Measurement-based sensing topology adjustment

Abstract

: A method of adjusting a sensing configuration comprises receiving (101) measurements relating to a set of one or more node combinations. Each node combination includes one or more nodes with an assigned transmitter role and one or more nodes with an assigned receiver role. The method further comprises determining (103) a new sensing topology by determining the suitability of the one or 5 more node combinations for tracking a specific object based on the measurements and adjusting (105) a current sensing topology to the new sensing topology. The new sensing topology includes at least one of the node combinations. 4 10

Description

[0001] MEASUREMENT-BASED SENSING TOPOLOGY ADJUSTMENT

[0002] FIELD OF THE INVENTION

[0003] The invention relates to a system for adjusting a sensing configuration and to a sensing device.

[0004] The invention further relates to a method of adjusting a sensing configuration and to a method of enabling adjustment of a sensing configuration.

[0005] The invention also relates to computer program products enabling a computer system to perform such a method.

[0006] BACKGROUND OF THE INVENTION JCAS (joint communication and sensing) or IS AC (integrated sensing and communication) is envisioned to be a key pillar of 6G, where the same infrastructure is envisioned to be utilized for the purpose of mobile communication as well as to support sensing applications, thus enabling efficient resource utilization.

[0007] The problem of node selection in a dynamic sensing scenario has been studied extensively, see for example the paper “Joint node selection and power allocation strategy for multitarget tracking in decentralized radar networks” by M. Xie, W. Yi, T. Kirubarajan and L. Kong, published in IEEE Transactions on Signal Processing, vol. 66, no. 3, 2018, and references therein. The optimization problem solved in this paper (and similar papers) uses pre-defined models-based values for the expected performance of each node.

[0008] For sensing in a JCAS / ISAC system, not only the selection of nodes is important, but also assigning specific roles to the nodes in terms of acting as transmitter and / or receiver. Selecting a subset of nodes and assigning specific roles to them is jointly referred to as determining a sensing topology. The sensing topology may be part of a sensing configuration which further includes a sensing signal configuration. A drawback of the sensing topology determined with the node selection described in above-mentioned paper is that it has a suboptimal sensing performance. SUMMARY OF THE INVENTION

[0009] It is advantageous to provide systems and methods, which can determine a sensing configuration, or can enable determination of a sensing configuration, with better sensing performance.

[0010] In a first aspect, a system for adjusting a sensing configuration includes at least one processor configured to receive measurements relating to a set of one or more node combinations, each node combination of the set of node combinations including one or more nodes with an assigned transmitter role and one or more nodes with an assigned receiver role, the measurements enabling the system to determine a suitability of the one or more node combinations for tracking a specific object, determine a new sensing topology by determining the suitability of the one or more node combinations fortracking the specific object based on the measurements, the new sensing topology including at least one node combination of the set of one or more node combinations, and adjust a current sensing topology to the new sensing topology.

[0011] By determining a new sensing topology by determining the suitability of the one or more node combinations for tracking the specific object based on measurements, a better sensing performance may be achieved. Measurement-based topology selection has the potential of yielding a better sensing topology than planning-based, i.e., pre-defined models-based, topology selection. Furthermore, measurement-based topology selection makes it possible to adjust the sensing topology dynamically to match the dynamic nature of the sensing system (e.g., due to the dynamics in the availability of nodes), of the sensing task (e.g., due to changes in the sensing requirements), and / or of the tracked object (e.g., due to the mobility of the tracked object).

[0012] By determining a suitability of the one or more node combinations for tracking a specific object based on measurements, e.g., signal strength of the echoes and / or SNR measurements, a sensing topology may be determined that is optimized for tracking the specific object. A node combination may be considered suitable if a minimum probability of detection or minimum combination of range resolution and angular accuracy is achieved (e.g., by the node combination or by a combination of node combinations that includes the node combination), for example. The measurements are performed after the specific object has already been detected. The initial sensing topology that was used for detecting the specific object may have been determined with a planning tool, for example.

[0013] The node combinations comprise nodes which can play a role in a sensing task. In a JCAS system, the nodes may comprise base stations (BSs), radio units (RUs) which are part of BSs, and / or user devices (user equipments; UEs), for example. For instance, a BS may communicate with regular UEs, while being meanwhile used to sense (e.g., detect, track) one or more objects. The system may be, for example, a BS or a separate system, e.g. in the core network. Signals of types other than those used in mobile communication networks may additionally or alternatively be used for sensing, e.g., signals used in Wi-Fi networks. The nodes may comprise Wi-Fi stations and / or Wi-Fi access points, for example.

[0014] In sensing, at least one node transmits wireless signals, which may be impacted by one or more objects in the neighborhood. At least one node obtains received wireless signals. The received wireless signals comprise received versions of the transmitted wireless signals, reflect an impact of the one or more objects on the transmitted wireless signals, and can be processed to ascertain attributes of the objects. A node may be assigned both a transmitter role and a receiver role in a node combination.

[0015] Typically, a node combination comprises one transmitter and one or more receivers and a sensing topology comprises one or more node combinations. A node combination may comprise a single node being assigned both a transmitter role and a receiver role. Determining the suitability of the one or more node combinations for tracking the specific object may comprise determining, per combination of multiple node combinations, for one or more combinations of multiple node combinations, the suitability of the combination of multiple node combinations for tracking the specific object. The new sensing topology may include one or more node combinations of the current sensing topology or may include no node combinations of the current sensing topology.

[0016] The at least one processor may be configured to determine whether a suitability of a sensing configuration may have changed, the sensing configuration including at least the new sensing topology, and if it is determined that the suitability of the sensing configuration may have changed, determine a further new sensing topology based on at least one of further measurements and the measurements, the further measurements being related to the set of one or more node combinations or to a further set of one or more node combinations, the further new sensing topology including at least one node combination of the set of one or more node combinations or of the further set of one or more node combinations, and adjust the new sensing topology to the further new sensing topology.

[0017] This may be used to ensure that the used sensing topology continues to satisfy sensing requirements, specifically sensing quality requirements, with targeted maximal resource efficiency. For example, when integrating sensing capabilities into a cellular network, the set of candidate transmitters and receivers to be involved in a certain sensing task may be large and highly dynamic. This dynamic nature may be due to e.g., the mobility of a tracked object, the dynamics in the availability of nodes, and / or changes in the sensing task or its requirements. By monitoring the suitability of the sensing configuration, the sensing topology (and optionally the sensing signal configuration(s)) may be adjusted when needed.

[0018] The dynamics in the availability of nodes may be caused by e.g., a change in operator policies, the potential on / off switching of some of the nodes (e.g., BSs, RUs), the presence / mobility of UEs, varying radio channel conditions (due to e.g., UE mobility or emerging blockers), and / or the UEs’ ability / willingness to participate, which may depend (aside from static aspects related to technical / processing capability) on e.g., their engagement in on-going communications sessions and their battery level.

[0019] The at least one processor may be configured to determine a sensing quality associated with the sensing configuration and determine that the suitability of the sensing configuration may have changed if the sensing quality is determined not to exceed a first threshold and / or that the suitability of the sensing configuration may have changed if the sensing quality is higher than the first threshold and a difference between the sensing quality and the first threshold exceeds a further threshold. In this way, it may be possible to ensure a minimum sensing quality and / or to reduce the assigned resources when the sensing quality is higher than needed. The sensing quality may be a probability of detection or a combination of range resolution and angular accuracy, for example.

[0020] The at least one processor may be configured to receive the further measurements if the sensing quality is determined not to exceed a second threshold, the second threshold representing a lower sensing quality than the first threshold. If the sensing quality is between the first and second thresholds, it may not be necessary to receive new measurements and instead, a new sensing topology may be determined based on the previously received measurements.

