOS path, the difference in arrival angles of the target path relative to the LOS path on the bistatic plane, the cosine of the difference in arrival angles of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the difference in departure angles of the target path relative to the LOS path on the bistatic plane, and the cosine of the difference in departure angles of the target path relative to the LOS path on the bistatic plane; or, the distance measurement includes at least one of the following: the propagation distance of the LOS path, the difference in propagation distances between the target path and the LOS path; or, the time delay measurement includes at least one of the following: the absolute arrival time of the LOS path, the relative arrival time of the LOS path, the difference in arrival time between the target path and the LOS path; or, the position measurement includes at least one of the following: the position coordinates of the target object.

[0265] In some embodiments, the third configuration information includes at least one of the following:

[0266] Configuration of time-frequency domain resources used for reporting the first information;

[0267] The configuration of the reporting period for the first information;

[0268] Configuration of the trigger event that triggers the reporting of the first information;

[0269] The reported events include at least one of the following:

[0270] The first device enters a specific area;

[0271] Arrive at a specific time;

[0272] At least one type of measurement indicator reaches the threshold;

[0273] The distance the first device moves exceeds a preset distance threshold;

[0274] The angle of the change in direction of the first device exceeds a preset angle threshold;

[0275] The speed of the first device exceeds a preset speed threshold;

[0276] The change in the environmental information of the first device exceeds a preset threshold.

[0277] For example, the first device entering a specific area includes: the first device entering a specific cell. The arrival at a specific time includes: arriving at a specific moment. The at least one type of measurement indicator may include at least one of the following: Reference Signal Receiving Power (RSRP), Reference Signal Receiving Quality (RSRQ), and Signal to Interference plus Noise Ratio (SINR). Different measurement indicators in the at least one type of measurement indicator may correspond to the same threshold or different thresholds. For example, each type of measurement indicator in the at least one type of measurement indicator may correspond to a threshold, or the at least one type of measurement indicator may correspond to a single threshold. The at least one type of measurement indicator reaching a threshold includes at least one of the following: the at least one type of measurement indicator of the first signal reaches a threshold, or the at least one type of measurement indicator of other signals besides the first signal reaches a threshold. In other words, the at least one type of measurement indicator may be a measurement indicator of the first signal and / or a measurement indicator of other signals. The types of measurement indicators corresponding to different signals may be the same or different, and the thresholds of the measurement indicators corresponding to different signals may be the same or different. The distance the first device moves exceeds a preset distance threshold, including at least one of the following: the straight-line distance of the first device exceeds the preset distance threshold; the distance the first device moves along a specific direction exceeds the preset distance threshold. The angle of change of the first device's direction exceeds a preset angle threshold, including at least one of the following: the angle of change of the first device's screen in the horizontal direction exceeds the preset angle threshold; the angle of change of the first device's screen in the vertical direction exceeds the preset angle threshold. The speed of the first device exceeds a preset speed threshold, including: the speed of the first device moving in a specific direction exceeds the preset speed threshold. The specific direction includes, but is not limited to, the direction of movement of the first device. The change in the environmental information of the first device exceeds a preset threshold, including: the increase or decrease in the environmental information of the first device exceeds the preset threshold. The environmental information includes, but is not limited to, information such as temperature, humidity, or light intensity.

[0278] In some embodiments, the auxiliary information includes at least one of the following from the second device:

[0279] Antenna configuration information;

[0280] The mapping relationship between ports or signal resources and physical antennas;

[0281] The mapping relationship between precoded information and departure angle;

[0282] The mapping relationship between port or signal resources and precoded information;

[0283] The mapping relationship between port or signal resources and departure angle;

[0284] The mapping relationship between port or signal resources and beam patterns;

[0285] Coordinate transformation information.

[0286] For example, the mapping relationship between the precoding information and the departure angle includes the mapping relationship between the precoding information and the boresight direction of the adopted transmit beam. The precoding information includes at least one of the following: precoding adjacency, oversampling factor.

[0287] In some embodiments, the angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the line-of-sight (LOS) path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or, the first measurement information includes at least one of the following: a port identifier of at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, and precoding information associated with at least one port or signal resource. The signal resource is identified, wherein the signal path includes the target path and the line-of-sight (LOS) path; or, the distance information includes at least one of the following: the propagation distance of the LOS path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or, the departure angle information includes at least one of the following: the departure azimuth angle of the target path, the departure zenith angle of the target path, the departure azimuth angle of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or, the position information of the target object includes the position coordinates of the target object.

[0288] In some embodiments, the first information further includes at least one of the following:

[0289] The number of target objects or the number of target paths;

[0290] Timestamp information;

[0291] Precision information;

[0292] Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path;

[0293] Coordinate transformation information;

[0294] Device information of the first device;

[0295] The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device.

[0296] For example, the accuracy information includes at least one of the following: angle accuracy information, angle difference accuracy information, and accuracy information of the cosine value of the angle difference. For instance, the angle accuracy information includes the accuracy information (uncertainty) of each angle measurement result, such as the uncertain orientation of the target diameter AOA value. and the uncertainty range of the target path AOA The actual result of the target path AOA can be considered as follows: Alternatively, the angle accuracy information may include common accuracy information of the angle measurement results, such as providing the common uncertainty range of the AOA (including the target diameter AOA or the LOS diameter AOA). Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path includes: information indicating the probability that the path between the first device and the second device is a LOS path or a NLOS path. The coordinate transformation relationship in Western Sydney includes at least one of the following:

[0297] The rotation angle α between LCS and GCS;

[0298] The rotation angle β between LCS and GCS;

[0299] The rotation angle γ between LCS and GCS;

[0300] The accuracy information of coordinate system transformation relationship, i.e. the uncertainty of rotation angle, can be given by providing the accuracy information (uncertainty range) of the three rotation angles separately or common accuracy information. For example, based on the measured value of rotation angle α and the accuracy information of rotation angle Δα, it can be assumed that the actual result of the rotation angle between LCS and GCS around the z-axis is α±Δα / 2.

[0301] For example, the location information of the first device includes: the Cartesian coordinates (x, y, x) of the first device relative to a known reference point. Rx ,y Rx ,z RxThe motion information of the first device includes at least one of the following: information indicating whether the first device is stationary, the speed of the first device, and the direction of motion of the first device.

[0302] In some embodiments, before the first device sends the first information to the second device and / or the third device, the method further includes at least one of the following:

[0303] The first device determines the distance information based on the location information of the first device and the location information of the second device;

[0304] The first device determines the arrival angle information or the departure angle information based on the location information of the first device, the location information of the second device, and the distance information;

[0305] The first device determines the location information of the target object based on the arrival angle information and the departure angle information.

[0306] For example, when the first information includes the distance information, before the first device sends the first information to the second device and / or the third device, the first device determines the distance information based on the location information of the first device and the location information of the second device. Similarly, when the first information includes the departure angle information, before the first device sends the first information to the second device and / or the third device, the first device determines the departure angle information based on the first measurement information and auxiliary information for determining the departure angle information. When the first information includes the location information of the target object, before the first device sends the first information to the second device and / or the third device, the first device determines the location information of the target object based on the arrival angle information and the departure angle information.

[0307] In some embodiments, the angle of arrival information includes: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, and the zenith of arrival of the LOS path; the departure angle information includes: the departure azimuth of departure of the target path, the departure zenith of departure of the target path, the departure azimuth of departure of the LOS path, and the departure zenith of departure of the LOS path; wherein, the first device determines the position information of the target object based on the angle of arrival information and the departure angle information, including: the first device calculates the angle difference of arrival of the target path relative to the LOS path on the bistatic plane based on the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, and the zenith of arrival of the LOS path, and calculates the angle difference of departure of the target path relative to the LOS path on the bistatic plane based on the departure azimuth of departure of the target path, the departure zenith of departure of the target path, the departure azimuth of departure of the LOS path, and the departure zenith of departure of the LOS path; the first device calculates the position information of the target object based on the angle difference of arrival and the angle difference of departure.

[0308] It should be understood that the scheme by which the first device determines the location information of the target object can refer to the bistatic positioning method based on the angle of arrival and the angle of departure described above. To avoid repetition, it will not be repeated here.

[0309] In some embodiments, S212 includes at least one of the following:

[0310] The first device sends the angle of arrival information and the first measurement information to the third device;

[0311] The first device sends the first measurement information to the second device and sends the angle of arrival information to the third device;

[0312] The first device sends the location information of the target object to the third device.

[0313] For example, when the first device sends the angle of arrival information and the first measurement information to the third device, the second device may send auxiliary information to the third device for determining the departure angle information. The third device may determine the departure angle information based on the first measurement information and the auxiliary information, and then determine the position information of the target object based on the angle of arrival information and the departure angle information.

[0314] For example, when the first device sends the first measurement information to the second device and the angle of arrival information to the third device, the second device can determine the departure angle information based on the first measurement information and the auxiliary information, and send the departure angle information to the third device; or the second device can determine the location information of the target object based on the angle of arrival information and the departure angle information, and send the location information of the target object to the third device. For example, if the first information does not include the angle of arrival information, the second device can determine the departure angle information based on the first measurement information and the auxiliary information, and send the departure angle information to the third device. As another example, if the first information includes the angle of arrival information, the second device can determine the location information of the target object based on the angle of arrival information and the departure angle information, and send the location information of the target object to the third device.

[0315] For example, when the first device sends the location information of the target object to the third device, the first device may first determine the departure angle information based on the first measurement information, then determine the location information of the target object based on the arrival angle information and the departure angle information, and send the location information of the target object to the third device.

[0316] It should be noted that when the first device sends the first measurement information to the second or third device, it may also send distance information, so that the device receiving the first measurement information can determine the departure angle information based on the first measurement information and the distance information, or can determine the location information of the target object based on the arrival angle information, the departure angle information, and the distance information. The distance information is determined based on the location information of the first device and the location information of the second device, or the distance information is information measured by the first device.

[0317] The solution provided in this application will now be described from the perspective of a second or third device.

[0318] Figure 12 is a schematic flowchart of a wireless communication method 220 according to an embodiment of this application.

[0319] As shown in Figure 12, the wireless communication method 220 may include at least some of the following:

[0320] S221, the second device sends a first signal to the first device;

[0321] S222, the second device sends third information to the third device;

[0322] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0323] In some embodiments, prior to S221, method 220 further includes:

[0324] The second device sends a second message to the first device, the second message including at least one of the following:

[0325] First configuration information of the first signal;

[0326] Second configuration information for angle measurement;

[0327] The auxiliary information;

[0328] Third configuration information used to report the first information;

[0329] Perceive demand information.

[0330] In some embodiments, the second configuration information includes at least one of the following:

[0331] Information indicating the expected range of angle measurement;

[0332] Indicates information within the codebook range;

[0333] Information indicating the first signal;

[0334] Measurement indication information;

[0335] The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity.

[0336] In some embodiments, the angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the cosine of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the angle difference of departure of the target path relative to the LOS path on the bistatic plane, and the cosine of the angle difference of departure of the target path relative to the LOS path on the bistatic plane; or

[0337] The distance measurement includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path; or

[0338] The time delay measurement includes at least one of the following: the absolute arrival time of the line-of-sight (LOS) path, the relative arrival time of the LOS path, and the time difference between the target path and the LOS path; or

[0339] The location measurement includes at least one of the following: the location coordinates of the target object.

[0340] In some embodiments, the third configuration information includes at least one of the following:

[0341] Configuration of time-frequency domain resources used for reporting the first information;

[0342] The configuration of the reporting period for the first information;

[0343] Configuration of the trigger event that triggers the reporting of the first information;

[0344] The reported events include at least one of the following:

[0345] The first device enters a specific area;

[0346] Arrive at a specific time;

[0347] At least one type of measurement indicator reaches the threshold;

[0348] The distance the first device moves exceeds a preset distance threshold;

[0349] The angle of the change in direction of the first device exceeds a preset angle threshold;

[0350] The speed of the first device exceeds a preset speed threshold;

[0351] The change in the environmental information of the first device exceeds a preset threshold.

[0352] In some embodiments, prior to S222, the method 200 further includes:

[0353] The second device receives the first information from the first device;

[0354] The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the departure angle information of the first signal, the distance information, the departure angle information, and the position information of the target object.

[0355] In some embodiments, the angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith angle of arrival of the target path, the azimuth of arrival of the LOS path, the zenith angle of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or

[0356] The first measurement information includes at least one of the following: port identifier of at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, precoding information associated with at least one port or signal resource, and identifier of the signal resource, wherein the signal path includes the target path and the line-of-sight (LOS) path.

[0357] In some embodiments, the first information further includes at least one of the following:

[0358] The number of target objects or the number of target paths;

[0359] Timestamp information;

[0360] Precision information;

[0361] Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path;

[0362] Coordinate transformation information;

[0363] Device information of the first device;

[0364] The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device.

[0365] In some embodiments, the auxiliary information includes at least one of the following of the second device: antenna configuration information, mapping relationship between port or signal resources and physical antenna, mapping relationship between precoding information and departure angle, mapping relationship between port or signal resources and precoding information, mapping relationship between port or signal resources and departure angle, mapping relationship between port or signal resources and beam pattern, coordinate transformation relationship information; or

[0366] The distance information includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or

[0367] The departure angle information includes at least one of the following: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or

[0368] The location information of the target object includes the location coordinates of the target object.

[0369] In some embodiments, prior to S222, method 220 further includes at least one of the following:

[0370] The second device determines the distance information based on the location information of the first device and the location information of the second device;

[0371] The second device determines the departure angle information based on the location information of the first device, the location information of the second device, and the distance information;

[0372] The second device determines the location information of the target object based on the angle of arrival information and the departure angle information of the first signal.

[0373] In some embodiments, the arrival angle information includes: the arrival azimuth of the target path, the arrival zenith angle of the target path, the arrival azimuth of the LOS path, and the arrival zenith angle of the LOS path; the departure angle information includes: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, and the departure zenith angle of the LOS path.

