Communication method and apparatus

Abstract

A communication method and apparatus, which are applied to the technical field of communications. The method comprises: a first apparatus generating first information and sending the first information, wherein the first information comprises first error information and first position measurement information of a first sensing target, and the first error information is used for indicating the uncertainty of a measurement value indicated by the first position measurement information. By means of the embodiments of the present application, when a fusion center fuses measurement information of the first sensing target reported by multiple apparatuses, the uncertainty of the position estimation of the first sensing target can be reduced by using the first error information, thereby improving the accuracy of the position estimation of the sensing target.

Description

A communication method and apparatus

[0001] Cross-references to related applications

[0002] This application claims priority to Chinese Patent Application No. 202411671918.9, filed on November 20, 2024, entitled "A Communication Method and Apparatus", the entire contents of which are incorporated herein by reference. Technical Field

[0003] This application relates to the field of communication technology, and in particular to a communication method and apparatus. Background Technology

[0004] Communication sensing technology is one of the key technologies in next-generation wireless communication networks. The core idea of ​​this technology is to integrate wireless communication and sensing functions into a single system. It utilizes the various propagation characteristics of wireless signals to achieve sensing functions such as target localization, detection, imaging, and identification, thereby acquiring information about the physical environment surrounding the target and enhancing the user experience. The principle of this sensing technology involves the transmitting device sending a sensing signal, and the receiving device receiving the echo signal formed by the target's reflection (or scattering, or diffraction), processing the echo signal to obtain sensing data, such as the target's location. Currently, improving the accuracy of target location estimation is a research hotspot in communication sensing technology. Summary of the Invention

[0005] This application provides a communication method and apparatus to improve the accuracy of target location estimation. This communication method and apparatus may also be referred to as a sensing method and apparatus, or an integrated communication and sensing method and apparatus.

[0006] In a first aspect, this application provides a communication method applicable to a first device. Exemplarily, the first device may be a first access network device, or a device within the first access network device (e.g., a module, communication module, circuit or chip responsible for communication functions (such as a modem chip, or a system-on-a-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the functions of the first access network device.

[0007] The method may include: a first device generating first information, wherein the first information includes first error information and first position measurement information of a first sensing target, the first error information being used to represent the uncertainty of the measurement value indicated by the first position measurement information; and transmitting the first information.

[0008] Alternatively, the method may include: a first device sending first information, wherein the first information includes first error information and first position measurement information of a first sensing target, the first error information being used to represent the uncertainty of the measurement value indicated by the first position measurement information.

[0009] Optionally, the above method can be applied to sensing scenarios or to scenarios where sensing and communication are integrated, without limitation.

[0010] In the above embodiments of this application, the first information includes not only the first position measurement information of the first sensing target, but also the first error information. The first error information is used to represent the uncertainty of the measurement value indicated by the first position measurement information. In this way, when the fusion center fuses the measurement information of the first sensing target reported by multiple devices, it can use the first error information to reduce the uncertainty of the first sensing target position estimation, thereby improving the accuracy of the target position estimation.

[0011] In one possible implementation, the measurement value indicated by the first position measurement information may include a first value and a second value, and the first error information may include the variance of the first value and the variance of the second value; or, the measurement value indicated by the first position measurement information may include a first value, a second value, and a third value, and the first error information may include the variance of the first value, the variance of the second value, and the variance of the third value.

[0012] In the above implementation, the first error information includes the variance of the measured value indicated by the measurement information. The variance of the measured value can quantify the uncertainty of the measured value indicated by the measurement information. That is, the first error information can be understood as the magnitude of the statistical error between the measured value and the true value. Thus, when the fusion center fuses the measurement information of the first sensing target reported by multiple devices, it can use the first error information to reduce the uncertainty of the first sensing target position estimation, which is beneficial to improving the accuracy of the target position estimation.

[0013] In another embodiment, the measurement value indicated by the first position measurement information may include a first value and a second value, and the first error information may include: the variance of the first value, the variance of the second value, and the covariance of the first value and the second value; or, the measurement value indicated by the first position measurement information may include a first value, a second value, and a third value, and the first error information may include: the variance of the first value, the variance of the second value, the variance of the third value, the covariance of the first value and the second value, the covariance of the first value and the third value, and the covariance of the second value and the third value.