[0021] The at least one processor may be configured to determine a backup set of one or more node combinations based on the measurements, the backup set of one or more node combinations including at least one other node combination of the set of one or more node combinations, the at least one other node combination not being included in the new sensing topology, and if the sensing quality is determined to exceed the second threshold and not to exceed the first threshold or if the new sensing configuration is considered invalid, determine the further new sensing topology by adding at least one node combination of the backup set of one or more node combinations to the new sensing topology.

[0022] In this way, a new sensing topology may be determined based on the previously received measurements if the sensing quality is between the first and second thresholds. This new sensing topology is expected to result in a higher sensing quality. The new sensing configuration may be considered to be invalid, for example, if it is determined that some nodes will not be available in the upcoming period / slots.

[0023] The at least one processor may be configured to determine that the suitability of the sensing configuration may have changed if one or more of the following changes has occurred: a sensing task-related change and a network-related change. This makes it possible to adjust the sensing topology before the sensing quality degrades due to a change which affects the sensing quality. The network-related change may be a change in availability of communications-oriented signals for sensing, a change in availability of nodes for sensing, or a change in operator policy, for example. The sensing-task related change may be an adjustment of the sensing task, e.g., its performance requirements or the sensing target area, a movement of the tracked object, or a possible track loss, for example.

[0024] The at least one processor may be configured to transmit one or more instruction signals to one or more nodes, the one or more instruction signals including instructions to perform at least one of transmitting one or more outgoing probing sensing signals for determining a sensing topology for tracking the specific object and receiving one or more incoming sensing signals for determining a sensing topology for tracking the specific object. At least some of the measurements relate to the one or more incoming sensing signals.

[0025] The one or more instruction signals may include instructions to perform receiving one or more incoming probing sensing signals for determining a sensing topology for tracking the specific object. If one or more nodes need to acquire measurements relating to signals other than probing sensing signals, e.g., CSI-RS or PDSCH signals, the one or more instruction signals or one or more further instruction signals normally include instructions to also receive these other signals and acquire measurements on these other signals.

[0026] Probing sensing signals may be used to estimate the suitability of sensing signals, e.g., dedicated sensing signals, for tracking the specific object, for example. Based on the resulting measurements, one or more nodes may be instructed to transmit dedicated sensing signals for tracking the specific object, for example. Probing sensing signals may not be needed for estimating the suitability of reference signals (e.g., CSI-RS) for tracking the specific object, as the reference signals themselves can be used for this purpose

[0027] The probing sensing signals may be transmitted periodically during the probing process. The probing process is a different process than a tracking process in which the specific object is tracked based on the selected sensing topology. The probing process may be triggered if it is determined that the suitability of the sensing configuration may have changed. The tracking process may continue while the probing process is performed or may be triggered after the probing process has completed and the sensing topology and / or the sensing signal configuration has been adjusted.

[0028] In a second aspect, a node for sensing includes at least one processor configured to receive an instruction signal from a system for adjusting a sensing configuration, the instruction signal including instructions to perform at least one of transmitting one or more outgoing probing sensing signals for determining a sensing topology for tracking a specific object and receiving one or more incoming sensing signals for determining a sensing topology for tracking the specific object, and perform the at least one of transmitting the one or more outgoing probing sensing signals and receiving the one or more incoming sensing signals in response to receiving the instruction signal.

[0029] The instruction signal may include instructions to perform receiving one or more incoming probing sensing signals for determining a sensing topology for tracking the specific object. If the node needs to acquire measurements relating to signals other than probing sensing signals, e.g., CSI-RS or PDSCH signals, the instruction signal or a further instruction signal normally includes instructions to receive these other signals and acquire measurements on these other signals.

[0030] The at least one processor may be configured to receive the one or more incoming sensing signals from one or more other nodes, acquire one or more measurements relating to the one or more incoming sensing signals, each respective measurement of the one or more measurements enabling the system for adjusting a sensing configuration to determine a suitability of a corresponding node combination for tracking the specific object, the corresponding node combination including the node and a respective other node of the one or more other nodes, the respective measurement relating to a respective incoming sensing signal of the one or more incoming sensing signals, the respective incoming sensing signal being transmitted by the respective other node, and transmit one or more reporting signals to the system for adjusting a sensing configuration, the one or more reporting signals including the one or more measurements.

[0031] In this way, the node may report measurements for each transmitter from which it has received one or more probing sensing signals. Optionally, if instructed to do so, the node may report measurements for each transmitter from which it has received communications-oriented payload and / or control signals. The measurements may comprise reflection strengths, signal -to-noise ratios, and / or Radar Cross Sections (RCSs), for example.

[0032] In a third aspect, a method of adjusting a sensing configuration includes receiving measurements relating to a set of one or more node combinations, each node combination of the set of node combinations including one or more nodes with an assigned transmitter role and one or more nodes with an assigned receiver role, the measurements enabling a suitability of the one or more node combinations for tracking a specific object to be determined, determining a new sensing topology by determining the suitability of the one or more node combinations for tracking the specific object based on the measurements, the new sensing topology including at least one node combination of the set of one or more node combinations, and adjusting a current sensing topology to the new sensing topology. The method may be performed by software running on a programmable device. This software may be provided as a computer program product.

[0033] In a fourth aspect, a method of enabling adjustment of a sensing topology includes receiving an instruction signal from a system for adjusting a sensing configuration, the instruction signal including instructions to perform at least one of transmitting one or more outgoing probing sensing signals for determining a sensing topology for tracking a specific object and receiving one or more incoming sensing signals for determining a sensing topology for tracking the specific object, and performing the at least one of transmitting the one or more outgoing probing sensing signals and receiving the one or more incoming sensing signals in response to receiving the instruction signal. The method may be performed by software running on a programmable device. This software may be provided as a computer program product.

[0034] Moreover, a computer program for carrying out the methods described herein, as well as a non-transitory computer readable storage-medium storing the computer program are provided. A computer program may, for example, be downloaded by or uploaded to an existing device or be stored upon manufacturing of these systems.

[0035] In another aspect, a non-transitory computer-readable storage medium stores a software code portion, the software code portion, when executed or processed by a computer, being configured to perform the method described above.

[0036] As will be appreciated by one skilled in the art, aspects of the present invention may take the form of a device, a method or a computer program product.

[0037] Accordingly, aspects of the present invention may take the form of an entirely hardware implementation, an entirely software implementation (including firmware, resident software, micro-code, etc.) or an implementation combining software and hardware aspects that may all generally be referred to herein as a "circuit", "module" or "system." Functions described in this disclosure may be implemented as an algorithm executed by a processor / microprocessor of a computer. Furthermore, aspects of the present invention may take the form of a computer program product in one or more computer readable medium(s) having computer readable program code stored thereon. Any combination of one or more computer readable medium(s) may be utilized. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. More specific examples of a computer readable storage medium may include, but are not limited to, the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of the present invention, a computer readable storage medium may be any tangible medium that can contain, or store, a program for use by or in connection with an instruction execution system, apparatus, or device.

[0038] A computer readable signal medium may include a propagated data signal with computer readable program code included therein, for example, in baseband or as part of a carrier wave. Such a propagated signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

[0039] Program code on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber, cable, RF, etc., or any suitable combination of the foregoing. Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java(TM), Swift, Dart, Python, Go, C++ or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer, or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0040] Aspects of the present invention are described below with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to implementations of the present invention. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor, in particular a microprocessor or a central processing unit (CPU), of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer, other programmable data processing apparatus, or other devices create means for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0041] These computer program instructions may also be stored in a computer readable medium that can direct a computer, other programmable data processing apparatus, or other devices to function in a particular manner, such that the instructions stored in the computer readable medium produce an article of manufacture including instructions which implement the function / act specified in the flowchart and / or block diagram block or blocks.