[0374] The second device determines the location information of the target object based on the angle of arrival information and the departure angle information of the first signal, including:

[0375] The second device calculates the arrival angle difference between the target path and the LOS path on the bistatic plane based on the arrival azimuth angle, arrival zenith angle, arrival azimuth angle, and arrival zenith angle of the target path; and calculates the departure angle difference between the target path and the LOS path on the bistatic plane based on the departure azimuth angle, departure zenith angle, departure azimuth angle, and departure zenith angle of the target path.

[0376] The second device calculates the position information of the target object based on the arrival angle difference and the departure angle difference.

[0377] It should be understood that the wireless communication method 220 includes related processes between the second device and the first / third device, and the terminology involved is similar to that of method 210. Therefore, its specific content can be referred to the relevant description in method 210. To avoid repetition, it will not be repeated here.

[0378] Figure 13 is a schematic flowchart of a wireless communication method 230 according to an embodiment of this application.

[0379] As shown in Figure 13, the wireless communication method 230 may include at least some of the following:

[0380] S231, the third device receives first information from the first device and / or receives third information from the second device;

[0381] The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object;

[0382] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0383] In some embodiments, prior to S231, method 230 further includes:

[0384] The third device sends second information to the first device, the second information including at least one of the following:

[0385] First configuration information of the first signal;

[0386] Second configuration information for angle measurement;

[0387] Third configuration information used to report the first information;

[0388] The auxiliary information;

[0389] Perceive demand information.

[0390] In some embodiments, before the third device sends the second information to the first device, the method 230 further includes:

[0391] The third device acquires the sensing demand information.

[0392] In some embodiments, the second configuration information includes at least one of the following:

[0393] Information indicating the expected range of angle measurement;

[0394] Indicates information within the codebook range;

[0395] Information indicating the first signal;

[0396] Measurement indication information;

[0397] The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity.

[0398] In some embodiments, the angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the cosine of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the angle difference of departure of the target path relative to the LOS path on the bistatic plane, and the cosine of the angle difference of departure of the target path relative to the LOS path on the bistatic plane; or

[0399] The distance measurement includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path; or

[0400] The time delay measurement includes at least one of the following: the absolute arrival time of the line-of-sight (LOS) path, the relative arrival time of the LOS path, and the time difference between the target path and the LOS path; or

[0401] The location measurement includes at least one of the following: the location coordinates of the target object.

[0402] In some embodiments, the third configuration information includes at least one of the following:

[0403] Configuration of time-frequency domain resources used for reporting the first information;

[0404] The configuration of the reporting period for the first information;

[0405] Configuration of the trigger event that triggers the reporting of the first information;

[0406] The reported events include at least one of the following:

[0407] The first device enters a specific area;

[0408] Arrive at a specific time;

[0409] At least one type of measurement indicator reaches the threshold;

[0410] The distance the first device moves exceeds a preset distance threshold;

[0411] The angle of the change in direction of the first device exceeds a preset angle threshold;

[0412] The speed of the first device exceeds a preset speed threshold;

[0413] The change in the environmental information of the first device exceeds a preset threshold.

[0414] In some embodiments, the angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith angle of arrival of the target path, the azimuth of arrival of the LOS path, the zenith angle of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or

[0415] The first measurement information includes at least one of the following: a port identifier for at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, precoding information associated with at least one port or signal resource, and an identifier of the signal resource, wherein the signal path includes a target path and a line-of-sight (LOS) path; or

[0416] The distance information includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or

[0417] The departure angle information includes at least one of the following: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or

[0418] The location information of the target object includes the location coordinates of the target object; or

[0419] The auxiliary information includes at least one of the following of the second device: antenna configuration information, mapping relationship between port or signal resources and physical antenna, mapping relationship between precoding information and departure angle, mapping relationship between port or signal resources and precoding information, mapping relationship between port or signal resources and departure angle, mapping relationship between port or signal resources and beam pattern, and coordinate transformation relationship information.

[0420] In some embodiments, the first information further includes at least one of the following:

[0421] The number of target objects or the number of target paths;

[0422] Timestamp information;

[0423] Precision information;

[0424] Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path;

[0425] Coordinate transformation information;

[0426] Device information of the first device;

[0427] The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device.

[0428] In some embodiments, the method 230 further includes at least one of the following:

[0429] The third device determines the distance information based on the location information of the first device and the location information of the second device;

[0430] The third device determines the departure angle information based on the location information of the first device, the location information of the second device, and the distance information;

[0431] The third device determines the location information of the target object based on the angle of arrival information and the departure angle information of the first signal.

[0432] In some embodiments, the arrival angle information includes: the arrival azimuth of the target path, the arrival zenith angle of the target path, the arrival azimuth of the LOS path, and the arrival zenith angle of the LOS path; the departure angle information includes: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, and the departure zenith angle of the LOS path.

[0433] The third device determines the location information of the target object based on the angle of arrival information and the departure angle information of the first signal, including:

[0434] The third device calculates the arrival angle difference between the target path and the LOS path on the bistatic plane based on the arrival azimuth angle, arrival zenith angle, arrival azimuth angle, and arrival zenith angle of the target path; and calculates the departure angle difference between the target path and the LOS path on the bistatic plane based on the departure azimuth angle, departure zenith angle, departure azimuth angle, and departure zenith angle of the target path.

[0435] The third device calculates the position information of the target object based on the arrival angle difference and the departure angle difference.

[0436] It should be understood that the wireless communication method 230 includes related processes between the third device and the first / second device, and the terminology involved is similar to that of method 210. Therefore, its specific content can be referred to the relevant description in method 210. To avoid repetition, it will not be repeated here.

[0437] The following examples illustrate the information calculation methods and message interaction processes in different scenarios.

[0438] Example 1: Interaction flow when the first device (receiving device) does not calculate the location information of the target object.

[0439] In this embodiment, the first device (i.e., the signal receiving device) has the following characteristics:

[0440] The first device did not obtain the location information of the transceiver or the distance information between the transceiver;

[0441] The first device did not obtain auxiliary information for calculating the departure angle, such as the antenna configuration information of the second device, and therefore could not further calculate the departure angle information.

[0442] The first device measures the departure angle and arrival angle information and feeds them back to the second or third device (i.e., the sensing network function), which then calculates the departure angle, distance, or location information.

[0443] Figure 14 is a schematic flowchart of the wireless communication method 310 provided in an embodiment of this application.

[0444] As shown in Figure 14, method 310 may include:

[0445] S311, the third device acquires sensing demand information.

[0446] The third device (Sensing Network Function (SensingMF)) acquires sensing requirement information (see (3) Sensing Requirement in the terminology explanation below). This sensing requirement information includes the target object location requirement. The sources of sensing requirement information can be:

[0447] 1. The perceived demand information comes from an external application. In this case, the Application Function (AF) sends the perceived demand information to the NEF, which then sends it to the AMF. The AMF selects the SensingMF and sends the perceived demand information to the SensingMF; or, the AF directly sends the perceived demand information to the SensingMF.

[0448] 2. Sensing demand information can also come from the base station and / or UE. In this case, the base station and / or UE send the information to the AMF, the AMF selects the SensingMF, and sends the sensing demand information to the SensingMF; or, the base station and / or UE directly send the sensing demand information to the SensingMF.

[0449] 3. Sensing demand information can also come from core network elements. Core network elements send sensing demand information to AMF; AMF selects SensingMF and sends sensing demand information to SensingMF; or core network elements directly send sensing demand information to SensingMF.

[0450] It should be noted that the method of forwarding sensing requirement information through AMF may occur, but is not limited to, in scenarios where multiple sensing network elements are deployed in the network, and the AMF needs to select a suitable sensing network element from multiple sensing network elements based on information such as the location of the sensing object, the type of sensing service, or the sensing QoS requirements; the method of forwarding sensing requirement information without AMF may occur, but is not limited to, in scenarios where one or fewer SFs are deployed in the network.

[0451] Furthermore, if the third device is a base station or terminal, it can acquire sensing requirement information by receiving sensing requirement information sent by the sensing network function. Specifically, if the third device and the second device are the same device, then the second device acquires the sensing requirement information.

[0452] S312, the third device sends the second information to the second device or the first device.

[0453] The third device sends second information to the second device (BS) or the first device (UE), or the second device sends second information to the first device, to instruct the first device to acquire measurement information and / or report information. The second information includes at least one of the following:

[0454] 1. The first configuration information includes at least one of the following:

[0455] Port information, including at least one of the following: total number of ports, number of ports in the first dimension (e.g., vertical dimension), and number of ports in the second dimension (e.g., horizontal dimension), wherein the number of ports in the first or second dimension may refer to the number of ports in the same polarization direction.

[0456] For signal configuration information, please refer to (4) Signal Configuration Information in the following explanation of terms.

[0457] 2. Second configuration information for angle measurement, including at least one of the following:

[0458] a) Information related to angle measurements, including at least one of the following:

[0459] Information indicating the expected angle measurement range. For example, the information indicating the expected angle measurement range includes information on the expected departure angle measurement range or the expected arrival angle measurement range, such as the AOD range of the LOS diameter, the AOD range of the target diameter, the AOA range of the LOS diameter, the AOA range of the target diameter, etc.

[0460] Information indicating the codebook range. For example, the information indicating the codebook range includes information indicating a subset of the codebook. When the first device performs the optimal precoding vector search, it only traverses the precoding vectors corresponding to the codebooks within the subset, reducing the search complexity of the first device. Alternatively, the information indicating the codebook range includes information indicating an invalid codebook subset. When the first device performs the optimal precoding vector search, it does not traverse the precoding vectors corresponding to the codebooks within the invalid codebook subset.

[0461] b) Information indicating the first signal, such as the identifier of the first signal or a resource identifier.

[0462] c) Measurement indication information, including at least one of the following:

[0463] Angle measurements include at least one of the following: Angle of Arrival (AOA) (DL-AOA if the first device is a terminal, UL-AOA if the first device is a base station), ZOA (DL-ZOA if the first device is a terminal, UL-ZOA if the first device is a base station); Angle of Arrival Difference (Target Path AOA, LOS Path AOA, Target Path ZOA, LOS Path ZOA, Bistatic Plane Target Path and LOS Path Angle of Arrival Difference); Angle of Departure (AOD) (DL-AOD if the second device is a base station in this scheme), ZOD (DL-ZOD if the second device is a base station in this scheme); Angle of Departure Difference (Target Path AOD, LOS Path AOD, Target Path ZOD, LOS Path ZOD, Bistatic Plane Target Path and LOS Path Departure Difference).

[0464] Doppler measurements (optional).

[0465] In this embodiment, the first device cannot directly measure the departure angle. The departure angle measurement can also refer to the signal radial phase or other measurement information associated with the departure angle information of the first signal. Alternatively, the measurement can be associated with sensing requirement information. The third device or the first device sends sensing requirement information (target object positioning requirement information) to the second device, and the second device determines the corresponding measurement based on the target object positioning requirement information.

[0466] 3. The third configuration information used for reporting information (such as the first information mentioned above), namely the criteria for reporting measurement data from the first device, includes at least one of the following:

[0467] Configuration of time-frequency domain resources used for reporting the first information;

[0468] The configuration of the reporting period of the first information can be configured such that the measurement results are reported based on the coherent processing time of the sensing (coherent processing time is the time corresponding to each calculation of the sensing measurement result, for example, the signal duration corresponding to the time delay-Doppler spectrum obtained by the receiving end performing two-dimensional FFT operation, and one coherent processing time can contain multiple time slots / symbols).

[0469] The configuration of the trigger event that initiates the reporting of the first information can be a pre-defined event, including but not limited to:

[0470] The event of entering a specific area (e.g., a residential community);

[0471] An event that occurs at a specific time;

[0472] An event in which a certain type of measurement indicator reaches a certain threshold;

[0473] An event in which the device moves from its previous position beyond a certain predefined (linear) distance;

[0474] Events that cause the device's orientation to change beyond a certain predefined angle;

[0475] Events where the device's speed exceeds certain predefined speed thresholds;

[0476] Events where changes in environmental information (e.g., temperature / humidity / light intensity) measured by the device's sensors exceed a certain range.

[0477] 4. Sensing demand information (optional): This can be the measurement quantity being associated with sensing demand information, whereby the third device or the first device sends sensing demand information (target object positioning demand information) to the second device, and the second device determines the corresponding measurement quantity based on the target object positioning demand information; or, the second device determines accuracy requirements, delay requirements, or signal configuration information related to the measurement result based on the sensing demand information; or, the second device determines a signal processing method based on the sensing demand information, such as whether to perform static clutter cancellation, target path detection method, etc.

[0478] It should be noted that the items in the second information can be sent by the same signaling message or by different signaling messages.

[0479] S313, the second device sends a first signal to the first device.

[0480] Wherein, the first signal is either a signal that has not undergone pre-coding or a signal that has undergone pre-coding, and the second device transmits the first signal through a total of N physical antennas.

[0481] S314, The first device executes the measurement procedure.

[0482] The first device executes a measurement procedure based on the second information, namely, receiving a first signal sent by the second device and measuring first information, wherein the first information includes at least one of the following:

[0483] 1. Measurements associated with the departure angle: The first measurement information includes at least one of the following:

[0484] Phase information, or phase difference information, of the signal path associated with at least one port or signal resource;

[0485] Amplitude information of the signal path associated with at least one port or signal resource (optional);

[0486] Spectral information associated with at least one port or signal resource (optional);

[0487] Precoded information associated with at least one port or signal resource;

[0488] Port identifier;

[0489] Signal resource identifier.

[0490] 2. Angle of arrival information, including at least one of the following:

[0491] Target path AOA (including global coordinate system angle AoA) T , or local coordinate system angle AoA′ T );

[0492] Target radius ZOA (including global coordinate system angle ZoA) T , or local coordinate system angle ZoA′ T );

[0493] LOS radius AOA (including global coordinate system angle AoA) L , or local coordinate system angle AoA′ L );

[0494] LOS radius ZOA (including global coordinate system angle ZoA) L , or local coordinate system angle ZoA′ L ).