[0014] In the above implementation, the first error information includes the variance of the measured value indicated by the measurement information and the covariance between the measured values. The variance of the measured value and the covariance between the measured values ​​can quantify the uncertainty of the measured value indicated by the measurement information. That is, the first error information can be understood as the magnitude of the statistical error between the measured value and the true value. Thus, when the fusion center fuses the measurement information of the first sensing target reported by multiple devices, it can use the first error information to reduce the uncertainty of the first sensing target position estimation, which is beneficial to improving the accuracy of the target position estimation.

[0015] In another embodiment, the measured value indicated by the first position measurement information may include a first value and a second value, and the first error information may include: the variance of the first value, the variance of the second value, and the correlation coefficient between the first value and the second value; or, the measured value indicated by the first position measurement information may include a first value, a second value, and a third value, and the first error information may include: the variance of the first value, the variance of the second value, the variance of the third value, the correlation coefficient between the first value and the second value, the correlation coefficient between the first value and the third value, and the correlation coefficient between the second value and the third value.

[0016] In the above implementation, the first error information includes the variance of the measured value indicated by the measurement information and the correlation coefficient between the measured values. These contents can quantify the uncertainty of the measured value indicated by the measurement information. That is, the first error information can be understood as the magnitude of the statistical error between the measured value and the true value. Thus, when the fusion center fuses the measurement information of the first sensing target reported by multiple devices, it can use the first error information to reduce the uncertainty of the first sensing target position estimation, which is beneficial to improving the accuracy of the target position estimation.

[0017] In one possible implementation, the first information may further include at least one of the following: information about a first timestamp associated with the first location measurement information, information about a first velocity associated with the first location measurement information, or information about a first signal-to-noise ratio associated with the first location measurement information.

[0018] In one possible implementation, the first information may further include second position measurement information of the second sensing target, and the first error information is further used to represent the uncertainty of the measurement value indicated by the second position measurement information, wherein the difference between the measurement value indicated by the second position measurement information and the measurement value indicated by the first position measurement information is less than or equal to a first threshold.

[0019] In the above implementation, the first information can carry multiple location measurement information, and the multiple location measurement information corresponding to adjacent measurement values ​​can share the same error information, which can reduce the overhead of sending the first information.

[0020] In one possible implementation, the first information may further include second error information and third position measurement information of the third sensing target, wherein the second error information is used to represent the uncertainty of the measurement value indicated by the third position measurement information, and the difference between the measurement value indicated by the third position measurement information and the measurement value indicated by the first position measurement information is greater than a first threshold.

[0021] In one possible implementation, the above method can be applied to either single-station sensing mode or dual-station sensing mode.

[0022] Single-station sensing mode: The first device sends a first signal, receives the echo signal of the first signal, and generates first information based on the echo signal of the first signal.

[0023] Dual-station sensing mode: The first device receives the echo signal of the first signal and generates first information based on the echo signal of the first signal. For example, the fourth device sends the first signal; the first device receives the echo signal of the first signal and generates first information based on the echo signal of the first signal.

[0024] Secondly, this application provides a communication method applicable to a third device. Exemplarily, the third device may be a sensing network element, or a device within the sensing network element (e.g., a module, communication module, circuit or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the sensing network element.

[0025] The method may include: a third device receiving first information from a first device and second information from a second device, the first information including first error information and first position measurement information of a first sensing target, the second information including third error information and fourth position measurement information of the first sensing target, wherein the first error information is used to represent the uncertainty of the measurement value indicated by the first position measurement information, and the third error information is used to represent the uncertainty of the measurement value indicated by the fourth position measurement information; and determining the position of the first sensing target based on the first information and the second information.

[0026] Optionally, the above method can be applied to sensing scenarios or to scenarios where sensing and communication are integrated, without limitation.

[0027] In one possible implementation, the measurement value indicated by the first position measurement information may include a first value and a second value, and the measurement value indicated by the fourth position measurement information may include a fourth value and a fifth value. The first error information includes: the variance of the first value and the variance of the second value; or, the first error information includes: the variance of the first value, the variance of the second value, and the covariance of the first value and the second value; or, the first error information includes: the variance of the first value, the variance of the second value, and the correlation coefficient between the first value and the second value. The third error information includes: the variance of the fourth value and the variance of the fifth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, and the covariance of the fourth value and the fifth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, and the correlation coefficient between the fourth value and the fifth value.