[0042] The computer program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other devices to cause a series of operational steps to be performed on the computer, other programmable apparatus or other devices to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide processes for implementing the functions / acts specified in the flowchart and / or block diagram block or blocks.

[0043] The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of devices, methods and computer program products according to various implementations of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the blocks may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and / or flowchart illustrations, and combinations of blocks in the block diagrams and / or flowchart illustrations, can be implemented by special purpose hardwarebased systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

[0044] BRIEF DESCRIPTION OF THE DRAWINGS

[0045] These and other aspects of the invention are apparent from and will be further elucidated, by way of example, with reference to the drawings, in which:

[0046] Fig. 1 shows an example sensing scenario;

[0047] Fig. 2 is a flow chart of a first implementation of the method of adjusting a sensing configuration;

[0048] Fig. 3 is a flow chart of a second implementation of the method;

[0049] Fig. 4 is a flow chart of a third implementation of the method;

[0050] Fig. 5 is a block diagram of an implementation of the system; and Fig. 6 is a block diagram of an exemplary data processing system for performing the methods of the invention.

[0051] Corresponding elements in the drawings are denoted by the same reference numeral.

[0052] DETAILED DESCRIPTION

[0053] In sensing systems, there is normally a well-defined sensing task, e.g., the tracking of an identified object with specific characteristics and sensing requirements, and a known candidate set of nodes (e.g. BSs, RUs and UEs) is available to perform sensing. An example sensing scenario, considered at a given moment in time, is shown in Fig. 1. Fig. 1 shows candidate BSs 11-15 with associated service / coverage areas 21-25, candidate UEs 31-37, a target sensing object 41 to be tracked within a sensing target area 51 , and a tracking area 61. In the example scenario, the candidate set of nodes (BSs 11-15, UEs 31-37) to potentially become involved in tracking the object may be derived based on some advanced planning tool-based precomputation or more heuristically determined by considering simple geographical boundaries, for example. The candidate set of nodes will typically initially include those nodes involved in detecting the object prior to initiating the tracking process, will at any later time include those nodes currently involved in conducting the tracking process, and may further be affected by an initial / current estimate of the tracked object’s direction of movement (whose estimation / prediction is indicated by an arrow pointing away from object 41 in Fig. 1).

[0054] The sensing task definition may limit the sensing target area to sensing target area 51, e.g., only within the boundaries of a given city, but alternatively, such a limitation may not exist. Tracking area 61 changes dynamically during the tracking process and is the area where the tracked object is currently predicted to be. Fig. 1 represents a snapshot in time; the candidate set of nodes and the associated tracking area typically evolve over time along with the movement of the tracked object 41.

[0055] A first implementation of the method of adjusting a sensing configuration is shown in Fig. 2. The sensing configuration includes a sensing topology and one or more sensing signal configurations. A sensing signal configuration may include at least one of: a probing sensing signal, an CSI-RS signal, an SSB signal, and a PDSCH signal. The method may be performed by system 1 of Fig. 5, for example. A step 101 comprises receiving measurements relating to a set of one or more node combinations. Each node combination of the set of node combinations includes one or more nodes with an assigned transmitter role and one or more nodes with an assigned receiver role.

[0056] In sensing, at least one node transmits wireless signals, which may be impacted by one or more objects in the neighborhood. At least one node obtains received wireless signals. The received wireless signals comprise received versions of the transmitted wireless signals, reflect an impact of the one or more objects on the transmitted wireless signals, and can be processed to ascertain attributes of the objects. Typically, a node combination comprises one transmitter and one or more receivers. A node may be assigned both a transmitter role and a receiver role in a node combination.

[0057] The measurements enable the system to determine a suitability of the one or more node combinations for tracking a specific object and / or enable the system to determine a suitability of different sensing signal configurations of a single node combination of the set of one or more node combinations for tracking the specific object. In the latter case, the measurements include multiple measurements relating to the different sensing signal configurations for at least one of the node combinations. The measurements are performed after the specific object has already been detected.

[0058] A step 103 comprises determining a new sensing topology by determining the suitability of the one or more node combinations for tracking the specific object based on the measurements received in step 101 and / or determining one or more new sensing signal configurations by determining the suitability of the different sensing signal configurations for tracking the specific object based on the measurements received in step 101. For example, the new sensing topology and / or the one or more new sensing signal configurations may be determined for tracking area 61 of Fig. 1 such that these signals target the tracking area 61 and the selected receivers receive their reflected echoes. The new sensing topology and / or the one or more new sensing signal configurations may alternatively be determined for a somewhat extended area including tracking area 61. Such an extension may be more pronounced in the object’s estimated direction of movement, for example.

[0059] The new sensing topology includes at least one node combination of the set of one or more node combinations. The new sensing topology may include one or more node combinations of the current sensing topology or may include no node combinations of the current sensing topology.

[0060] A node combination may be considered suitable if a minimum probability of detection or minimum combination of range resolution and angular accuracy is achieved (e.g., by the node combination or by a combination of node combinations that includes the node combination), for example. Determining the suitability of the one or more node combinations for tracking the specific object may comprise determining, per combination of multiple node combinations, for one or more combinations of multiple node combinations, the suitability of the combination of multiple node combinations for tracking the specific object.

[0061] If a node transmits multiple types of signals and one of the signal types is selected based on the measurements, the sensing signal configuration corresponding to this signal type may be one of the one or more new sensing signal configurations. The sensing signal configurations to be used for probing sensing signals may be selected by the system and communicated to the nodes which will transmit these probing sensing signals.

[0062] The different sensing signal configurations may differ in power, periodicity, beamforming characteristics, or applied codes of transmitted sensing signals, for example. By determining sensing signal configurations based on the above-mentioned measurements, the best set of one or more sensing signals for tracking the specific object may be used.

[0063] The different sensing signal configurations may differ in signal type. For example, for a node combination that comprises BSs as transmitters and UEs as receivers, multiple signal types may be available, e.g., a first sensing signal configuration may use CSI-RS signals, a second sensing signal configuration may use PDSCH signals, and a third sensing signal configuration may use dedicated sensing signals, which may be equal to or derived from probing sensing signals.

[0064] A step 105 comprises adjusting a current sensing topology to the new sensing topology determined in step 103 and / or adjusting one or more current sensing signal configurations to the one or more new sensing signal configurations determined in step 103. The implementation of Fig. 2 may be combined with the implementation of Fig. 3 and / or the implementation of Fig. 4.

[0065] A second implementation of the method of adjusting a sensing configuration and an implementation of the method of enabling adjustment of a sensing configuration (by transmitting and / or receiving sensing signals) are shown in Fig. 3. The sensing configuration includes a sensing topology and one or more sensing signal configurations. The former method may be performed by system 1 of Fig. 5, for example. The latter method may be performed by the BSs 11-12 and the UEs 31-34 of Fig. 5, for example.

[0066] The implementation of Fig. 3 is an extension of the implementation of Fig.

[0067] 2. In the implementation of Fig. 3, step 101 is implemented by steps 151 and 171. Steps 151, 161, 163, 165, 167, 169, 171, and 101 can be considered to be part of a probing process, in which probing sensing signals are transmitted and received.

[0068] Step 151 comprises a system 1 transmitting one or more instruction signals to a first set of nodes with an assigned transmitter role and to a second set of nodes with an assigned receiver role. Before step 151 is performed, the system 1 designates a first subset of a set of candidate nodes as the first set of nodes, i.e., as ‘candidate transmitters’, and designates a second subset of the set of candidate nodes as the second set of nodes, i.e., as ‘candidate receivers’. The first and second subsets may overlap.