[0495] The difference θ between the target's radius and LOS radius on the bistatic plane R (Angle of incoming wave);

[0496] The cosine value of the difference in the angle of arrival between the target radius and the LOS radius on the bistatic plane, cos(θ) R ).

[0497] 3. The number of detected target objects, or the number of target paths.

[0498] If there are multiple detected target objects or multiple target paths, then the measurement results associated with the target paths in a) to d) can be multiple.

[0499] 4. Timestamp information.

[0500] 5. Accuracy information, including angle accuracy information, angle difference accuracy information, or the accuracy information of the cosine value of the angle difference. For example, providing the accuracy information (uncertainty) of each angle measurement result, such as the target diameter AOA value. and the uncertainty range of the target path AOA The actual result of the target path AOA can be considered as follows: Alternatively, common accuracy information for at least one angle measurement result, such as providing the common uncertainty range of the AOA (including target diameter AOA or LOS diameter AOA).

[0501] 6. Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path, which may be called LOS / NLOS indication: used to indicate whether the path between the first device and the second device is LOS or NLOS, for example, it may be LOS / NLOS probability information.

[0502] 7. Coordinate system transformation information (when the measured angle is a local coordinate system angle, coordinate system transformation information is required), including at least one of the following:

[0503] The rotation angle α between LCS and GCS;

[0504] The rotation angle β between LCS and GCS;

[0505] The rotation angle γ between LCS and GCS;

[0506] The accuracy information of coordinate system transformation relationship, i.e. the uncertainty of rotation angle, can be given by providing the accuracy information (uncertainty range) of the three rotation angles respectively, or common accuracy information. For example, based on the measured value of rotation angle α and the accuracy information of rotation angle Δα, it can be assumed that the actual result of the rotation angle between LCS and GCS around the z-axis is α±Δα / 2.

[0507] 8. Equipment information, including at least one of the following: first equipment position information, first equipment motion information. For example, the first equipment position information includes: the Cartesian coordinates (x, y, x) of the first equipment relative to a known reference point. Rx ,y Rx ,z RxThe motion information of the first device includes at least one of the following: information indicating whether the first device is stationary, the speed of the first device, and the direction of motion of the first device.

[0508] S315, the first device sends the first information to the second or third device.

[0509] S316, the second device sends third information to the third device.

[0510] The first device sending the first information can be categorized as follows:

[0511] Scenario 1:

[0512] The third device calculates the departure angle information, and then calculates the position information of the target object: the first device sends the first measurement information to the third device, and the second device sends the third information to the third device, wherein the third information may also be obtained and stored locally by the third device in advance, and the third information includes at least one of the following:

[0513] 1. Location information of the second device or distance information between the second device and the first device;

[0514] 2. Auxiliary information for calculating the departure angle, including at least one of the following:

[0515] Antenna configuration information for the second device (transmitting device);

[0516] The mapping relationship between ports or signal resources and physical antennas, that is, physical antennas associated with different ports or signal resources;

[0517] The mapping relationship between port or signal resources and precoding information, that is, the precoding information associated with different ports or signal resources, including the precoding vectors used and the oversampling factor;

[0518] The mapping relationship between ports or signal resources and departure angles, i.e., information about departure angles associated with different ports or signal resources, such as the boresight direction of the transmitted beam used;

[0519] The mapping relationship between precoding information and departure angle, that is, the departure angle associated with different precoding information. The precoding information includes the precoding vector used and the oversampling factor; the associated departure angle may include the line-of-sight direction of the transmitted beam.

[0520] The mapping relationship between ports or signal resources and beam patterns, that is, beam pattern information associated with different ports or signal resources.

[0521] Scenario 2:

[0522] The second device calculates the departure angle information, and the third device calculates the position information of the target object: the first device sends at least a portion of the first measurement information (including at least the first measurement information associated with the departure angle information of the first signal) to the second device, and the first device sends at least a portion of the first measurement information (which may be measurement information other than the first measurement information associated with the departure angle information of the first signal) to the third device. The second device calculates third information based on the first measurement information associated with the departure angle information of the first signal in the first measurement information and the auxiliary information for calculating the departure angle, and sends it to the third device. The third information includes at least one of the following:

[0523] Target path AOD (including global coordinate system angle AoD) T , or local coordinate system angle AoD′ T );

[0524] Target radius ZOD (including global coordinate system angle ZoD) T or local coordinate system angle ZoD′ T );

[0525] The difference θ between the target radius and the LOS radius on the bistatic plane T ;

[0526] The cosine value of the difference in the angle between the target radius and the LOS radius on the bistatic plane, cos(θ) T );

[0527] LOS radius AOD (including global coordinate system angle AoD) L , or local coordinate system angle AoD′ L );

[0528] LOS radius ZOD (including global coordinate system angle ZoD) L or local coordinate system angle ZoD′ L );

[0529] Precision information associated with the departure angle;

[0530] The location information of the second device or the distance information between the second device and the first device.

[0531] Scenario 3:

[0532] The second device calculates the departure angle information, and then calculates the position information of the target object. Optionally, the second device can calculate the position information of the target object based on the first measurement information sent by the first device, the auxiliary information for calculating the departure angle, and the position information of the second device. That is, the third information sent by the second device to the third device includes the position information of the target object.

[0533] S317, the third device calculates the sensing results.

[0534] The third device calculates the location information of the target object based on the first information and the third information, or further calculates the trajectory information of the target object, etc.

[0535] The location information of the target object includes at least one of the following:

[0536] 1. Cartesian coordinates of the global coordinate system relative to a reference point, i.e., the values ​​of x, y, and z, including the units of x, y, and z (mm, cm, dm, m, etc.). For example, the coordinates of the target object relative to the signal transmitting device in the global coordinate system (x... Target-Tx ,y Target-Tx ,z Target-Tx ), or the coordinates (x, y) of the target object relative to the origin of the coordinate system (a known reference position) in the global coordinate system. Target ,y Target ,z Target );

[0537] 2. Cartesian coordinates relative to a reference point in a local coordinate system, i.e., the values ​​of x, y, and z, including the units of x, y, and z (mm, cm, dm, m, etc.). For example, the coordinates (x′) of the target object relative to the origin (a known reference position) of the coordinate system in the local coordinate system of the first or second equipment. Target ,y′ Target ,z′ Target );

[0538] 3. The longitude, latitude, and altitude information of the target object, including absolute longitude, latitude, and altitude information, or relative longitude, latitude, and altitude information relative to a certain reference point.

[0539] 4. Distance and angle information of the target object relative to a certain reference point, such as the distance of the target object to the first device and the angle information of the target object relative to the first device, or the distance of the target object to the second device and the angle information of the target object relative to the second device.

[0540] 5. The location information of the target object is calculated based on the angle of arrival information, the angle of departure information, and the distance information between the transceiver and receiver. The specific calculation process is as described in the solution of this application.

[0541] Example 2: Interaction flow when the first device (receiving device) does not calculate the location information of the target object.

[0542] In this embodiment, the first device (i.e., the signal receiving device) has the following characteristics:

[0543] The first device can obtain the location information of the transceiver or the distance information between the transceiver;

[0544] The first device lacks auxiliary information for calculating the departure angle, such as the antenna configuration information of the second device, and therefore cannot further calculate the departure angle information.

[0545] The first device measures and obtains first measurement information, angle of arrival information, and inter-device distance information (or device location information) associated with the departure angle information of the first signal, and feeds it back to the second or third device (i.e., the sensing network function). The second or third device then calculates the departure angle information or the location information of the target object. It should be understood that the message interaction process in this embodiment is similar to that in Embodiment 1, except that the feedback of the measurement indication information and the first information differs. The scheme of this embodiment will still be described below with reference to Figure 14.

[0546] As shown in Figure 14, method 310 may include:

[0547] S311, the third device acquires sensing demand information.

[0548] The third device (Sensing Network Function (SensingMF)) acquires sensing demand information, specifically as in Example 1.

[0549] S312, the third device sends the second information to the second device or the first device.

[0550] The third device sends second information to the second device (BS) or the first device (UE), or the second device sends second information to the first device, to instruct the first device to acquire measurement information and / or report information. The second information includes at least one of the following:

[0551] 1. The first configuration information is the same as in Example 1;

[0552] 2. Second configuration information for angle measurement, including at least one of the following:

[0553] a) Information related to angle measurement, same as in Example 1.

[0554] b) The information indicating the first signal is the same as in Embodiment 1.

[0555] c) Measurement indication information, including at least one of the following:

[0556] The angle measurement is the same as in Example 1.

[0557] Delay measurement includes at least one of the following: relative arrival time, absolute arrival time (propagation delay);

[0558] Distance measurement includes at least one of the following: propagation distance.

[0559] Doppler measurements, same as in Example 1.

[0560] 3. The third configuration information used for reporting information (such as the first information mentioned above) is the same as in Example 1.

[0561] 4. Perceive demand information (optional), same as in Example 1.

[0562] It should be noted that the items in the second information can be sent by the same signaling message or by different signaling messages.

[0563] S313, the second device sends a first signal to the first device.

[0564] Wherein, the first signal is either a signal that has not undergone pre-coding or a signal that has undergone pre-coding, and the second device transmits the first signal through a total of N physical antennas.

[0565] S314, The first device executes the measurement procedure.

[0566] The first device executes a measurement procedure based on the second information, namely, receiving a first signal sent by the second device and measuring first information, wherein the first information includes at least one of the following:

[0567] 1. The measurement information associated with the departure angle is the same as in Example 1.

[0568] 2. Angle of arrival information, same as in Example 1.

[0569] 3. Distance information, including at least one of the following:

[0570] The propagation distance d of the LOS path (or first path) Tx-Rx =c·τ L Wherein, the propagation distance of the LOS path is the distance between the transceiver devices;

[0571] The propagation delay of the LOS path (or the first-reach path or the reference path reflected by a known target object), i.e., the absolute delay τ. L It can also be referred to as the time of flight (ToF) caused by the length of the LOS path; or it can be the relative time of arrival (RTOA) of the LOS path, that is, the time of arrival relative to a specific point in time.

[0572] 4. The number of detected target objects, or the number of target paths, is the same as in Example 1.

[0573] 5. Timestamp information, same as in Example 1.

[0574] 6. Accuracy information, including angle accuracy, angle difference accuracy, cosine value of the angle difference accuracy, time delay accuracy, distance accuracy, or position accuracy. For example, providing the accuracy information (uncertainty) of each angle measurement result, such as the target diameter AOA value. and the uncertainty range of the target path AOA The actual result of the target path AOA can be considered as follows: Alternatively, common accuracy information for at least one angle measurement result, such as providing the common uncertainty range of the AOA (including target diameter AOA or LOS diameter AOA).

[0575] 7. Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path, as in Embodiment 1.

[0576] 8. Coordinate system transformation information, same as in Example 1.

[0577] 9. Equipment information, same as in Example 1.

[0578] S315, the first device sends the first information to the second or third device.

[0579] S316, the second device sends third information to the third device.

[0580] The first device sending the first information can be categorized as follows:

[0581] Scenario 1:

[0582] The third device calculates the departure angle information, and then calculates the position information of the target object: the first device sends the first measurement information to the third device, and the second device sends the second measurement information to the third device, wherein the second measurement information may also be obtained and stored locally by the third device in advance, and the second measurement information includes at least one of the following:

[0583] The auxiliary information for calculating the departure angle is the same as in Example 1.

[0584] Scenario 2:

[0585] The second device calculates the departure angle information, and the third device calculates the position information of the target object: the first device sends at least a portion of the first measurement information (at least including the first measurement information associated with the departure angle information of the first signal) to the second device, and the first device sends at least a portion of the first measurement information (which may be measurement information other than the first measurement information associated with the departure angle information of the first signal) to the third device. The second device calculates the second measurement information based on the first measurement information associated with the departure angle information of the first signal and the auxiliary information for calculating the departure angle, and sends it to the third device. The second measurement information includes at least one of the following:

[0586] Target path AOD (including global coordinate system angle AoD) T , or local coordinate system angle AoD′ T );

[0587] Target radius ZOD (including global coordinate system angle ZoD) T or local coordinate system angle ZoD′ T );

[0588] The difference θ between the target radius and the LOS radius on the bistatic plane T ;

[0589] The cosine value of the difference in the angle between the target radius and the LOS radius on the bistatic plane, cos(θ) T );

[0590] LOS radius AOD (including global coordinate system angle AoD) L , or local coordinate system angle AoD′ L );

[0591] LOS radius ZOD (including global coordinate system angle ZoD) L or local coordinate system angle ZoD′ L );

[0592] Precision information associated with the departure angle.

[0593] Scenario 3:

[0594] The second device calculates the departure angle information, and then calculates the position information of the target object. Optionally, the second device can calculate the position information of the target object based on the first measurement information sent by the first device and the auxiliary information for calculating the departure angle. That is, the second measurement information sent by the second device to the third device includes the position information of the target object.

[0595] S317, the third device calculates the sensing results.

[0596] The third device calculates the location information of the target object based on the first information and the third information, or further calculates the trajectory information of the target object, etc., as in Embodiment 1.

[0597] Example 3: Interaction flow when the first device (receiving device) does not calculate the location information of the target object.

[0598] In this embodiment, the first device (i.e., the signal receiving device) has the following characteristics:

[0599] The first device did not obtain the location information of the transceiver or the distance information between the transceiver;

[0600] The first device has acquired auxiliary information for calculating the departure angle and can further calculate the departure angle information.

[0601] The first device measures the departure angle and arrival angle and feeds them back to the third device, which then calculates the position information of the target object.

[0602] Figure 15 is a schematic flowchart of the wireless communication method 320 provided in an embodiment of this application.

[0603] As shown in Figure 15, the method 320 may include:

[0604] S321, the third device acquires sensing demand information.

[0605] The third device (Sensing Network Function (SensingMF)) acquires sensing demand information, specifically as in Example 1.