[0028] Alternatively, the measured values ​​indicated by the first location measurement information may include a first value, a second value, and a third value, and the measured values ​​indicated by the fourth location measurement information may include a fourth value, a fifth value, and a sixth value. The first error information includes: the variance of the first value, the variance of the second value, and the variance of the third value; or, the first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the covariance of the first value and the second value, the covariance of the first value and the third value, and the covariance of the second value and the third value; or, the first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the correlation coefficient between the first value and the second value, the correlation coefficient between the first value and the third value, and the correlation coefficient between the second value and the third value. The third error information includes: the variance of the fourth value, the variance of the fifth value, and the variance of the sixth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, the variance of the sixth value, the covariance of the fourth and fifth values, the covariance of the fourth and sixth values, and the covariance of the fifth and sixth values; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, the variance of the sixth value, the correlation coefficient of the fourth and fifth values, the correlation coefficient of the fourth and sixth values, and the correlation coefficient of the fifth and sixth values.

[0029] In one possible implementation, the first information may further include information about a first timestamp associated with the first location measurement information, and the second information may further include information about a second timestamp associated with the fourth location measurement information. The first timestamp is the same as the second timestamp, or the difference between the first timestamp and the second timestamp is less than or equal to a second threshold. The third device determines the location of the first sensing target based on the first information and the second information, which may include: the third device determining the location of the first sensing target within a first time unit based on the first information and the second information, wherein the first time unit includes the first timestamp and the second timestamp.

[0030] In the above implementation, the third device can determine the position of the first sensing target within the first time unit based on the reported timestamp and measurement value. This can be applied to scenarios where the sensing target is moving, and can improve the accuracy of position estimation for moving targets.

[0031] In one possible implementation, the first information may further include first velocity information associated with the first position measurement information and / or first signal-to-noise ratio information associated with the first position measurement information; and / or, the second information may further include second velocity information associated with the fourth position measurement information and / or second signal-to-noise ratio information associated with the fourth position measurement information.

[0032] In one possible implementation, the first information may further include second position measurement information of the second sensing target, and the first error information is further used to represent the uncertainty of the measurement value indicated by the second position measurement information, wherein the difference between the measurement value indicated by the second position measurement information and the measurement value indicated by the first position measurement information is less than or equal to a first threshold.

[0033] In one possible implementation, the first information may further include second error information and third position measurement information of the third sensing target, wherein the second error information is used to represent the uncertainty of the measurement value indicated by the third position measurement information, and the difference between the measurement value indicated by the third position measurement information and the measurement value indicated by the first position measurement information is greater than a first threshold.

[0034] Thirdly, this application provides a communication device that can be used to execute the methods described in the first aspect and any possible implementation thereof. The communication device can be a first device. The communication device may include modules, units, or means corresponding to the methods described in the first aspect and any possible implementation thereof. These modules, units, or means can be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the above functions.

[0035] In one possible implementation, the communication device may include a baseband device and a radio frequency device.

[0036] In another possible implementation, the communication device may include a processing module (sometimes also called a processing unit) and a transceiver module (sometimes also called a transceiver unit). The transceiver module is capable of both sending and receiving functions. When the transceiver module performs the sending function, it may be called a sending module (sometimes also called a sending unit), and when it performs the receiving function, it may be called a receiving module (sometimes also called a receiving unit). The sending module and the receiving module may be the same functional module, referred to as the transceiver module, which performs both sending and receiving functions; or, the sending module and the receiving module may be different functional modules, with "transceiver module" being a collective term for these functional modules.

[0037] Fourthly, this application provides a communication device that can be used to execute the methods described in the second aspect and any possible implementation thereof. The communication device can be a third device. The communication device may include modules, units, or means corresponding to the methods described in the second aspect and any possible implementation thereof. These modules, units, or means may be implemented in hardware, software, or by hardware executing corresponding software implementations. The hardware or software includes one or more modules or units corresponding to the aforementioned functions.