[0069] The split between transmitter and receiver roles may be influenced by the nodes’ transmission powers and beamforming / combining capabilities and their availability / capability for either role. In a first example, given nodal availabilities / capabilities, joint candidate transmitter / candidate receiver roles are assigned to each BS / RU and candidate receiver roles to each UE. In a second example, the subsets do not overlap: all BSs take on the role of candidate transmitter and all UEs take on the role of candidate receiver.

[0070] The one or more instruction signals include instructions to perform at least one of transmitting one or more outgoing probing sensing signals for determining a sensing topology for tracking the specific object and receiving one or more incoming sensing signals for determining a sensing topology for tracking the specific object.

[0071] The one or more instruction signals may include instructions to perform receiving one or more incoming probing sensing signals for determining a sensing topology for tracking the specific object. These probing sensing signals are used to estimate the suitability of sensing signals, e.g. dedicated sensing signals, for tracking the specific object. Probing sensing signals may not be needed for estimating the suitability of reference signals (e.g. CSI-RS) for tracking the specific object, as the reference signals themselves can be used for this purpose.

[0072] One or more of the one or more instruction signals may include instructions to transmit one or more outgoing probing sensing signals for determining a sensing topology for tracking the specific object and specify one or more sensing signal configurations. The instructions may specify, for example, a probing sensing signal (PSS) characterized by one or more of a periodicity, a transmit power, a beam direction, a beamwidth, a frequency -domain granularity. Each such PSS may be characterized by an identifier uniquely identifying the transmit node.

[0073] The one or more instruction signals for the nodes with candidate receiver roles further specify which communications-oriented payload and / or control signals, e.g., CSI-RS or PDSCH signals, if any, these nodes should receive and acquire measurements on. Step 161 comprises the first set of nodes and the second set of nodes receiving the instruction signal(s) from the system 1. For example, in step 161, the candidate transmitters may be instructed by the system 1 to transmit the PSSs and the candidate receivers may be informed in step 161 of the necessary specifics of the PSSs, instructed to listen for reflections of both these PSSs and any (or an indicated selection of) communi cations-oriented payload and / or control signals that are transmitted by the candidate transmitters, that match the characteristics of the object that is to be tracked, and submit corresponding reports.

[0074] Only those receivers which (i) are capable, willing and sufficiently energized to participate in the sensing task; and (ii) successfully heard a sufficiently strong (exceeding some threshold) reflection, which the tracker can associate with the target, of at least one of the PSSs or communications-oriented payload / control signals, will normally submit a measurement report. The measurement reports include, for example, an indication of the strength of the received reflection, along with an identifier referring to the heard PSS or communications-oriented control / payload signal and its originating transmitter.

[0075] For instance, referring again to the example scenario of Fig. 1, BSs Ills may be instructed to, besides continuing to transmit their SSBs, CSI-RSs (denoted CSI-RS / A / CSI-RS XB / CSI-RS xc I...) and any current PDSCHs (denoted PDSCH pA / PDSCH pB / PDSCH pc / ...) in a business-as-usual fashion, further transmit a set of PSSs with distinct configurations (denoted PSS 7tA / PSS 7tB / PSS 7tc / ...), and UEs 31-37 may be instructed to listen for reflections of all above-mentioned signals.

[0076] Step 163 comprises the first set of nodes transmitting the one or more outgoing probing sensing signals. If the instruction signal specifies one or more probing sensing signal configurations, step 163 comprises transmitting the one or more outgoing probing sensing signals with the one or more probing sensing signal configurations. Step 165 comprises the second set of nodes receiving the one or more incoming probing sensing signals from the first set of nodes. For example, UE 31 of Fig. 1 may receive a probing sensing signal transmitted by BS 11 of Fig. 1. If the instruction signal specifies that a node should also receive one or more communications-oriented payload and / or control signals, e.g., CSI-RS or PDSCH signals, and acquire measurements relating to these signals, then the node also receives these signals in step 165. Step 167 comprises the second set of nodes acquiring one or more measurements relating to the one or more incoming probing sensing signals. Each measurement of the one or more measurements enables the system 1 to determine a suitability of a certain node combination for tracking the specific object and possibly a suitability of a combination of node combinations for tracking the specific object. The certain node combination includes the node(s) receiving the probing sensing signal to which the measurement relates and the node(s) transmitting this probing sensing signal. If the instruction signal specifies that a node should also receive one or more communications-oriented payload and / or control signals, e.g., CSI-RS or PDSCH signals, and acquire measurements relating to these signals, then the node also acquires measurements relating to these signals in step 167.

[0077] Step 169 comprises the second set of nodes transmitting one or more reporting signals to the system 1. The one or more reporting signals include the one or more measurements acquired in step 167. In this way, each receiver, i.e., each node of the second set, may report measurements for each transmitter, i.e., each node of the first set, from which it has received one or more probing sensing signals.

[0078] Optionally, if instructed to do so, the receiver node may also report measurements for each transmitter node from which it has received communications-oriented payload and / or control signals.

[0079] For example, in the scenario of Fig. 1, the following nodes may transmit the following reports for the following node combinations:

[0080] ■ UE 31 with report {[transmitter BS 11; PSS it : reflection strength S31.11.pss HA],

[0081] [transmitter BS 11; CSI-RS / B; reflection strength S3I,II,CSI-RS B] } ;

[0082] ■ UE 32 with report {[transmitter BS 11; PSS 7tc; reflection strength S32,n,pss 7tc] } ; ■ UE 35 with report {[transmitter BS 12; PSS 7tc; reflection strength SSS. PSS TIC] } ; ■ UE 37 with report {[transmitter BS 14; PSS 7tc; estimated radar cross section rCS37,14,PSS TIC],

[0083] [transmitter BS 15; PDSCH po; signal -to -noise ratio snrs?, 15, PDSCHPD] } .

[0084] In this example with five node combinations, each node combination includes one node with an assigned transmitter role and one node with an assigned receiver role. In this example, it might be the case that UE 33 is unable / unwilling to perform measurements because its battery is nearing depletion, while UEs 34 and 36 do listen for reflections but do not hear any with sufficient strength.

[0085] The measurements may not only enable the system 1 to determine the suitability of different node combinations, but also to determine the suitability of different sensing signal configurations. In this case, the measurements are reported per sensing signal configuration, as is the case in the above example (e.g., PSS pAand CSI-RS XB in the report of UE 31). The measurements may comprise reflection strengths (as assumed in the above example), signal-to-noise ratios, and / or Radar Cross Sections (RCSs), for example. It may also be possible to use the measurements to estimate the suitability of slight variations in a sensing signal configuration, e.g., if the considered signal is transmitted with slightly different power, periodicity or beam characteristics.

[0086] Step 171 comprises the system 1 receiving the reporting signals with the measurements from the second set of nodes. Step 103 comprises determining a new sensing topology by determining the suitability of the one or more node combinations for tracking the specific object based on the measurements received in step 171 and / or determining one or more new sensing signal configurations by determining the suitability of the different sensing signal configurations for tracking the specific object based on the measurements received in step 171.

[0087] Step 105 comprises adjusting a current sensing topology to the new sensing topology determined in step 103 and / or adjusting one or more current sensing signal configurations to the one or more new sensing signal configurations determined in step 103. The implementation of Fig. 3 may be combined with the implementation of Fig. 4.

[0088] A third implementation of the method of adjusting a sensing configuration is shown in Fig. 4. The sensing configuration includes a sensing topology and one or more sensing signal configurations. The method may be performed by system 1 of Fig. 5, for example. The implementation of Fig. 4 is an extension of the implementation of Fig. 2.

[0089] A step 121 comprises performing sensing to detect one or more objects. In this surveillance step, an initial sensing topology and an initial set of one or more sensing signal configurations are determined. The used sets of one or more sensing signal configurations may involve the use of both dedicated sensing signals and opportunistically exploited communications-oriented control / payload signals, e.g., SSB, CSI-RS orPDSCH signals.