[0606] S322, the third device sends the second information to the second device or the first device.

[0607] The third device sends second information to the second device (BS) or the first device (UE), or the second device sends second information to the first device, to instruct the first device to acquire measurement information and / or report information. The second information includes at least one of the following:

[0608] 1. The first configuration information is the same as in Example 1;

[0609] 2. Calculate auxiliary information for the departure angle, including at least one of the following:

[0610] i. Antenna configuration information of the second device (transmitting device);

[0611] ii. The mapping relationship between port or signal resources and physical antennas;

[0612] iii. The mapping relationship between precoded information and departure angle;

[0613] iv. Precoding information associated with different ports or signal resources, including the precoding vectors used and the oversampling factor;

[0614] v. Departure angle information associated with different ports or signal resources, such as the boresight direction of the transmitted beam used;

[0615] vi. Beam pattern information associated with different ports or signal resources;

[0616] vii. Coordinate system transformation information, namely the transformation relationship between the local coordinate system associated with the second device antenna and the global coordinate system.

[0617] Where i to iii are used in scenarios where the first signal is a signal that has not been pre-coded. i or ii can also be the default (without being specifically indicated). In this case, the first device calculates the departure angle according to the default mapping relationship between the second device antenna configuration information or port or signal resources and the physical antenna. For example, the first device defaults to the second device antenna spacing being half a wavelength. When the actual second device antenna configuration information or port or signal resources and the mapping relationship between the physical antenna are inconsistent with the default configuration, the third device or the second device notifies the first device of the actual configuration information.

[0618] Among them, iv to vi are used in scenarios where the first signal is a pre-encoded signal.

[0619] 3. Second configuration information for angle measurement, same as in Example 1.

[0620] 4. The third configuration information used for reporting information (such as the first information mentioned above) is the same as in Example 1.

[0621] 5. Perceive demand information (optional), same as in Example 1.

[0622] It should be noted that the items in the second information can be sent by the same signaling message or by different signaling messages.

[0623] S323, the second device sends a first signal to the first device.

[0624] Wherein, the first signal is either a signal that has not undergone pre-coding or a signal that has undergone pre-coding, and the second device transmits the first signal through a total of N physical antennas.

[0625] S324, The first device executes the measurement procedure.

[0626] The first device executes a measurement procedure based on the second information, namely, receiving a first signal sent by the second device and measuring first information, wherein the first information includes at least one of the following:

[0627] 1. Angle of arrival information, same as in Example 1.

[0628] 2. Departure angle information, including at least one of the following (when the second information contains the second device coordinate system transformation information, the first device can calculate the global coordinate system departure angle information; otherwise, it can only calculate the local coordinate system departure angle information):

[0629] Target path AOD (including global coordinate system angle AoD) T , or local coordinate system angle AoD′ T );

[0630] Target radius ZOD (including global coordinate system angle ZoD) T or local coordinate system angle ZoD′ T );

[0631] LOS radius AOD (including global coordinate system angle AoD) L , or local coordinate system angle AoD′ L );

[0632] LOS radius ZOD (including global coordinate system angle ZoD) L or local coordinate system angle ZoD′ L );

[0633] The difference θ between the target radius and the LOS radius on the bistatic plane T ;

[0634] The cosine value of the difference in the angle between the target radius and the LOS radius on the bistatic plane, cos(θ) T ).

[0635] 3. The number of detected target objects, or the number of target paths, is the same as in Example 1.

[0636] 4. Timestamp information, same as in Example 1.

[0637] 5. Accuracy information, including angle accuracy, angle difference accuracy, cosine value of the angle difference accuracy, time delay accuracy, distance accuracy, or position accuracy. For example, providing the accuracy information (uncertainty) of each angle measurement result, such as the target diameter AOA value. and the uncertainty range of the target path AOA The actual result of the target path AOA can be considered as follows: Alternatively, common accuracy information for at least one angle measurement result, such as providing the common uncertainty range of the AOA (including target diameter AOA or LOS diameter AOA).

[0638] 6. Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path, as in Embodiment 1.

[0639] 7. Coordinate system transformation information, same as in Example 1.

[0640] 8. Equipment information, same as in Example 1.

[0641] S325, the first device sends the first information to the second or third device.

[0642] S326, The third device calculates the sensing results.

[0643] The third device calculates the location information of the target object based on the first measurement information and the location information of the transceiver device or the distance information between the transceiver devices (which may be known to the third device or obtained from measurements; this application does not impose any restrictions on this). Alternatively, the first device may feed back the first measurement information to the second device, and the second device may calculate the location information of the target object (second measurement information) based on the first measurement information and the location information of the transceiver device or the distance information between the transceiver devices, and then feed it back to the third device.

[0644] Example 4: Interaction flow when the first device (receiving device) calculates the location information of the target object.

[0645] In this embodiment, the first device (i.e., the signal receiving device) has the following characteristics:

[0646] The first device can obtain the location information of the transceiver or the distance information between the transceiver;

[0647] The first device has acquired auxiliary information for calculating the departure angle and can further calculate the departure angle information.

[0648] The first device measures the departure angle and arrival angle, calculates the distance or the location information of the target object, and feeds back the location information of the target object to the third device. It should be understood that the message interaction process in this embodiment is similar to that in embodiment 3, except that the feedback of the measurement indication information and the first information differs. The scheme of this embodiment will still be described below with reference to Figure 15.

[0649] As shown in Figure 15, the method 320 may include:

[0650] S321, the third device acquires sensing demand information.

[0651] The third device (Sensing Network Function (SensingMF)) acquires sensing demand information, specifically as in Example 1.

[0652] S322, the third device sends the second information to the second device or the first device.

[0653] The third device sends second information to the second device (BS) or the first device (UE), or the second device sends second information to the first device, to instruct the first device to acquire measurement information and / or report information. The second information includes at least one of the following:

[0654] 1. The first configuration information is the same as in Example 1;

[0655] 2. Calculate auxiliary information for the departure angle, as in Example 3.

[0656] 3. Second configuration information for angle measurement, including at least one of the following:

[0657] a) Information related to angle measurement, same as in Example 1.

[0658] b) The information indicating the first signal is the same as in Embodiment 1.

[0659] c) Measurement indication information, including at least one of the following:

[0660] The angle measurement is the same as in Example 1.

[0661] Delay measurement includes at least one of the following: relative arrival time, absolute arrival time (propagation delay);

[0662] Distance measurement includes at least one of the following: propagation distance.

[0663] Position measurement, namely the position coordinates of the target object, including coordinates in the local coordinate system and coordinates in the global coordinate system;

[0664] Doppler measurements, same as in Example 1.

[0665] 4. The third configuration information used for reporting information (such as the first information mentioned above) is the same as in Example 1.

[0666] 5. Perceive demand information (optional), same as in Example 1.

[0667] 6. Environmental object information, including at least one of the following: the location information of the environmental object (e.g., position coordinates in the global coordinate system, or distance and angle information relative to the transmitting or receiving device), the size (e.g., length, width, height), shape, and type (e.g., buildings, vegetation, etc.) of the environmental object. Obtaining environmental object information helps improve the accuracy of target object detection, including target path determination in scenarios where multiple reflections occur through the perceived target object and environmental objects during signal propagation.

[0668] It should be noted that the items in the second information can be sent by the same signaling message or by different signaling messages.

[0669] S323, the second device sends a first signal to the first device.

[0670] Wherein, the first signal is either a signal that has not undergone pre-coding or a signal that has undergone pre-coding, and the second device transmits the first signal through a total of N physical antennas.

[0671] S324, The first device executes the measurement procedure.

[0672] The first device executes a measurement procedure based on the second information, namely, receiving a first signal sent by the second device and measuring first information, wherein the first information includes at least one of the following:

[0673] 1. Angle of arrival information, same as in Example 1.

[0674] 2. Departure angle information, same as in Example 3.

[0675] 3. The distance d from the target object to the receiving device Target-Rx ;

[0676] 4. Distance d from the target object to the transmitting device Tx-Target ;

[0677] 5. The location information of the target object is defined in the same way as in Example 1;

[0678] 6. The time difference Δτ between the target path and the LOS path (or the first-arrival path or the reference path reflected by a known target object);

[0679] 7. The difference in propagation distance Δd between the target path and the LOS path (or the first-arrival path or the reference path reflected by a known target object);

[0680] 8. The absolute arrival time (propagation delay) of the target path, i.e., Δτ+τ L ;

[0681] 9. The propagation distance d of the target path Tx-Target +d Target-Rx =ΔL+d Tx-Rx =c·(Δτ+τ) L );

[0682] 10. The number of detected target objects, or the number of target paths, is the same as in Example 1.

[0683] 11. Timestamp information, same as in Example 1.

[0684] 12. Accuracy information, including angle accuracy, angle difference accuracy, cosine value of the angle difference accuracy, time delay accuracy, distance accuracy, or position accuracy. For example, providing the accuracy information (uncertainty) of each angle measurement result, such as the target diameter AOA value. and the uncertainty range of the target path AOA The actual result of the target path AOA can be considered as follows: Alternatively, common accuracy information for at least one angle measurement result, such as providing the common uncertainty range of the AOA (including target diameter AOA or LOS diameter AOA).

[0685] 13. Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path, as in Embodiment 1.

[0686] 14. Coordinate system transformation information, same as in Example 1.

[0687] 15. Equipment information, same as in Example 1.

[0688] S325, the first device sends the first information to the second or third device.

[0689] S326, The third device calculates the sensing results.

[0690] The third device calculates the location information of the target object based on the first measurement information (if the first measurement information contains the location information of the real target object, then the third device does not need to calculate), or further calculates the trajectory information of the target object, etc.

[0691] In summary, this application presents a bistatic positioning method based on angle of arrival and angle of departure, including a method for calculating the position information of a passive sensing target object in a bistatic sensing scenario, a signal configuration method, a measurement quantity definition, and methods for calculating various intermediate measurement results and message interaction processes. The position information of the target object is calculated based on the angle of arrival and angle of departure information. By measuring the angle of arrival and angle of departure, the position information of the target object is further obtained. This solves the problems of excessive bandwidth consumption and inaccurate measurements due to timing errors when obtaining the position information of the target object through delay measurement. It also solves the problem that when the propagation delay (or propagation path length) of the first path of arrival is unknown, the propagation delay (or propagation path length) of the target object's reflection path cannot be obtained, thus making it impossible to calculate the distance from the transmitting device to the target object or the distance from the target object to the receiving device, and thus impossible to calculate the position information. Furthermore, it solves the problem of incorrect calculation of the target object's position information due to mismatched angle measurement information of multiple target objects in multi-node cooperative sensing.

[0692] To facilitate a better understanding of the embodiments of this application, the terms related to this application are explained.

[0693] (1) Target path and line-of-sight (LOS) path.

[0694] The signal receiving device performs channel estimation based on the transmitted first signal X(k) and the corresponding received signal Y(k) to obtain channel response information H(k) = Y(k) / X(k), where k = 0, 1, 2, ..., K-1 represents the resource unit index. After obtaining the channel response H(k), it is transformed to a first domain, where the target path and the LOS path are determined. The target path or LOS path can also refer to a specific sampling point in the first domain. The LOS path (where the LOS condition is met between the signal transceiver devices) is typically considered the first-arrival path, while the target path refers to the path associated with the portion of the signal propagation that is reflected by the target object. The process of transforming the channel response H(k) to the first domain also includes specific preprocessing of the channel data in the first domain (e.g., clutter cancellation, smoothing filtering), before determining the target path in the first domain.

[0695] The first domain includes one of the following:

[0696] Delay domain;

[0697] Doppler domain;

[0698] Azimuth domain;

[0699] Pitch angle domain (zenith angle domain);

[0700] A domain that combines at least two of the time-delay domain, Doppler domain, azimuth domain, and elevation domain. For example, a time-delay-Doppler domain, a time-delay-Doppler-angle domain, etc.

[0701] For example, H(f) is the channel response, where f = 0, 1, 2, ..., N-1 represents the frequency domain sampling points (e.g., subcarrier indices). Then, by performing an inverse Fourier transform on H(f), it can be transformed to the time delay domain (the first domain). As another example, H(f,t) is the channel response, where f = 0, 1, 2, ..., N-1 represents the frequency domain sampling points (e.g., subcarrier indices), and t = 0, 1, 2, ..., M-1 represents the time domain sampling points (e.g., OFDM symbol indices). Then, by performing an inverse Fourier transform along the frequency domain and a Fourier transform along the time domain on H(f,t), it can be transformed to the time delay domain. Switching to the time-delay-Doppler domain (first domain); for example, H(f,t,s) is the channel response, where f = 0,1,2,…,N-1 represents frequency domain sampling points (e.g., subcarrier index), t = 0,1,2,…,M-1 represents time domain sampling points (e.g., OFDM symbol index), and s = 0,1,2,…,P-1 represents spatial domain sampling points (antenna index or port index). Then, by performing inverse Fourier transform along the frequency domain, Fourier transform along the time domain, and Fourier transform along the antenna domain on H(f,t,s), it can be transformed to the time-delay-Doppler-angle domain (first domain).

[0702] The target path refers to the path associated with the portion of the signal propagation that is reflected by the perceived target object. Specifically, it can be determined based on paths satisfying a first condition from the channel information of the first domain. The first condition includes at least one of the following:

[0703] 1. The amplitude or power of the path exceeds a preset threshold or is within a preset range; for example, the preset threshold is x times the noise threshold, or the preset threshold is the CFAR (constant false alarm probability) detection threshold;

[0704] 2. Optionally, the paths that meet the requirements of amplitude or power exceeding the preset threshold or falling within the preset range can be further filtered, for example, by performing clustering processing, selecting at least one path as the target path from multiple paths reflected by the same target object, or merging multiple paths belonging to the same target object, for example, by weighted merging to obtain the target path.

[0705] 3. The amplitude or power of the path is greater than the amplitude or power of other paths within a specific interval of the first domain. That is, the peak or relative peak is searched in the first domain as the target path, or it is described as the X (X≥1) paths with the largest amplitude or power within a specific interval of the first domain.