[0090] A step 123 comprises determining whether an object has been detected. A step 125 is performed if it is determined in step 123 that an object has been detected. Step 121 continues if it is determined in step 123 that an object has not been detected. Step 125 comprises a tracking step 127 and a parallel monitoring step 129, which may initially use the initial sensing topology and the initial set of one or more sensing signal configurations.

[0091] In tracking step 127, the selected BSs, RUs and / or UEs constituting the sensing topology are configured to take on their assigned roles in terms of acting as transmitters and / or receivers. Herein, the selected transmitters are instructed to transmit the selected dedicated sensing signals, if any, with the correspondingly assigned configurations. Besides that, the selected transmitters continue to transmit their communications-oriented control / payload signals, if any, as before. The selected receivers are instructed to report on detected reflections of the selected communications-oriented control / payload signals and / or dedicated sensing signals. Said reports are processed to derive information regarding the object’s location and orientation, for example.

[0092] A distinction is made between ‘probing sensing signals’ and ‘dedicated sensing signals’, where the former type of signals is used in the probing step / process to determine what would be suitable sensing signals, and the latter type of signals being those determined suitable sensing signals, i.e., signals actually used to conduct a sensing task. Note that a dedicated sensing signal may typically have the same or else a consciously adjusted (e.g. a slightly wider bandwidth or a slight shift in the frequency domain) configuration as the used probing sensing signals.

[0093] The monitoring step 129 is performed (periodically) to ensure that the used sensing configuration continues to satisfy sensing requirements with targeted maximal resource efficiency. For example, when integrating sensing capabilities into a cellular network, the set of candidate transmitters and receivers to be involved in a certain sensing task may be large and highly dynamic. This dynamic nature may be due to, for example, the mobility of a tracked object, the dynamics in the availability of nodes, and / or changes in the sensing task or its requirements. By monitoring the suitability of the sensing configuration, the sensing topology and / or the sensing signal configuration(s)) may be adjusted when needed. The dynamics in the availability of nodes may be caused by e.g., a change in operator policies, the potential on / off switching of some of the nodes (e.g., BSs, RUs), the presence / mobility of UEs, varying radio channel conditions (due to e.g., UE mobility or emerging blockers), and / or the UEs’ ability / willingness to participate, which may depend (aside from static aspects related to technical / processing capability) on e.g., their engagement in on-going communications sessions and their battery level.

[0094] Step 129 may comprise determining a sensing quality associated with the sensing configuration. The sensing quality may be a metric expressing the degree of suitability of the current sensing topology and current one or more sensing signal configurations to conduct the given tracking task, e.g., based on the experienced sensing SINR. The sensing quality may be probability of detection or combination of range resolution and angular accuracy, for example.

[0095] As an example of the latter, using “measurement accuracy” values calculated in section 3 of the paper "Position Accuracy in Netted Monostatic and Bistatic Radar" by A. Farina and E. Hanle, published in IEEE Transactions on Aerospace and Electronic Systems, vol. AES-19, no. 4, pp. 513-520, July 1983, doi: 10.1109 / T AES.1983.309339, may be fed into the results in section 2.4 in the paper "Track quality estimation for multiple-target tracking radars" by T. W. Jeffrey, published in Proceedings of the IEEE National Radar Conference, Dallas, TX, USA, 1989, pp. 76-79, doi: 10.1109 / NRC.1989.47619, to enable calculation of a “track quality” for a particular given topology.

[0096] Alternatively or additionally, step 129 may comprise monitoring changes that may affect the validity of the current sensing topology and current sensing signal configurations, for example one or more of the sensing task-related or network-related changes listed in non-exhaustive Table 1 below.

[0097] Table 1: Changes that may affect the validity of the current sensing topology and current sensing signal configurations

[0098]

[0099]

[0100] A step 131 comprises determining whether a suitability of a sensing configuration may have changed. Step 131 may comprise determining that the suitability of the current sensing configuration may have changed if the sensing quality determined in step 129 is determined not to exceed a first threshold and / or determining that the suitability of the sensing configuration may have changed if the sensing quality is higher than the first threshold and a difference between the sensing quality and the first threshold exceeds a further threshold (i.e., a situation in which invested resources may be reduced).

[0101] Additionally or alternatively, step 131 may comprise determining that the suitability of the current sensing configuration may have changed if the current sensing configuration is considered invalid. The current sensing configuration may be considered invalid if a sensing task-related change or a network-related change (monitored in step 129) has occurred, see for example Table 1.

[0102] A time hysteresis may be applied to avoid the probing process being performed again and / or another adjustment being made immediately after the adjustment of a current sensing topology and / or one or more current sensing signal configurations. Determining whether a suitability of a sensing configuration may have changed may comprise determining whether the sensing system has switched from surveillance mode to tracking mode. In this case, step 101 may be performed immediately after tracking is started instead of first utilizing the initial sensing topology and initial one or more sensing signal configurations, monitoring whether this works well, and only then potentially performing step 101.

[0103] Thus, the overall procedure includes (i) a continuous process at a fine (e.g. millisecond-level) timescale at which the actual object tracking process is executed (step 127), utilizing the latest selection of the sensing topology and one or more sensing signal configurations; and (ii) a process at a higher (e.g., second-level or higher) timescale at which the suitability of the current sensing configuration is periodically assessed (steps 129 and 131).

[0104] If it is determined in step 131 that the suitability of the current sensing configuration may have changed, step 101 or step 139 is performed next. Step 101 may be implemented as described in relation to Fig. 3, where it is part of a probing process.

[0105] Step 101 is performed if the sensing quality is determined in step 131 not to exceed a second threshold or if the sensing quality is determined in step 131 to be higher than the first threshold and a difference between the sensing quality and the first threshold is determined in step 131 to exceed the further threshold. The second threshold represents a lower sensing quality than the first threshold. This may be used to avoid executing a time / resource-consuming probing process in response to just any subtle change.

[0106] Step 139 is performed if the sensing quality is determined to exceed the second threshold and not to exceed the first threshold or if the current sensing configuration is considered invalid. However, step 139 is only performed if at least one of the backup set of one or more node combinations and the backup set of one or more sensing signal configurations (previously determined in step 137) is not empty. If both backup sets are empty, step 101 will be performed. These backup sets will be explained in relation to steps 137 and 139.

[0107] By comparing sensing quality with the first threshold, it may be possible to ensure a minimum sensing quality and / or to reduce the assigned resources when the sensing quality is higher than needed. If the sensing quality is between the first and second thresholds, it may not be necessary to receive new measurements, e.g., in a new iteration of the probing step, and instead, a new sensing topology may be determined based on the previously received measurements.

[0108] Step 131 may be implemented by using two or more

[0109] deci si on / bran ching points that need to be passed before potentially triggering a probing process in step 101. At the first deci si on / bran ching point, it is verified whether (i) the sensing quality falls below the first threshold, configured to indicate a sufficiently high sensing quality; and / or (ii) some other incidental / significant change from the list in Table 1 has occurred that may demand an immediate reconsideration of the current sensing topology / current sensing signal configurations, e.g., the sudden unavailability of an involved node. If neither of these two conditions are satisfied, then there is no reason to adapt the current sensing topology and current sensing signal configurations. Otherwise, the next decision / branching point is performed.

[0110] At the second decision / branching point, it is verified whether (a) the sensing quality falls below the second threshold, which is lower than the first threshold; or (b) same condition as under (ii) at the preceding decision / branching point. If neither of these two conditions are satisfied, then the procedure deems that a change in sensing topology and / or sensing signal configurations is needed, but it is not worth executing a full-time / resource-consuming probing process. Rather, an adjustment is triggered in step 139 to be made based on already available information, e.g., obtained while conducting the tracking task or from the latest execution of the probing process, possibly utilizing a prepared list of backup nodes or sensing signal configurations. If one or both conditions are satisfied, then step 101 is performed and a probing process may be started.