[0706] 4. The Doppler amplitude of the diameter exceeds the preset threshold or is within the preset range;

[0707] 5. The path delay exceeds a preset threshold or falls within a preset range;

[0708] 6. The angle of the radius exceeds the preset threshold or falls within the preset range;

[0709] 7. The difference in amplitude or power between the first-reaching path (e.g., LOS path) or the reference path (e.g., the signal path reflected by a known target object (e.g., RIS / Backscatter / other known passive target objects, etc.)) exceeds a preset threshold or is within a preset range.

[0710] 8. The Doppler difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target object (e.g., RIS / Backscatter device / other known passive target objects, etc.)) exceeds a preset threshold or is within a preset range;

[0711] 9. The time delay difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target object (e.g., RIS / Backscatter device / other known passive target objects, etc.)) exceeds a preset threshold or is within a preset range;

[0712] 10. The angle difference between the path and the first path (e.g., the LOS path) or the reference path (e.g., the signal path reflected by a known target object (e.g., RIS / Backscatter device / other known passive target objects, etc.)) exceeds a preset threshold or is within a preset range;

[0713] 11. The amplitude, power, or phase of the path satisfies a specific modulation rule, which is the modulation rule of the Tag / backscatter device or RIS, that is, the path associated with the sensed target object can be a path that has been modulated and reflected by the Tag / backscatter device or RIS.

[0714] It should be noted that the first condition of each of the above items can also be based on the statistical results over a period of time; for example, the proportion of the above indicators (such as Doppler of the path, the time delay of the path, etc.) exceeding the preset threshold or falling within the preset range within the preset time window reaches the preset proportion, or the number of times the above indicators (such as Doppler of the path, the time delay of the path, etc.) exceed the preset threshold or fall within the preset range within the preset time window reaches the preset number.

[0715] The preset threshold or set range is sent to the receiving device by other devices, and determined by those other devices based on prior sensing information or sensing requirements. Alternatively, the preset threshold or set range is determined by the receiving device based on prior sensing information or sensing requirements.

[0716] Among them, prior information for perception or perception needs includes the following information:

[0717] 1. Sensing services or types of sensing services, wherein the sensing services may be, for example, detecting the existence of a target object, positioning, trajectory tracking, speed detection, distance detection, angle detection, acceleration detection, material analysis, composition analysis, shape detection, category classification, and radar cross section (RCS). The sensing services include: Section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip reading, gait recognition, facial expression recognition, respiration monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / atmospheric pressure monitoring, air quality monitoring, weather condition monitoring, environmental reconstruction, terrain and landform, building / vegetation distribution detection, pedestrian or vehicle flow detection, crowd density, vehicle density detection, etc. The sensing service types can be classified according to certain characteristics, such as by function (detection-type sensing services, including intrusion detection and fall detection), parameter estimation-type sensing services (distance, angle, and speed calculation), and recognition-type sensing services (action recognition, identity recognition), etc. They can also be classified by sensing range (near-range sensing, medium-range sensing, and long-range sensing), by sensing fineness (coarse-grained sensing, fine-grained sensing, etc.), by power consumption / energy consumption, and by resource usage, etc. If the sensing service is respiratory monitoring, the corresponding normal breathing rate can be determined based on the person's gender and age (e.g., male: 13-21 breaths / minute, female: 15-20 breaths / minute; adult: 12-20 breaths / minute, child: approximately 30-40 breaths / minute), which can be used as prior information for sensing. For example, if the corresponding service in the sensing requirement is target object detection in a highway scene, the target object speed should be in the range of 60km / h to 150km / h, which can be used as prior information for sensing.

[0718] 2. Perceived target object area: refers to the location area of ​​the perceived object, or the location area that needs to be imaged or reconstructed; for example, determining the preset range of the time delay of the associated path of the perceived target object based on the approximate location / distance of the perceived object;

[0719] 3. Sensing Object Type: Sensing objects are classified according to their possible motion characteristics. Each sensing object type includes information such as the typical motion velocity range, motion acceleration range, and typical RCS range of the sensing object.

[0720] 4. The number of perceived target objects; for example, the camera's perception results, as a kind of prior information, can be used to determine the number of perceived target objects.

[0721] 5. Perceived QoS: Performance metrics for perceiving target areas or objects, including at least one of the following:

[0722] Perception resolution (which can be further divided into: ranging resolution, angle measurement resolution, velocity measurement resolution, imaging resolution, etc.);

[0723] Sensing accuracy (which can be further divided into: ranging accuracy, angle measurement accuracy, velocity measurement accuracy, positioning accuracy, etc.);

[0724] Sensing range (which can be further divided into: ranging range, velocity measuring range, angle measuring range, imaging range, etc.);

[0725] Sensing latency (the time interval from the sending of a sensing signal to the acquisition of a sensing result, or the time interval from the initiation of a sensing demand to the acquisition of a sensing result);

[0726] Perception update rate (the time interval between two consecutive perception operations and obtaining perception results);

[0727] Detection probability (the probability of correctly detecting an object given its presence);

[0728] False alarm probability (the probability of falsely detecting a target object when it does not exist);

[0729] The maximum number of target objects that can be perceived.

[0730] Taking target path selection in the time delay domain as an example, as shown in Figure 16, paths whose amplitude exceeds a preset threshold are determined according to the first condition 1, and then clustered to further filter and obtain target paths 0, 1, and 2. Optionally, multiple paths belonging to the same target object after clustering can be merged, for example, by weighted merging to obtain target paths. Alternatively, target paths 0, 1, 2, and 3 can be obtained by performing local peak detection according to the first condition 2. That is, the path with the largest amplitude or power compared to its neighboring X (X≥1) paths is selected as the target path. Optionally, before performing local peak detection, the channel data in the time delay domain can be preprocessed by smoothing filtering or clutter cancellation. Alternatively, taking target path selection in the time delay-Doppler domain as an example, as shown in Figure 17, target paths 0 and 1 are obtained by performing local peak detection according to the first condition 2.

[0731] (2) Perception network function.

[0732] A sensing function network element, also known as a sensing network element or sensing network function, can be located on the RAN side or the core network side. It refers to a network node in the core network and / or RAN responsible for at least one of the following functions: sensing request processing, sensing resource scheduling, sensing information interaction, and sensing data processing. It can be an upgrade based on the AMF or LMF in the 5G network, or it can be other network nodes or newly defined network nodes. Specifically, the functional characteristics of a sensing function network element can include at least one of the following:

[0733] 1. To interact with wireless signal transmitting equipment and / or wireless signal measuring equipment (including the target terminal or the serving base station of the target terminal or the base station associated with the target area) to exchange target object information, wherein the target object information includes sensing processing requests, sensing capabilities, sensing auxiliary data, sensing measurement type, sensing resource configuration information, etc., in order to obtain the value of the target object sensing result or sensing measurement (uplink measurement or downlink measurement) sent by the wireless signal measuring equipment; wherein, the wireless signal can also be referred to as the sensing signal.

[0734] 2. The sensing method used is determined based on factors such as the type of sensing service, the information of sensing service consumers, the required Quality of Service (QoS) requirements, the sensing capabilities of the wireless signal transmitting equipment, and the sensing capabilities of the wireless signal measuring equipment. The sensing method may include: base station A transmitting and base station B receiving, or base station transmitting and terminal receiving, or base station A transmitting and receiving, or terminal transmitting and base station receiving, or terminal transmitting and receiving, or terminal A transmitting and terminal B receiving, etc.

[0735] 3. Based on factors such as the type of sensing service, information about the sensing service consumers, required sensing QoS requirements, sensing capabilities of wireless signal transmitting equipment, and sensing capabilities of wireless signal measuring equipment, the sensing equipment serving the sensing service is determined. The sensing equipment includes wireless signal transmitting equipment and / or wireless signal measuring equipment.

[0736] 4. Manage the overall coordination and scheduling of resources required for sensing services, such as configuring sensing resources for base stations and / or terminals accordingly.

[0737] 5. Process the values ​​of the sensed measurements or perform calculations to obtain the sensing results. Further, verify the sensing results and estimate the sensing accuracy.

[0738] (3) Perceive the needs.

[0739] Perceived demand information includes at least one of the following:

[0740] 1. Sensing services or types of sensing services, wherein the sensing services may be, for example, detecting the existence of a target object, positioning, speed detection, distance detection, angle detection, acceleration detection, material analysis, composition analysis, shape detection, category classification, and radar cross section (RCS). The sensing services include: Section (RCS) detection, polarization scattering characteristic detection, fall detection, intrusion detection, quantity statistics, indoor positioning, gesture recognition, lip reading, gait recognition, facial expression recognition, respiration monitoring, heart rate monitoring, pulse monitoring, humidity / brightness / temperature / atmospheric pressure monitoring, air quality monitoring, weather condition monitoring, environmental reconstruction, terrain and landform, building / vegetation distribution detection, pedestrian or vehicle flow detection, crowd density, vehicle density detection, etc.; the sensing service types can be classified according to certain characteristics, such as by function into detection-type sensing services (e.g., intrusion detection, fall detection), parameter estimation-type sensing services (distance, angle, speed calculation), recognition-type sensing services (action recognition, identity recognition), etc.; they can also be classified according to the sensing range (near-range sensing, medium-range sensing, long-range sensing), according to the sensing fineness (coarse-grained sensing, fine-grained sensing, etc.), according to power consumption / energy consumption, according to resource consumption, etc.

[0741] 2. Perceived target area: refers to the area where the perceived object may exist, or the area where imaging or environmental reconstruction is required;

[0742] 3. Sensing Object Type: Sensing objects are classified according to their possible motion characteristics. Each sensing object type includes information such as the motion velocity, motion acceleration, and typical RCS of typical sensing objects.

[0743] 4. Perceived QoS: Performance metrics for perceiving target areas or objects, including at least one of the following:

[0744] Perception resolution (which can be further divided into: ranging resolution, angle measurement resolution, velocity measurement resolution, imaging resolution, etc.);

[0745] Sensing accuracy (which can be further divided into: ranging accuracy, angle measurement accuracy, velocity measurement accuracy, positioning accuracy, etc.);

[0746] Sensing range (which can be further divided into: ranging range, velocity measuring range, angle measuring range, imaging range, etc.);

[0747] Sensing latency (the time interval from the sending of a sensing signal to the acquisition of a sensing result, or the time interval from the initiation of a sensing demand to the acquisition of a sensing result);

[0748] Perception update rate (the time interval between two consecutive perception operations and obtaining perception results);

[0749] Detection probability (the probability of correctly detecting an object given its presence);

[0750] False alarm probability (the probability of falsely detecting a target object when it does not exist);

[0751] The maximum number of target objects that can be perceived.

[0752] (4) Signal configuration information.

[0753] The signal configuration information includes at least one of the following:

[0754] 1. Signal resource identifier (ID), used to distinguish different signal resource configurations;

[0755] 2. Signal Purpose: This indicates whether the signal is used for communication (e.g., channel measurement, channel estimation, synchronization, carrying data information, etc.), for sensing, or for both communication and sensing. Specifically, it can also be the signal used for a particular sensing service or the signal used for a particular type of sensing service. The definitions of the sensing services and sensing service types can be found in (2) Sensing Network Function in the Terminology Explanation below.

[0756] 3. Waveform, such as Orthogonal Frequency Division Multiplexing (OFDM), Single-Carrier Frequency-Division Multiple Access (SC-FDMA), Orthogonal Time-Frequency Space (OTFS), Frequency Modulated Continuous Wave (FMCW), pulse signal, etc.;

[0757] 4. Center frequency.

[0758] 5. Subcarrier spacing, for example, the subcarrier spacing of an OFDM system is 30 kHz.

[0759] 6. Guard interval, which is the time interval between the end of signal transmission and the latest echo signal of the signal being received; this parameter is proportional to the maximum sensing distance; for example, it can be calculated by c / (2R_max), where R_max is the maximum sensing distance (belonging to sensing requirement information). For example, for self-transmitting and self-receiving sensing signals, R_max represents the maximum distance from the sensing signal transmission point to the signal transmission point; in some cases, the OFDM signal cyclic prefix (CP) can serve as the minimum guard interval; c is the speed of light.

[0760] 7. Starting frequency domain position, i.e., starting frequency point, or starting RE / RB index;

[0761] 8. The starting time domain position, i.e., the starting time point, can also be the starting symbol index, time slot index, or frame index;

[0762] 9. The terminating frequency domain position, i.e., the terminating frequency point, can be represented by the terminating RE and RB indices;

[0763] 10. The termination time domain position, i.e. the termination time point, can be represented by the termination RE and RB indices;

[0764] 11. Frequency domain resource length, i.e. frequency domain bandwidth, which is inversely proportional to the distance resolution, wherein the frequency domain bandwidth B of each first signal is greater than or equal to c / (2ΔR), where c is the speed of light and ΔR is the distance resolution;

[0765] 12. Time-domain resource length, also known as burst duration, is inversely proportional to Doppler resolution.

[0766] 13. Frequency domain resource spacing represents the spacing between adjacent signal frequency domain resource units. It can be represented by the number of REs or RBs, or by the density value Density. For example, Density = 1 means that one RE in each RB is used to carry the signal. The frequency domain resource spacing is inversely proportional to the maximum unambiguous distance / delay. For OFDM systems, when subcarriers are continuously mapped, the frequency domain spacing is equal to the subcarrier spacing.

[0767] 14. Time-domain resource interval, which is the time interval between two adjacent signal resource units, and is associated with the maximum unambiguous Doppler frequency shift or the maximum unambiguous velocity.

[0768] 15. Time-domain resource characteristics: periodic transmission, semi-persistent transmission, and non-periodic transmission.

[0769] 16. The time-domain burst resource interval or time-domain burst sending cycle is related to the refresh frequency of the sensing results.

[0770] 17. Signal power, for example, taking a value every 2dBm from -20dBm to 23dBm.

[0771] 18. Sequence information, including sequence type information (ZC sequence, PN sequence, etc.), sequence generation method, sequence length, etc.

[0772] 19. Signal direction, the angle information or beam information of the signal transmission.

[0773] 20. QCL relationships, for example, a sensing signal includes multiple resources, each resource is associated with an SSB QCL, and the QCL includes Type A, B, C or D.

[0774] 21. Cyclic Prefix (CP) information, including CP type (e.g., Normal Cyclic Prefix (NCP), Extended Cyclic Prefix (ECP), or newly designed sensing measurement-specific CP), CP length, etc.

[0775] The wireless communication method provided in this application can be executed by a wireless communication device. This application uses an example of a wireless communication device executing the wireless communication method to illustrate the wireless communication device provided in this application.

[0776] This application provides a wireless communication device. As an example, the wireless communication device may be a communication device or a component within a communication device, such as a chip. The communication device may be a first device, a second device, or a third device. Exemplarily, the first device may include, but is not limited to, the types of terminal A or terminal B listed above, and the second or third device may include, but is not limited to, the types of base station A, base station B, or sensing function network elements listed above. This application does not impose specific limitations.

[0777] The wireless communication device includes a receiving module, a transmitting module, and a processing module. These modules can be implemented in software or hardware. When implemented in hardware, the processing module can be implemented by a processor. For example, the processor can include general-purpose processors, special-purpose processors, such as a Central Processing Unit (CPU), microprocessor, Digital Signal Processor (DSP), Artificial Intelligence (AI) processor, Graphics Processing Unit (GPU), Application Specific Integrated Circuit (ASIC), Network Processor (NP), Field Programmable Gate Array (FPGA), or other programmable logic devices, gate circuits, transistors, discrete hardware components, etc. The receiving and transmitting modules can be implemented by a communication interface, which can include one or more of the following: transceiver, pins, circuits, bus, radio frequency unit, etc.

[0778] Specifically, referring to Figure 18, when the wireless communication device is a component in the first device, the wireless communication device 410 includes:

[0779] Processing module 411 is used to measure the first signal and obtain the first information;

[0780] The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the angle of departure information of the first signal, the distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the position information of the target object;

[0781] The sending module 412 is used to send the first information to the second device and / or the third device.

[0782] In some embodiments, the apparatus further includes a receiving module, which, before the processing module 411 measures the first signal and obtains the first information, is configured to:

[0783] The first device receives second information from the second device or the third device, the second information including at least one of the following:

[0784] First configuration information of the first signal;

[0785] Second configuration information for angle measurement;

[0786] Third configuration information used to report the first information;

[0787] Auxiliary information used to determine the departure angle information;

[0788] Perceive demand information.

[0789] In some embodiments, if the second information does not include the auxiliary information, then the first information includes the angle of arrival information and at least one of the following: the first measurement information, the distance information; or

[0790] If the second information includes the auxiliary information, then the first information includes the arrival angle information and at least one of the following: the departure angle information and the location information of the target object.

[0791] In some embodiments, the second configuration information includes at least one of the following:

[0792] Information indicating the expected range of angle measurement;

[0793] Indicates information within the codebook range;

[0794] Information indicating the first signal;

[0795] Measurement indication information;

[0796] The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity.

[0797] In some embodiments, if the second information does not include the auxiliary information, and the measurement indication information includes the angle measurement, then the first information includes the angle of arrival information and the first measurement information; or

[0798] If the second information does not include the auxiliary information, and the measurement indication information includes the angle measurement and at least one of the following: distance measurement, time delay measurement, then the first information includes the angle of arrival information, the first measurement information, and the distance information; or

[0799] If the second information includes the auxiliary information, and the measurement indication information includes the angle measurement and at least one of the following: distance measurement, time delay measurement, then the first information includes the angle of arrival information and the departure angle information; or

[0800] If the second information includes the auxiliary information, and the measurement indication information includes the angle measurement and the position measurement, then the first information includes the position information of the target object.

[0801] In some embodiments, the angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the cosine of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the angle difference of departure of the target path relative to the LOS path on the bistatic plane, and the cosine of the angle difference of departure of the target path relative to the LOS path on the bistatic plane; or

[0802] The distance measurement includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path; or

[0803] The time delay measurement includes at least one of the following: the absolute arrival time of the line-of-sight (LOS) path, the relative arrival time of the LOS path, and the time difference between the target path and the LOS path; or

[0804] The location measurement includes at least one of the following: the location coordinates of the target object.

[0805] In some embodiments, the third configuration information includes at least one of the following:

[0806] Configuration of time-frequency domain resources used for reporting the first information;

[0807] The configuration of the reporting period for the first information;

[0808] Configuration of the trigger event that triggers the reporting of the first information;

[0809] The reported events include at least one of the following:

[0810] The first device enters a specific area;

[0811] Arrive at a specific time;

[0812] At least one type of measurement indicator reaches the threshold;

[0813] The distance the first device moves exceeds a preset distance threshold;

[0814] The angle of the change in direction of the first device exceeds a preset angle threshold;

[0815] The speed of the first device exceeds a preset speed threshold;

[0816] The change in the environmental information of the first device exceeds a preset threshold.

[0817] In some embodiments, the auxiliary information includes at least one of the following from the second device:

[0818] Antenna configuration information;

[0819] The mapping relationship between ports or signal resources and physical antennas;

[0820] The mapping relationship between precoded information and departure angle;

[0821] The mapping relationship between port or signal resources and precoded information;

[0822] The mapping relationship between port or signal resources and departure angle;

[0823] The mapping relationship between port or signal resources and beam patterns;

[0824] Coordinate transformation information.

[0825] In some embodiments, the angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith angle of arrival of the target path, the azimuth of arrival of the LOS path, the zenith angle of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or

[0826] The first measurement information includes at least one of the following: a port identifier for at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, precoding information associated with at least one port or signal resource, and an identifier of the signal resource, wherein the signal path includes a target path and a line-of-sight (LOS) path; or

[0827] The distance information includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or

[0828] The departure angle information includes at least one of the following: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or

[0829] The location information of the target object includes the location coordinates of the target object.

[0830] In some embodiments, the first information further includes at least one of the following:

[0831] The number of target objects or the number of target paths;

[0832] Timestamp information;

[0833] Precision information;

[0834] Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path;

[0835] Coordinate transformation information;

[0836] Device information of the first device;

[0837] The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device.

[0838] In some embodiments, before the sending module 412 sends the first information to the second device and / or the third device, the processing module 411 is further configured to perform at least one of the following:

[0839] The distance information is determined based on the location information of the first device and the location information of the second device;

[0840] Based on the location information of the first device, the location information of the second device, and the distance information, the arrival angle information or the departure angle information is determined;

[0841] Based on the arrival angle information and the departure angle information, the location information of the target object is determined.

[0842] In some embodiments, the arrival angle information includes: the arrival azimuth of the target path, the arrival zenith angle of the target path, the arrival azimuth of the LOS path, and the arrival zenith angle of the LOS path; the departure angle information includes: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, and the departure zenith angle of the LOS path.

[0843] Specifically, the processing module 411 is used for:

[0844] Based on the arrival azimuth, arrival zenith, arrival azimuth, and arrival zenith of the target path, calculate the arrival angle difference between the target path and the LOS path on the bistatic plane; and based on the departure azimuth, departure zenith, departure azimuth, and departure zenith of the target path, calculate the departure angle difference between the target path and the LOS path on the bistatic plane.

[0845] The location information of the target object is calculated based on the arrival angle difference and the departure angle difference.

[0846] In some embodiments, the sending module 412 is configured to perform at least one of the following:

[0847] The angle of arrival information and the first measurement information are sent to the third device;

[0848] The first measurement information is sent to the second device, and the angle of arrival information is sent to the third device;

[0849] The location information of the target object is sent to the third device.

[0850] Referring to Figure 19, when the wireless communication device is a component of the second device, the wireless communication device 420 includes a transmitting module 421 for:

[0851] Send a first signal to the first device;

[0852] Send third information to a third device;

[0853] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0854] In some embodiments, before the transmitting module 421 transmits the first signal to the first device, it is further configured to:

[0855] Send a second message to the first device, the second message including at least one of the following:

[0856] First configuration information of the first signal;

[0857] Second configuration information for angle measurement;

[0858] The auxiliary information;

[0859] Third configuration information used to report the first information;

[0860] Perceive demand information.

[0861] In some embodiments, the second configuration information includes at least one of the following:

[0862] Information indicating the expected range of angle measurement;

[0863] Indicates information within the codebook range;

[0864] Information indicating the first signal;

[0865] Measurement indication information;

[0866] The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity.

[0867] In some embodiments, the angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the cosine of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the angle difference of departure of the target path relative to the LOS path on the bistatic plane, and the cosine of the angle difference of departure of the target path relative to the LOS path on the bistatic plane; or

[0868] The distance measurement includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path; or

[0869] The time delay measurement includes at least one of the following: the absolute arrival time of the line-of-sight (LOS) path, the relative arrival time of the LOS path, and the time difference between the target path and the LOS path; or

[0870] The location measurement includes at least one of the following: the location coordinates of the target object.

[0871] In some embodiments, the third configuration information includes at least one of the following:

[0872] Configuration of time-frequency domain resources used for reporting the first information;

[0873] The configuration of the reporting period for the first information;

[0874] Configuration of the trigger event that triggers the reporting of the first information;

[0875] The reported events include at least one of the following:

[0876] The first device enters a specific area;

[0877] Arrive at a specific time;

[0878] At least one type of measurement indicator reaches the threshold;

[0879] The distance the first device moves exceeds a preset distance threshold;

[0880] The angle of the change in direction of the first device exceeds a preset angle threshold;

[0881] The speed of the first device exceeds a preset speed threshold;

[0882] The change in the environmental information of the first device exceeds a preset threshold.

[0883] In some embodiments, the device 420 further includes a receiving module, which is configured to: Before the sending module 421 sends third information to the third device, the receiving module is configured to:

[0884] Receive first information from the first device;

[0885] The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the departure angle information of the first signal, the distance information, the departure angle information, and the position information of the target object.

[0886] In some embodiments, the angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith angle of arrival of the target path, the azimuth of arrival of the LOS path, the zenith angle of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or

[0887] The first measurement information includes at least one of the following: port identifier of at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, precoding information associated with at least one port or signal resource, and identifier of the signal resource, wherein the signal path includes the target path and the line-of-sight (LOS) path.

[0888] In some embodiments, the first information further includes at least one of the following:

[0889] The number of target objects or the number of target paths;

[0890] Timestamp information;

[0891] Precision information;

[0892] Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path;

[0893] Coordinate transformation information;

[0894] Device information of the first device;

[0895] The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device.

[0896] In some embodiments, the auxiliary information includes at least one of the following of the second device: antenna configuration information, mapping relationship between port or signal resources and physical antenna, mapping relationship between precoding information and departure angle, mapping relationship between port or signal resources and precoding information, mapping relationship between port or signal resources and departure angle, mapping relationship between port or signal resources and beam pattern, coordinate transformation relationship information; or

[0897] The distance information includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or

[0898] The departure angle information includes at least one of the following: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or

[0899] The location information of the target object includes the location coordinates of the target object.

[0900] In some embodiments, the device 420 further includes a processing module, which performs at least one of the following operations before the sending module 421 sends the third information to the third device:

[0901] The distance information is determined based on the location information of the first device and the location information of the second device;

[0902] The departure angle information is determined based on the location information of the first device, the location information of the second device, and the distance information;

[0903] Based on the angle of arrival information and the departure angle information of the first signal, the position information of the target object is determined.

[0904] In some embodiments, the arrival angle information includes: the arrival azimuth of the target path, the arrival zenith angle of the target path, the arrival azimuth of the LOS path, and the arrival zenith angle of the LOS path; the departure angle information includes: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, and the departure zenith angle of the LOS path.

[0905] Specifically, the processing module is used for:

[0906] Based on the arrival azimuth, arrival zenith, arrival azimuth, and arrival zenith of the target path, calculate the arrival angle difference between the target path and the LOS path on the bistatic plane; and based on the departure azimuth, departure zenith, departure azimuth, and departure zenith of the target path, calculate the departure angle difference between the target path and the LOS path on the bistatic plane.

[0907] The location information of the target object is calculated based on the arrival angle difference and the departure angle difference.

[0908] Referring to Figure 20, when the wireless communication device is a component of the second device, the wireless communication device 430 includes a receiving module 431 for receiving first information from the first device and / or receiving third information from the second device;

[0909] The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object;

[0910] The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object.

[0911] In some embodiments, the device 430 further includes a transmitting module, which is configured to: Before the receiving module 431 receives first information from the first device and / or receives third information from the second device, the transmitting module is configured to:

[0912] Send a second message to the first device, the second message including at least one of the following:

[0913] First configuration information of the first signal;

[0914] Second configuration information for angle measurement;

[0915] Third configuration information used to report the first information;

[0916] The auxiliary information;

[0917] Perceive demand information.

[0918] In some embodiments, the second configuration information includes at least one of the following:

[0919] Information indicating the expected range of angle measurement;

[0920] Indicates information within the codebook range;

[0921] Information indicating the first signal;

[0922] Measurement indication information;

[0923] The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity.

[0924] In some embodiments, the angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the cosine of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the angle difference of departure of the target path relative to the LOS path on the bistatic plane, and the cosine of the angle difference of departure of the target path relative to the LOS path on the bistatic plane; or

[0925] The distance measurement includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path; or

[0926] The time delay measurement includes at least one of the following: the absolute arrival time of the line-of-sight (LOS) path, the relative arrival time of the LOS path, and the time difference between the target path and the LOS path; or

[0927] The location measurement includes at least one of the following: the location coordinates of the target object.