[0111] Step 101 comprises receiving measurements relating to a set of one or more node combinations. Each node combination of the set of node combinations includes one or more nodes with an assigned transmitter role and one or more nodes with an assigned receiver role. The one or more node combinations from which measurements are received in step 101 may include one or more node combinations of the current sensing topology and may even include all node combinations of the current sensing topology, possibly only the one or more node combinations as the current sensing topology. As mentioned above, step 101 may be implemented as described in relation to Fig. 3, where it is part of a probing process. Tracking may need to be suspended while the probing is performed. After probing has completed, tracking may resume. Preferably, tracking continues while probing is performed.

[0112] Step 103 is performed after step 101. In the implementation of Fig. 4, step 103 is implemented by steps 133, 135, and 137. Step 133 comprises determining the suitability of the one or more node combinations for tracking the specific object based on measurements received in step 101 and / or determining the suitability of the different sensing signal configurations for tracking the specific object based on measurements received in step 101. The suitability or suitabilities are determined based on the most recent measurements obtained in the most recent iteration of step 101 and optionally further determined based on older measurements obtained in one or more previous iterations of step 101.

[0113] Step 135 comprises determining whether a good / satisfactory solution has been found in step 133. Step 137 is performed if it is determined in step 135 that a good / satisfactory solution has been found and the best sensing configuration found in step 133 is different than the current sensing configuration. Step 101 is performed if it is determined in step 135 that a good / satisfactory solution has not been found. The probing process may then be performed again with an adjusted set of candidate nodes and / or an adjusted role distribution among the candidate nodes and / or an adjusted set of PSSs, for example. If the current sensing configuration is the best sensing configuration and is a good / satisfactory solution, step 129 continues after step 135 has been performed (not shown in Fig. 4).

[0114] Step 137 comprises selecting the best sensing topology found in step 133 as new sensing topology and / or selecting the best one or more sensing signal configurations determined in step 133 as one or more new sensing signal configurations. One or more dedicated sensing signals may be selected in step 137 as part of the one or more sensing signal configurations based on measurements relating to probing sensing signals. These dedicated sensing signals may be equal to or derived from the probing sensing signals.

[0115] The selection of the best / most suitable sensing topology may be done by optimizing the probability of detection, e.g., described in WO 2024 / 126273 A2, which in tracking mode minimizes the probability of losing the target in track, or minimizing the uncertainty of the sensing quantities, such as location and velocity, by utilizing statistical bounds, e.g., described in the afore-mentioned paper "Position Accuracy in Netted Monostatic and Bistatic Radar".

[0116] The same parameters may be used in step 133 to determine whether a solution is a good / satisfactory solution. Step 137 may also exploit an awareness of the location / trajectory of the tracked object, which may e.g. influence the selection of the most suitable nodes to include in the updated sensing topology, e.g., those to some degree located ‘downstream’ with respect to the estimated target trajectory.

[0117] In the implementation of Fig. 4, step 137 further comprises determining a backup set of one or more node combinations based on at least these new measurements and / or a backup set of one or more sensing signal configurations based on at least these new measurements. The backup set of one or more node combinations includes at least one other node combination of the set of one or more node combinations. This at least one other node combination is not included in the sensing topology selected in step 137.

[0118] The backup set of one or more sensing signal configurations may comprise one or more sensing signal configurations which involve increased signal powers or increased beamwidth or increased transmission periodicity, for example. The backup set of one or more sensing signal configurations may comprise one or more sensing signal configurations which relate to the node combination(s) in the backup set of one or more node combinations, for example. The backup set of one or more sensing signal configurations is different from the selected one or more new sensing signal configurations, where if the same PSS is used for different node combinations, these are considered different sensing signal configurations.

[0119] Keeping a list of such backup nodes and / or sensing signal configurations provides some degree of reliability or resilience by enabling a quick sensing configuration adjustment when needed without redoing a time / resource-consuming probing process. The backup nodes may or may not be informed by the system of their backup status and the set of backup signals. If they are indeed informed and all relevant instructions are conveyed, this allows them to be activated to participate in the sensing task at hand the quickest, which enhances the degree of reliability / resilience. Step 105 is performed after step 137. Step 139 comprises determining a new sensing topology by adding at least one node combination of the backup set of one or more node combinations (previously determined in step 137) to the current sensing topology and / or selecting one or more new sensing signal configurations from the backup set of one or more sensing signal configurations (previously determined in step 137). If at least one node combination of the backup set of one or more node combinations is added to the current sensing topology in step 139, one or more of the one or more new sensing signal configurations selected in step 139 may include one or more sensing signal configurations corresponding to this at least one node combination.

[0120] If a node combination of the backup set of one or more node combinations is added to the current sensing topology, this node combination is removed from this backup set. If a sensing signal configuration of the backup set of one or more sensing signal configurations is selected, this sensing signal configuration is removed from this backup set. Step 105 is performed after step 139.

[0121] Step 105 comprises adjusting a current sensing topology to the new sensing topology selected in step 137 or step 139 and / or adjusting one or more current sensing signal configurations to the one or more new sensing signal configurations selected in step 137 or step 139. If the current sensing topology is adjusted to the new sensing topology selected in step 137, then the new sensing topology normally includes at least one node combination from which measurements were received in the most recent iteration of step 101.

[0122] If the current sensing topology is adjusted to the new sensing topology selected in step 139, then the new sensing topology includes at least one node combination from which measurements were received less recently, as step 101 was not performed just before step 139 was performed. Step 129 continues after step 105 has been performed. The implementation of Fig. 4 may be combined with the implementation of Fig. 3.

[0123] In a variant on the implementation of Fig. 4, step 139 is omitted. If step 139 is omitted, step 101 is always performed next if it is determined in step 131 that the suitability of the current sensing configuration may have changed, and no backup sets are determined in step 137.

[0124] Fig. 5 is a block diagram of an implementation of a communication network comprising a system for adjusting a sensing configuration, system 1, and nodes enabling the adjustment of the sensing configuration, BSs 11-12 and UEs 31-34. At least some of these nodes also participate in the tracking of an object. The system 1 runs a sensing controller. This sensing controller is essentially a functionality which could reside in a BS, a core network system, or be employed in a dedicated system, for example. In an alternative implementation, the system for adjusting a sensing configuration is used in a dedicated sensing network rather than in a communication (i.e., JCAS) network.

[0125] In the implementation of Fig. 5, the sensing controller is employed in a dedicated system, i.e., system 1. The BSs 11-12 may comprise a plurality of distributed units that share a common centralized unit in a Centralized RAN (C-RAN) architecture, for example. In the implementation of Fig. 5, two UEs 31-32 are connected to the BS 11 and two UEs 33-34 are connected to the BS 12.

[0126] The system 1 comprises a receiver 3, a transmitter 4, a processor 5, and a memory 7. The processor 5 is configured to receive measurements relating to a set of one or more node combinations. Each node combination of the set of node combinations includes one or more nodes with an assigned transmitter role and one or more nodes with an assigned receiver role. The measurements enable system 1 to determine a suitability of the one or more node combinations for tracking a specific object and / or a suitability of different sensing signal configurations of a single node combination of the set of one or more node combinations for tracking the specific object. In the latter case, the measurements include multiple measurements relating to the different sensing signal configurations.

[0127] The processor 5 is further configured to determine a new sensing topology by determining the suitability of the one or more node combinations for tracking the specific object based on the measurements and / or to determine one or more new sensing signal configurations by determining the suitability of the different sensing signal configurations for tracking the specific object based on the measurements. The new sensing topology includes at least one node combination of the set of one or more node combinations. The processor 5 is further configured to adjust a current sensing topology to the new sensing topology and / or adjust one or more current sensing signal configurations to the one or more new sensing signal configurations.