[0928] In some embodiments, the third configuration information includes at least one of the following:

[0929] Configuration of time-frequency domain resources used for reporting the first information;

[0930] The configuration of the reporting period for the first information;

[0931] Configuration of the trigger event that triggers the reporting of the first information;

[0932] The reported events include at least one of the following:

[0933] The first device enters a specific area;

[0934] Arrive at a specific time;

[0935] At least one type of measurement indicator reaches the threshold;

[0936] The distance the first device moves exceeds a preset distance threshold;

[0937] The angle of the change in direction of the first device exceeds a preset angle threshold;

[0938] The speed of the first device exceeds a preset speed threshold;

[0939] The change in the environmental information of the first device exceeds a preset threshold.

[0940] In some embodiments, the angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith angle of arrival of the target path, the azimuth of arrival of the LOS path, the zenith angle of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or

[0941] The first measurement information includes at least one of the following: a port identifier for at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, precoding information associated with at least one port or signal resource, and an identifier of the signal resource, wherein the signal path includes a target path and a line-of-sight (LOS) path; or

[0942] The distance information includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or

[0943] The departure angle information includes at least one of the following: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or

[0944] The location information of the target object includes the location coordinates of the target object; or

[0945] The auxiliary information includes at least one of the following of the second device: antenna configuration information, mapping relationship between port or signal resources and physical antenna, mapping relationship between precoding information and departure angle, mapping relationship between port or signal resources and precoding information, mapping relationship between port or signal resources and departure angle, mapping relationship between port or signal resources and beam pattern, and coordinate transformation relationship information.

[0946] In some embodiments, the first information further includes at least one of the following:

[0947] The number of target objects or the number of target paths;

[0948] Timestamp information;

[0949] Precision information;

[0950] Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path;

[0951] Coordinate transformation information;

[0952] Device information of the first device;

[0953] The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device.

[0954] In some embodiments, the device 430 further includes a processing module for performing at least one of the following:

[0955] The distance information is determined based on the location information of the first device and the location information of the second device;

[0956] The departure angle information is determined based on the location information of the first device, the location information of the second device, and the distance information;

[0957] Based on the angle of arrival information and the departure angle information of the first signal, the position information of the target object is determined.

[0958] In some embodiments, the arrival angle information includes: the arrival azimuth of the target path, the arrival zenith angle of the target path, the arrival azimuth of the LOS path, and the arrival zenith angle of the LOS path; the departure angle information includes: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, and the departure zenith angle of the LOS path.

[0959] Specifically, the processing module is used for:

[0960] Based on the arrival azimuth, arrival zenith, arrival azimuth, and arrival zenith of the target path, calculate the arrival angle difference between the target path and the LOS path on the bistatic plane; and based on the departure azimuth, departure zenith, departure azimuth, and departure zenith of the target path, calculate the departure angle difference between the target path and the LOS path on the bistatic plane.

[0961] The location information of the target object is calculated based on the arrival angle difference and the departure angle difference.

[0962] The apparatus provided in this application embodiment can implement the various processes implemented in the method embodiments of Figures 11 to 15 and achieve the same technical effect. To avoid repetition, it will not be described again here.

[0963] As shown in Figure 21, this application embodiment also provides a communication device 500, including a processor 501 and a memory 502. The memory 502 stores a program or instructions that can run on the processor 501. For example, when the communication device 500 is a first device, when the program or instructions are executed by the processor 501, they implement the various steps of the wireless communication method embodiment on the first device side, and achieve the same technical effect. When the communication device 500 is a second device, when the program or instructions are executed by the processor 501, they implement the various steps of the wireless communication method embodiment on the second device side, and achieve the same technical effect. When the communication device 500 is a third device, when the program or instructions are executed by the processor 501, they implement the various steps of the wireless communication method embodiment on the third device side, and achieve the same technical effect. To avoid repetition, further details are omitted here.

[0964] This application also provides a terminal, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps in the method embodiments shown in Figures 11 to 15. This terminal embodiment corresponds to the above-described terminal-side method embodiments, and all implementation processes and methods of the above-described method embodiments can be applied to this terminal embodiment and achieve the same technical effect. The terminal may be the wireless communication device shown in Figure 18. Specifically, Figure 22 is a schematic diagram of the hardware structure of a terminal implementing an embodiment of this application.

[0965] The terminal 600 includes, but is not limited to, at least some of the following components: radio frequency unit 601, network module 602, audio output unit 603, input unit 604, sensor 605, display unit 606, user input unit 607, interface unit 608, memory 609, and processor 610.

[0966] Those skilled in the art will understand that terminal 600 may also include a power supply (such as a battery) for powering various components. The power supply can be logically connected to processor 610 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The terminal structure shown in Figure 22 does not constitute a limitation on the terminal. The terminal may include more or fewer components than shown, or combine certain components, or have different component arrangements, which will not be elaborated here.

[0967] It should be understood that, in this embodiment, the input unit 604 may include a graphics processor 6041 and a microphone 6042. The graphics processor 6041 processes image data of still images or videos obtained by an image capture device (such as a camera) in video capture mode or image capture mode. The display unit 606 may include a display panel 6061, which may be configured in the form of a liquid crystal display, an organic light-emitting diode, or the like. The user input unit 607 includes at least one of a touch panel 6071 and other input devices 6072. The touch panel 6071 is also called a touch screen. The touch panel 6071 may include two parts: a touch detection device and a touch controller. Other input devices 6072 may include, but are not limited to, a physical keyboard, function keys (such as volume control buttons, power buttons, etc.), a trackball, a mouse, and a joystick, which will not be described in detail here.

[0968] In this embodiment, after receiving downlink data from the network-side device, the radio frequency unit 601 can transmit it to the processor 610 for processing; in addition, the radio frequency unit 601 can send uplink data to the network-side device. Typically, the radio frequency unit 601 includes, but is not limited to, antennas, amplifiers, transceivers, couplers, low-noise amplifiers, duplexers, etc.

[0969] The memory 609 can be used to store software programs or instructions, as well as various data. The memory 609 may primarily include a first storage area for storing programs or instructions and a second storage area for storing data. The first storage area may store the operating system, application programs or instructions required for at least one function (such as sound playback, image playback, etc.). Furthermore, the memory 609 may include volatile memory or non-volatile memory. The non-volatile memory may be read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), or flash memory. Volatile memory can be random access memory (RAM), static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct memory bus RAM (DRRAM). The memory 609 in this embodiment includes, but is not limited to, these and any other suitable types of memory.

[0970] Processor 610 may include one or more processing units; optionally, processor 610 integrates an application processor and a modem processor, wherein the application processor mainly handles operations involving the operating system, user interface, and applications, and the modem processor mainly handles wireless communication signals, such as a baseband processor. It is understood that the aforementioned modem processor may also not be integrated into processor 610.

[0971] The processor 610 is used to measure the first signal and obtain the first information.

[0972] The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the angle of departure information of the first signal, the distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the position information of the target object;

[0973] The radio frequency unit 601 is used to send the first information to the second device and / or the third device.

[0974] In this embodiment, the terminal measures the first signal to obtain the first information. The first information includes information that is not related to latency. This means that the first device can avoid performing latency measurement, thereby reducing bandwidth resource consumption and improving the accuracy of location information.

[0975] It is understood that the implementation process of each implementation method mentioned in this embodiment can refer to the relevant description of the above wireless communication method embodiment and achieve the same or corresponding technical effects. To avoid repetition, it will not be described again here.

[0976] This application also provides a second device, including a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps executed by the second device in the method embodiments shown in Figures 11 to 15. This second device embodiment corresponds to the above-described second device method embodiment, and all implementation processes and methods of the above-described method embodiments can be applied to this second device embodiment and can achieve the same technical effect.

[0977] This application also provides a third device, including a processor and a communication interface. The communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the steps executed by the third device in the method embodiments shown in Figures 11 to 15. This third device embodiment corresponds to the above-described third device method embodiment. All implementation processes and methods of the above-described method embodiments can be applied to this third device embodiment and can achieve the same technical effect.

[0978] Specifically, this application embodiment also provides a network-side device, which may be the wireless communication device shown in FIG19 or FIG20. As shown in FIG23, the network-side device 700 includes: an antenna 71, a radio frequency device 72, a baseband device 73, a processor 74, and a memory 75. The antenna 71 is connected to the radio frequency device 72. In the uplink direction, the radio frequency device 72 receives information through the antenna 71 and sends the received information to the baseband device 73 for processing. In the downlink direction, the baseband device 73 processes the information to be transmitted and sends it to the radio frequency device 72, which processes the received information and then transmits it through the antenna 71.

[0979] The method executed by the network-side device in the above embodiments can be implemented in the baseband device 73, which includes a baseband processor.

[0980] The baseband device 73 may include at least one baseband board, on which multiple chips are disposed, one of which is, for example, a baseband processor, as shown in FIG23. The baseband device 73 is connected to the memory 75 via a bus interface to call the program in the memory 75 and execute the network device operation shown in the above method embodiment.

[0981] The network-side device may also include a network interface 76, such as a Common Public Radio Interface (CPRI).

[0982] Specifically, the network-side device 700 in this application embodiment further includes: instructions or programs stored in memory 75 and executable on processor 74. Processor 74 calls the instructions or programs in memory 75 to execute the methods executed by each module shown in FIG19 or FIG20 and achieve the same technical effect. To avoid repetition, it will not be described in detail here.

[0983] This application also provides a readable storage medium storing a program or instructions. When the program or instructions are executed by a processor, they implement the various processes of the above-described wireless communication method embodiments and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0984] The processor mentioned above is the processor in the terminal described in the above embodiments. The readable storage medium includes computer-readable storage media, such as computer read-only memory (ROM), random access memory (RAM), magnetic disk, or optical disk. In some examples, the readable storage medium may be a non-transient readable storage medium.

[0985] This application embodiment also provides a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is used to run programs or instructions to implement the various processes of the above-described wireless communication method embodiments and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0986] It should be understood that the chip mentioned in the embodiments of this application may also be referred to as a system-on-a-chip, system chip, chip system, or system-on-a-chip, etc.

[0987] This application also provides a computer program / program product, which is stored in a storage medium and executed by at least one processor to implement the various processes of the above-described wireless communication method embodiments, and can achieve the same technical effect. To avoid repetition, it will not be described again here.

[0988] This application also provides a communication system, including: a first device, a second device, and a third device. The first device can be used to perform the steps performed by the first device in the wireless communication method described above. The second device can be used to perform the steps performed by the second device in the wireless communication method described above. The third device can be used to perform the steps performed by the third device in the wireless communication method described above.

[0989] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0990] From the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of computer software products plus necessary general-purpose hardware platforms, and of course, they can also be implemented by hardware. The computer software product is stored in a storage medium (such as ROM, RAM, magnetic disk, optical disk, etc.) and includes several instructions to cause the first device, the second device, or the third device to execute the methods described in the various embodiments of this application.

[0991] The embodiments of this application have been described above with reference to the accompanying drawings. However, this application is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other implementations under the guidance of this application without departing from the spirit and scope of the claims. All of these implementations are within the protection scope of this application.

Claims

A wireless communication method, wherein, include: The first device measures the first signal and obtains the first information; The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object; The first device sends the first information to the second device and / or the third device. According to the method of claim 1, wherein, Before the first device measures the first signal and obtains the first information, the method further includes: The first device receives second information from the second device or the third device, the second information including at least one of the following: First configuration information of the first signal; Second configuration information for angle measurement; Third configuration information used to report the first information; Auxiliary information used to determine the departure angle information; Perceive demand information. The method according to claim 2, wherein, If the second information does not include the auxiliary information, then the first information includes the angle of arrival information and at least one of the following: the first measurement information, the distance information; or If the second information includes the auxiliary information, then the first information includes the arrival angle information and at least one of the following: the departure angle information and the location information of the target object. The method according to claim 2, wherein, The second configuration information includes at least one of the following: Information indicating the expected range of angle measurement; Indicates information within the codebook range; Information indicating the first signal; Measurement indication information; The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity. The method according to claim 4, wherein, If the second information does not include the auxiliary information, and the measurement indication information includes the angle measurement, then the first information includes the angle of arrival information and the first measurement information; or If the second information does not include the auxiliary information, and the measurement indication information includes the angle measurement and at least one of the following: distance measurement, time delay measurement, then the first information includes the angle of arrival information, the first measurement information, and the distance information; or If the second information includes the auxiliary information, and the measurement indication information includes the angle measurement and at least one of the following: distance measurement, time delay measurement, then the first information includes the angle of arrival information and the departure angle information; or If the second information includes the auxiliary information, and the measurement indication information includes the angle measurement and the position measurement, then the first information includes the position information of the target object. The method according to claim 4 or 5, wherein, The angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the cosine of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the angle difference of departure of the target path relative to the LOS path on the bistatic plane, and the cosine of the angle difference of departure of the target path relative to the LOS path on the bistatic plane; or The distance measurement includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path; or The time delay measurement includes at least one of the following: the absolute arrival time of the line-of-sight (LOS) path, the relative arrival time of the LOS path, and the time difference between the target path and the LOS path; or The location measurement includes at least one of the following: the location coordinates of the target object. The method according to any one of claims 2 to 6, wherein, The third configuration information includes at least one of the following: Configuration of time-frequency domain resources used for reporting the first information; The configuration of the reporting period for the first information; Configuration of the trigger event that triggers the reporting of the first information; The reported events include at least one of the following: The first device enters a specific area; Arrive at a specific time; At least one type of measurement indicator reaches the threshold; The distance the first device moves exceeds a preset distance threshold; The angle of the change in direction of the first device exceeds a preset angle threshold; The speed of the first device exceeds a preset speed threshold; The change in the environmental information of the first device exceeds a preset threshold. The method according to any one of claims 2 to 7, wherein, The auxiliary information includes at least one of the following from the second device: Antenna configuration information; The mapping relationship between ports or signal resources and physical antennas; The mapping relationship between precoded information and departure angle; The mapping relationship between port or signal resources and precoded information; The mapping relationship between port or signal resources and departure angle; The mapping relationship between port or signal resources and beam patterns; Coordinate transformation information. The method according to any one of claims 1 to 8, wherein, The angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith angle of arrival of the target path, the azimuth of arrival of the LOS path, the zenith angle of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or The first measurement information includes at least one of the following: a port identifier for at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, precoding information associated with at least one port or signal resource, and an identifier of the signal resource, wherein the signal path includes a target path and a line-of-sight (LOS) path; or The distance information includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or The departure angle information includes at least one of the following: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or The location information of the target object includes the location coordinates of the target object. The method according to any one of claims 1 to 9, wherein, The first information also includes at least one of the following: The number of target objects or the number of target paths; Timestamp information; Precision information; Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path; Coordinate transformation information; Device information of the first device; The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device. The method according to any one of claims 1 to 10, wherein, Before the first device sends the first information to the second device and / or the third device, the method further includes at least one of the following: The first device determines the distance information based on the location information of the first device and the location information of the second device; The first device determines the arrival angle information or the departure angle information based on the location information of the first device, the location information of the second device, and the distance information; The first device determines the location information of the target object based on the arrival angle information and the departure angle information. The method according to claim 11, wherein, The arrival angle information includes: the arrival azimuth of the target path, the arrival zenith angle of the target path, the arrival azimuth of the LOS path, and the arrival zenith angle of the LOS path; the departure angle information includes: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, and the departure zenith angle of the LOS path. Wherein, the first device determines the location information of the target object based on the arrival angle information and the departure angle information, including: The first device calculates the arrival angle difference between the target path and the LOS path on the bistatic plane based on the arrival azimuth angle, arrival zenith angle, arrival azimuth angle, and arrival zenith angle of the target path; and calculates the departure angle difference between the target path and the LOS path on the bistatic plane based on the departure azimuth angle, departure zenith angle, departure azimuth angle, and departure zenith angle of the target path. The first device calculates the position information of the target object based on the arrival angle difference and the departure angle difference. The method according to any one of claims 1 to 12, wherein, The first device sends the first information to the second device and / or the third device, including at least one of the following: The first device sends the angle of arrival information and the first measurement information to the third device; The first device sends the first measurement information to the second device and sends the angle of arrival information to the third device; The first device sends the location information of the target object to the third device. A wireless communication method, wherein, include: The second device sends a first signal to the first device; The second device sends third information to the third device; The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object. The method according to claim 14, wherein, Before the second device sends the first signal to the first device, the method further includes: The second device sends a second message to the first device, the second message including at least one of the following: First configuration information of the first signal; Second configuration information for angle measurement; The auxiliary information; Third configuration information used to report the first information; Perceive demand information. The method according to claim 15, wherein, The second configuration information includes at least one of the following: Information indicating the expected range of angle measurement; Indicates information within the codebook range; Information indicating the first signal; Measurement indication information; The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity. The method according to claim 16, wherein, The angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the cosine of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the angle difference of departure of the target path relative to the LOS path on the bistatic plane, and the cosine of the angle difference of departure of the target path relative to the LOS path on the bistatic plane; or The distance measurement includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path; or The time delay measurement includes at least one of the following: the absolute arrival time of the line-of-sight (LOS) path, the relative arrival time of the LOS path, and the time difference between the target path and the LOS path; or The location measurement includes at least one of the following: the location coordinates of the target object. The method according to any one of claims 15 to 17, wherein, The third configuration information includes at least one of the following: Configuration of time-frequency domain resources used for reporting the first information; The configuration of the reporting period for the first information; Configuration of the trigger event that triggers the reporting of the first information; The reported events include at least one of the following: The first device enters a specific area; Arrive at a specific time; At least one type of measurement indicator reaches the threshold; The distance the first device moves exceeds a preset distance threshold; The angle of the change in direction of the first device exceeds a preset angle threshold; The speed of the first device exceeds a preset speed threshold; The change in the environmental information of the first device exceeds a preset threshold. The method according to any one of claims 14 to 18, wherein, Before the second device sends the third information to the third device, the method further includes: The second device receives the first information from the first device; The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the departure angle information of the first signal, the distance information, the departure angle information, and the position information of the target object. The method according to claim 19, wherein, The angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith angle of arrival of the target path, the azimuth of arrival of the LOS path, the zenith angle of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or The first measurement information includes at least one of the following: port identifier of at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, precoding information associated with at least one port or signal resource, and identifier of the signal resource, wherein the signal path includes the target path and the line-of-sight (LOS) path. The method according to claim 19 or 20, wherein, The first information also includes at least one of the following: The number of target objects or the number of target paths; Timestamp information; Precision information; Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path; Coordinate transformation information; Device information of the first device; The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device. The method according to any one of claims 14 to 21, wherein, The auxiliary information includes at least one of the following of the second device: antenna configuration information, mapping relationship between port or signal resources and physical antenna, mapping relationship between precoding information and departure angle, mapping relationship between port or signal resources and precoding information, mapping relationship between port or signal resources and departure angle, mapping relationship between port or signal resources and beam pattern, coordinate transformation relationship information; or The distance information includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or The departure angle information includes at least one of the following: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or The location information of the target object includes the location coordinates of the target object. The method according to any one of claims 14 to 22, wherein, Before the second device sends the third information to the third device, the method further includes at least one of the following: The second device determines the distance information based on the location information of the first device and the location information of the second device; The second device determines the departure angle information based on the location information of the first device, the location information of the second device, and the distance information; The second device determines the location information of the target object based on the angle of arrival information and the departure angle information of the first signal. The method according to claim 23, wherein, The arrival angle information includes: the arrival azimuth of the target path, the arrival zenith angle of the target path, the arrival azimuth of the LOS path, and the arrival zenith angle of the LOS path; the departure angle information includes: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, and the departure zenith angle of the LOS path. The second device determines the location information of the target object based on the angle of arrival information and the departure angle information of the first signal, including: The second device calculates the arrival angle difference between the target path and the LOS path on the bistatic plane based on the arrival azimuth angle, arrival zenith angle, arrival azimuth angle, and arrival zenith angle of the target path; and calculates the departure angle difference between the target path and the LOS path on the bistatic plane based on the departure azimuth angle, departure zenith angle, departure azimuth angle, and departure zenith angle of the target path. The second device calculates the position information of the target object based on the arrival angle difference and the departure angle difference. A wireless communication method, wherein, include: The third device receives the first information from the first device and / or receives the third information from the second device; The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object; The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object. The method according to claim 25, wherein, Before the third device receives the first information from the first device and / or receives the third information from the second device, the method further includes: The third device sends second information to the first device, the second information including at least one of the following: First configuration information of the first signal; Second configuration information for angle measurement; Third configuration information used to report the first information; The auxiliary information; Perceive demand information. The method according to claim 26, wherein, The second configuration information includes at least one of the following: Information indicating the expected range of angle measurement; Indicates information within the codebook range; Information indicating the first signal; Measurement indication information; The measurement quantity indication information is used to indicate at least one of the following: angle measurement quantity, distance measurement quantity, time delay measurement quantity, and position measurement quantity. The method according to claim 27, wherein, The angle measurement includes at least one of the following: the azimuth of arrival of the target path, the zenith of arrival of the target path, the azimuth of arrival of the LOS path, the zenith of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the cosine of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, the azimuth of departure of the target path, the zenith of departure of the target path, the azimuth of departure of the LOS path, the zenith of departure of the LOS path, the angle difference of departure of the target path relative to the LOS path on the bistatic plane, and the cosine of the angle difference of departure of the target path relative to the LOS path on the bistatic plane; or The distance measurement includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path; or The time delay measurement includes at least one of the following: the absolute arrival time of the line-of-sight (LOS) path, the relative arrival time of the LOS path, and the time difference between the target path and the LOS path; or The location measurement includes at least one of the following: the location coordinates of the target object. The method according to any one of claims 26 to 28, wherein, The third configuration information includes at least one of the following: Configuration of time-frequency domain resources used for reporting the first information; The configuration of the reporting period for the first information; Configuration of the trigger event that triggers the reporting of the first information; The reported events include at least one of the following: The first device enters a specific area; Arrive at a specific time; At least one type of measurement indicator reaches the threshold; The distance the first device moves exceeds a preset distance threshold; The angle of the change in direction of the first device exceeds a preset angle threshold; The speed of the first device exceeds a preset speed threshold; The change in the environmental information of the first device exceeds a preset threshold. The method according to any one of claims 25 to 29, wherein, The angle of arrival information includes at least one of the following: the azimuth of arrival of the target path, the zenith angle of arrival of the target path, the azimuth of arrival of the LOS path, the zenith angle of arrival of the LOS path, the angle difference of arrival of the target path relative to the LOS path on the bistatic plane, and the cosine value of the angle difference of arrival of the target path relative to the LOS path on the bistatic plane; or The first measurement information includes at least one of the following: a port identifier for at least one port, phase information or phase difference information of a signal path associated with at least one port or signal resource, amplitude information of a signal path associated with at least one port or signal resource, spectral information associated with at least one port or signal resource, precoding information associated with at least one port or signal resource, and an identifier of the signal resource, wherein the signal path includes a target path and a line-of-sight (LOS) path; or The distance information includes at least one of the following: the propagation distance of the line-of-sight (LOS) path, the difference in propagation distance between the target path and the LOS path, the absolute arrival time of the LOS path, and the time difference in arrival between the target path and the LOS path; or The departure angle information includes at least one of the following: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, the departure zenith angle of the LOS path, the departure angle difference between the target path and the LOS path on the bistatic plane, and the cosine value of the departure angle difference between the target path and the LOS path on the bistatic plane; or The location information of the target object includes the location coordinates of the target object; or The auxiliary information includes at least one of the following of the second device: antenna configuration information, mapping relationship between port or signal resources and physical antenna, mapping relationship between precoding information and departure angle, mapping relationship between port or signal resources and precoding information, mapping relationship between port or signal resources and departure angle, mapping relationship between port or signal resources and beam pattern, and coordinate transformation relationship information. The method according to any one of claims 25 to 30, wherein, The first information also includes at least one of the following: The number of target objects or the number of target paths; Timestamp information; Precision information; Information indicating whether the path between the first device and the second device is a line-of-sight (LOS) path or a non-line-of-sight (NLOS) path; Coordinate transformation information; Device information of the first device; The device information of the first device includes at least one of the following: the location information of the first device, and the motion information of the first device. The method according to any one of claims 25 to 31, wherein, The method further includes at least one of the following: The third device determines the distance information based on the location information of the first device and the location information of the second device; The third device determines the departure angle information based on the location information of the first device, the location information of the second device, and the distance information; The third device determines the location information of the target object based on the angle of arrival information and the departure angle information of the first signal. The method according to claim 32, wherein, The arrival angle information includes: the arrival azimuth of the target path, the arrival zenith angle of the target path, the arrival azimuth of the LOS path, and the arrival zenith angle of the LOS path; the departure angle information includes: the departure azimuth of the target path, the departure zenith angle of the target path, the departure azimuth of the LOS path, and the departure zenith angle of the LOS path. The third device determines the location information of the target object based on the angle of arrival information and the departure angle information of the first signal, including: The third device calculates the arrival angle difference between the target path and the LOS path on the bistatic plane based on the arrival azimuth angle, arrival zenith angle, arrival azimuth angle, and arrival zenith angle of the target path; and calculates the departure angle difference between the target path and the LOS path on the bistatic plane based on the departure azimuth angle, departure zenith angle, departure azimuth angle, and departure zenith angle of the target path. The third device calculates the position information of the target object based on the arrival angle difference and the departure angle difference. A wireless communication device, wherein, include: The processing module is used to measure the first signal and obtain the first information; The first information includes at least one of the following: the angle of arrival information of the first signal, the first measurement information associated with the angle of departure information of the first signal, the distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the position information of the target object; The sending module is used to send the first information to the second device and / or the third device. The apparatus according to claim 34, wherein, The device further includes a receiving module, which, before the processing module measures the first signal and obtains the first information, is configured to: The first device receives second information from the second device or the third device, the second information including at least one of the following: First configuration information of the first signal; Second configuration information for angle measurement; Third configuration information used to report the first information; Auxiliary information used to determine the departure angle information; Perceive demand information. A wireless communication device, wherein, include: The sending module is used for: Send a first signal to the first device; Send third information to a third device; The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object. The apparatus according to claim 36, wherein, Before the transmitting module sends the first signal to the first device, it is also used to: Send a second message to the first device, the second message including at least one of the following: First configuration information of the first signal; Second configuration information for angle measurement; The auxiliary information; Third configuration information used to report the first information; Perceive demand information. A wireless communication device, wherein, include: The receiving module is configured to receive first information from the first device and / or receive third information from the second device; The first information includes at least one of the following: angle of arrival information of the first signal, first measurement information associated with the angle of departure information of the first signal, distance information indicating the distance between the first device and the second device, the angle of departure information of the first signal, and the location information of the target object; The third information includes at least one of the following: auxiliary information for determining the departure angle information of the first signal, distance information indicating the distance between the first device and the second device, the departure angle information of the first signal, and the position information of the target object. The apparatus according to claim 38, wherein, The apparatus further includes a transmitting module, wherein before the receiving module receives first information from the first device and / or receives third information from the second device, the transmitting module is configured to: Send a second message to the first device, the second message including at least one of the following: First configuration information of the first signal; Second configuration information for angle measurement; Third configuration information used to report the first information; The auxiliary information; Perceive demand information. A terminal, wherein, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the wireless communication method according to any one of claims 1 to 13. A network-side device, wherein, It includes a processor and a memory, the memory storing a program or instructions that can run on the processor, the program or instructions being executed by the processor to implement the steps of the wireless communication method according to any one of claims 14 to 24, or to implement the steps of the wireless communication method according to any one of claims 25 to 33. A readable storage medium, wherein, The readable storage medium stores a program or instructions that, when executed by a processor, implement the steps of the wireless communication method according to any one of claims 1 to 13, or the steps of the wireless communication method according to any one of claims 14 to 24, or the steps of the wireless communication method according to any one of claims 25 to 33.

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