[0128] In the implementation of Fig. 5, the processor 5 is further configured to transmit instruction signals to one or more of BSs 11-12 and UEs 31-34. The instruction signals include instructions to perform at least one of transmitting one or more outgoing probing sensing signals and receiving one or more incoming sensing signals, e.g., probing sensing signals.

[0129] In the implementation of Fig. 5, the BSs 11-12 each comprise a receiver 83, a transmitter 84, a processor 85, and a memory 87. In the implementation of Fig. 5, the UEs 31-34 each comprise a receiver 93, a transmitter 94, a processor 95, and a memory 97. The processor 85 and the processor 95 are each configured to receive an instruction signal from the system 1. The instruction signal includes instructions to perform at least one of transmitting one or more outgoing probing sensing signals and receiving one or more incoming sensing signals, e.g., probing sensing signals.

[0130] Furthermore, the processor 85 and the processor 95 are each configured to perform the at least one of transmitting the one or more outgoing probing sensing signal and receiving the one or more incoming sensing signals in response to receiving the instruction signal and to transmit one or more reporting signals to the system. The one or more reporting signals include the one or more measurements.

[0131] At least some of the measurements relate to the one or more incoming sensing signals. As described above, the measurements enable system 1 to determine a suitability of the one or more node combinations for tracking a specific object and / or a suitability of different sensing signal configurations of a single node combination of the set of one or more node combinations for tracking the specific object. In the latter case, the measurements include multiple measurements relating to the different sensing signal configurations.

[0132] In the implementation shown in Fig. 5, the system 1 comprises one processor. In an alternative implementation, the system 1 comprises multiple processors. The processor 5 may be a general -purpose processor, e.g., an Intel or an AMD processor, or an application-specific processor, for example. The processor 5 may comprise multiple cores, for example. The processor 5 may run a Unix-based or Windows operating system, for example. The memory 7 may comprise solid state memory, e.g., one or more Solid State Disks (SSDs) made out of Flash memory, or one or more hard disks, for example.

[0133] The receiver 3 and the transmitter 4 may use one or more wired or wireless communication technologies to communicate with BSs 11-12. The receiver 3 and the transmitter 4 may use one or more communication technologies (wired or wireless) to communicate with other systems in the radio access network or in the core network, for example. The receiver 3 and the transmitter 4 may be combined in a transceiver. The system 1 may comprise other components typical for a component in a mobile communication network, e.g., a power supply.

[0134] In the implementation shown in Fig. 5, the BSs 11-12 comprise one processor. In an alternative implementation, one or more of the BSs 11-12 comprise multiple processors. The processor of the BSs 11-12 may be a general -purpose processor, e.g., an Intel or an AMD processor, or an application-specific processor, for example. The processor may comprise multiple cores, for example. The processor may run a Unix-based or Windows operating system, for example. The memory 87 may comprise solid state memory, e.g., one or more Solid State Disks (SSDs) made out of Flash memory, or one or more hard disks, for example.

[0135] The receiver 83 and the transmitter 84 may use one or more wireless communication technologies such as Wi-Fi, LTE, and / or 5G New Radio to communicate with UEs 31-34. The receiver 83 and the transmitter 84 may use one or more communication technologies (wired or wireless) to communicate with other systems in the radio access network or in the core network, for example. The receiver 83 and the transmitter 84 may be combined in a transceiver. The base stations may comprise other components typical for a component in a mobile communication network, e.g., a power supply. In the implementation shown in Fig. 5, each of the BSs may comprise a single unit or a central unit and one or multiple distributed units, for example.

[0136] In the implementation shown in Fig. 5, the UEs 31-34 comprise one processor 95. In an alternative implementation, one or more of the UEs 31-34 comprise multiple processors. The processor 95 may be a general-purpose processor, e.g., an ARM or Qualcomm processor, or an application-specific processor. The processor 95 may run Google Android or Apple iOS as operating system, for example.

[0137] The receiver 93 and the transmitter 94 of the UEs 31-34 may use one or more wireless communication technologies such as Wi-Fi, LTE, and / or 5G New Radio to communicate with BSs, for example. The receiver 93 and the transmitter 94 may be combined in a transceiver. The UEs 31-34 may comprise other components typical for user equipment, e.g., a battery and / or a power connector.

[0138] A UE may also be referred to by those skilled in the art as a mobile station (MS), a subscriber station, a mobile unit, a subscriber unit, a wireless unit, a wireless terminal, a wireless device, a wireless communications device, a remote device, a mobile subscriber station, an access terminal (AT), a mobile terminal, a remote terminal, a handset, a terminal, a user agent, a mobile client, a client, or some other suitable terminology.

[0139] Fig. 6 depicts a block diagram illustrating an exemplary data processing system that may perform the method as described with reference to the flow charts.

[0140] As shown in Fig. 6, the data processing system 900 may include at least one processor 902 coupled to memory elements 904 through a system bus 906. As such, the data processing system may store program code within memory elements 904. Further, the processor 902 may execute the program code accessed from the memory elements 904 via a system bus 906. In one aspect, the data processing system may be implemented as a computer that is suitable for storing and / or executing program code. It should be appreciated, however, that the system 900 may be implemented in the form of any system including a processor and a memory that is capable of performing the functions described within this specification. The data processing system may be an Intemet / cloud server, for example.

[0141] The memory elements 904 may include one or more physical memory devices such as, for example, local memory 908 and one or more bulk storage devices 910. The local memory may refer to random access memory or other non-persistent memory device(s) generally used during actual execution of the program code. A bulk storage device may be implemented as a hard drive or other persistent data storage device. The processing system 900 may also include one or more cache memories (not shown) that provide temporary storage of at least some program code in order to reduce the quantity of times program code must be retrieved from the bulk storage device 910 during execution. The processing system 900 may also be able to use memory elements of another processing system, e.g. if the processing system 900 is part of a cloudcomputing platform.

[0142] Input / output (VO) devices depicted as an input device 912 and an output device 914 optionally can be coupled to the data processing system. Examples of input devices may include, but are not limited to, a keyboard, a pointing device such as a mouse, a microphone (e.g. for voice and / or speech recognition), or the like. Examples of output devices may include, but are not limited to, a monitor or a display, speakers, or the like. Input and / or output devices may be coupled to the data processing system either directly or through intervening VO controllers. The input and the output devices may be implemented as a combined input / output device (illustrated in Fig. 6 with a dashed line surrounding the input device 912 and the output device 914). An example of such a combined device is a touch sensitive display, also sometimes referred to as a “touch screen display” or simply “touch screen”. In such an implementation, input to the device may be provided by a movement of a physical object, such as e.g. a stylus or a finger of a user, on or near the touch screen display.

[0143] A network adapter 916 may also be coupled to the data processing system to enable it to become coupled to other systems, computer systems, remote network devices, and / or remote storage devices through intervening private or public networks. The network adapter may comprise a data receiver for receiving data that is transmitted by the systems, devices and / or networks to the data processing system 900, and a data transmitter for transmitting data from the data processing system 900 to the systems, devices and / or networks. Modems, cable modems, and Ethernet cards are examples of different types of network adapter that may be used with the data processing system 900.

[0144] As pictured in Fig. 6, the memory elements 904 may store an application 918. The application 918 may be stored in the local memory 908, the one or more bulk storage devices 910, or separate from the local memory and the bulk storage devices. It should be appreciated that the data processing system 900 may further execute an operating system (not shown in Fig. 6) that can facilitate execution of the application 918. The application 918, being implemented in the form of executable program code, can be executed by the data processing system 900, e.g., by the processor 902.

[0145] Responsive to executing the application, the data processing system 900 may be configured to perform one or more operations or method steps described herein.

[0146] The invention may be implemented as a program product for use with a computer system, where the program(s) of the program product define functions. The program(s) may be contained on a variety of non-transitory computer-readable storage media, where, as used herein, the expression “non-transitory computer readable storage media” comprises all computer-readable media, with the sole exception being a transitory, propagating signal. The program(s) may also be contained on a variety of transitory computer-readable storage media. Illustrative computer-readable storage media include, but are not limited to: (i) non-writable storage media (e.g., read-only memory devices within a computer such as CD-ROM disks readable by a CD-ROM drive, ROM chips or any type of solid-state non-volatile semiconductor memory) on which information is permanently stored; and (ii) writable storage media (e.g., flash memory, floppy disks within a diskette drive or hard-disk drive or any type of solid-state random-access semiconductor memory) on which alterable information is stored. The computer program may be run on the processor 902 described herein.

[0147] The terminology used herein is for the purpose of describing particular implementations only and is not intended to be limiting of the invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0148] The corresponding structures, materials, acts, and equivalents of all means or step plus function elements in the claims below are intended to include any structure, material, or act for performing the function in combination with other claimed elements as specifically claimed. The detailed description has been presented for purposes of illustration, but is not intended to be exhaustive or limited to the implementations in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope of the present invention.

Claims

33CLAIMS:

1. A system (1) for adjusting a sensing configuration, the system (1) including at least one processor (5) configured to:- receive measurements relating to a set of one or more node combinations, each node combination of the set of node combinations including one or more nodes (11-12,31-34) with an assigned transmitter role and one or more nodes (11-12,31-34) with an assigned receiver role, the measurements enabling the system (1) to determine a suitability of the one or more node combinations for tracking a specific object (41),- determine a new sensing topology by determining the suitability of the one or more node combinations for tracking the specific object (41) based on the measurements, the new sensing topology including at least one node combination of the set of one or more node combinations, and- adjust a current sensing topology to the new sensing topology.

2. A system (1) as claimed in claim 1, wherein the at least one processor (5) is configured to determine whether a suitability of a sensing configuration may have changed, the sensing configuration including at least the new sensing topology, and if it is determined that the suitability of the sensing configuration may have changed:- determine a further new sensing topology based on at least one of further measurements and the measurements, the further measurements being related to the set of one or more node combinations or to a further set of one or more node combinations, the further new sensing topology including at least one node combination of the set of one or more node combinations or of the further set of one or more node combinations, and- adjust the new sensing topology to the further new sensing topology.

3. A system (1) as claimed in claim 2, wherein the at least one processor (5) is configured to determine a sensing quality associated with the sensing34configuration and determine that the suitability of the sensing configuration may have changed if the sensing quality is determined not to exceed a first threshold and / or that the suitability of the sensing configuration may have changed if the sensing quality is higher than the first threshold and a difference between the sensing quality and the first threshold exceeds a further threshold.

4. A system (1) as claimed in claim 3, wherein the at least one processor (5) is configured to receive the further measurements if the sensing quality is determined not to exceed a second threshold, the second threshold representing a lower sensing quality than the first threshold.

5. A system (1) as claimed in claim 4, wherein the at least one processor (5) is configured to:- determine a backup set of one or more node combinations based on the measurements, the backup set of one or more node combinations including at least one other node combination of the set of one or more node combinations, the at least one other node combination not being included in the new sensing topology, and - if the sensing quality is determined to exceed the second threshold and not to exceed the first threshold or if the new sensing configuration is considered invalid, determine the further new sensing topology by adding at least one node combination of the backup set of one or more node combinations to the new sensing topology.

6. A system (1) as claimed in any one of claims 2 to 5, wherein the at least one processor (5) is configured to determine that the suitability of the sensing configuration may have changed if one or more of the following changes has occurred: a sensing task-related change and a network-related change.

7. A system (1) as claimed in claim 6, wherein the sensing task-related change includes at least one of an adjustment of the sensing task, a movement of the tracked object, and a possible track loss, and / or the network-related change includes at least one of a change in availability of communications-oriented signals forsensing, a change in availability of nodes for sensing, and a change in operator policy.

8. A system (1) as claimed in any one of the preceding claims, wherein the measurements comprise at least one of reflection strengths, signal-to-noise ratios, and radar cross sections.

9. A system (1) as claimed in any one of the preceding claims, wherein the at least one processor (5) is configured to transmit one or more instruction signals to one or more nodes (11-12,31-34), the one or more instruction signals including instructions to perform at least one of transmitting one or more outgoing probing sensing signals for determining a sensing topology for tracking the specific object (41) and receiving one or more incoming sensing signals for determining a sensing topology for tracking the specific object (41), and wherein at least some of the measurements relate to the one or more incoming sensing signals.

10. A node (11-12,31-34) for sensing, the node (11-12,31-34) including at least one processor (85,95) configured to:- receive an instruction signal from a system (1) for adjusting a sensing configuration, the instruction signal including instructions to perform at least one of transmitting one or more outgoing probing sensing signals for determining a sensing topology for tracking a specific object (41) and receiving one or more incoming sensing signals for determining a sensing topology for tracking the specific object (41), and- perform the at least one of transmitting the one or more outgoing probing sensing signals and receiving the one or more incoming sensing signals in response to receiving the instruction signal.

11. A node (11-12,31-34) as claimed in claim 10, wherein the at least one processor (85,95) is configured to:- receive the one or more incoming sensing signals from one or more other nodes (11-12,31-34),- acquire one or more measurements relating to the one or more incoming sensing signals, each respective measurement of the one or more measurements enabling the system for adjusting a sensing configuration to determine a suitability of a corresponding node combination for tracking the specific object (41), the corresponding node combination including the node (11-12,31-34) and a respective other node (11-12,31-34) of the one or more other nodes (11-12,31-34), the respective measurement relating to a respective incoming sensing signal of the one or more incoming sensing signals, the respective incoming sensing signal being transmitted by the respective other node (11-12,31-34), and- transmit one or more reporting signals to the system (1) for adjusting a sensing configuration, the one or more reporting signals including the one or more measurements.

12. A node (11-12,31-34) as claimed in claim 11, wherein the one or more incoming sensing signals comprises at least one of a Synchronization Signal Block signal, a Channel State Information Reference Signal, a Physical Downlink Shared Channel signal, and a probing sensing signal.

13. A method of adjusting a sensing configuration, the method including:- receiving (101) measurements relating to a set of one or more node combinations, each node combination of the set of node combinations including one or more nodes (11-12,31-34) with an assigned transmitter role and one or more nodes (11-12,31-34) with an assigned receiver role, the measurements enabling a suitability of the one or more node combinations for tracking a specific object (41) to be determined,- determining (103) a new sensing topology by determining the suitability of the one or more node combinations for tracking the specific object (41) based on the measurements, the new sensing topology including at least one node combination of the set of one or more node combinations, and- adjusting (105) a current sensing topology to the new sensing topology.

14. A method of enabling adjustment of a sensing configuration, the method including:- receiving (161) an instruction signal from a system for adjusting a sensing configuration, the instruction signal including instructions to perform at least one of transmitting one or more outgoing probing sensing signals for determining a sensing topology for tracking a specific object (41) and receiving one or more incoming sensing signals for determining a sensing topology for tracking the specific object (41), and- performing the at least one of transmitting (163) the one or more outgoing probing sensing signals and receiving (165) the one or more incoming sensing signals in response to receiving the instruction signal.

15. A computer program or suite of computer programs including at least one software code portion or a computer program product storing at least one software code portion, the software code portion, when run on a computer system, being configured for performing the method of claim 13 or 14.

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