[0038] In one possible implementation, the communication device may include a baseband device and a radio frequency device.

[0039] In another possible implementation, the communication device may include a processing module (sometimes also called a processing unit) and a transceiver module (sometimes also called a transceiver unit). The transceiver module is capable of both sending and receiving functions. When the transceiver module performs the sending function, it may be called a sending module (sometimes also called a sending unit), and when it performs the receiving function, it may be called a receiving module (sometimes also called a receiving unit). The sending module and the receiving module may be the same functional module, referred to as the transceiver module, which performs both sending and receiving functions; or, the sending module and the receiving module may be different functional modules, with "transceiver module" being a collective term for these functional modules.

[0040] Fifthly, this application provides a communication system that may include at least one of the following: a first device, a second device, or a third device. The first device is configured to perform the method described in the first aspect and any possible implementation thereof, the third device is configured to instruct the execution of the method described in the second aspect and any possible implementation thereof, and the second device is configured to send second information to the third device.

[0041] In one possible implementation, the communication system may include a first device, a second device, and a third device, wherein the first device is a first access network device or a device within a first access network device, the second device is a second access network device or a device within a second access network device, and the third device is a sensing network element or a device within a sensing network element.

[0042] In another possible implementation, the communication system may include a first device, a second device, and a third device, wherein the first device is a first distributed unit, the second device is a second distributed unit, and the third device is a centralized unit.

[0043] Sixthly, this application also provides a communication device. The communication device may include one or more processors. Optionally, the communication device may further include a memory. The memory is used to store one or more computer programs or instructions. The one or more processors are used to execute the one or more computer programs or instructions stored in the memory, causing the communication device to perform the methods described in any of the first or second aspects and any possible implementations thereof.

[0044] In a seventh aspect, this application also provides a communication device, comprising: a processor and an interface circuit; the interface circuit is configured to receive signals from other communication devices outside the communication device and transmit them to the processor, or to send signals from the processor to other communication devices outside the communication device. The processor is configured to implement the method described in any of the first or second aspects and any possible implementations thereof through logic circuits or by executing computer programs or instructions.

[0045] In some possible designs, when the device is a chip system, it can be composed of chips or contain chips and other discrete components.

[0046] Eighthly, this application also provides a chip system comprising at least one chip and a memory, wherein the at least one chip is configured to read and execute a program stored in the memory to implement the method described in any of the first or second aspects and any possible implementation thereof.

[0047] Ninthly, this application also provides a computer-readable storage medium for storing a computer program or instructions that, when executed, cause the method described in any of the first or second aspects and any possible implementation thereof to be implemented.

[0048] In a tenth aspect, this application also provides a computer program product comprising a computer program or instructions that, when executed on a computer, cause the method described in any of the first or second aspects and any possible implementation thereof to be implemented.

[0049] The technical effects achievable by the second to tenth aspects and any of their possible implementations are described in the same manner as the technical effects achievable by the first aspect and any of its possible implementations, and will not be repeated here. Attached Figure Description

[0050] Figure 1A is a schematic diagram of a single-station sensing mode;

[0051] Figure 1B is a schematic diagram of the dual-station sensing mode;

[0052] Figure 2 is a schematic diagram of an application scenario according to an embodiment of this application;

[0053] Figure 3 is a schematic diagram of a communication system provided in an embodiment of this application;

[0054] Figures 4 to 7 are schematic flowcharts of several communication methods provided in the embodiments of this application;

[0055] Figures 8 to 10 are schematic diagrams of the structures of several communication devices provided in the embodiments of this application. Detailed Implementation

[0056] The relevant terms used in the embodiments of this application will be explained below. It should be noted that these explanations are for the purpose of making the embodiments of this application easier to understand, and should not be regarded as a limitation on the scope of protection claimed by this application.

[0057] I. Sensing, sensing signals, communication signals, echo signals, communication-sensing fusion signals, and targets:

[0058] 1) Sensing: Sensing allows us to detect parameters of targets in the physical environment, such as the target's position and velocity. It can be understood that sensing devices detect targets by emitting electromagnetic waves and analyzing the echo signals reflected (or scattered, diffracted, or diffused) from objects. Optionally, sensing can also be called detection.

[0059] 2) Sensing signal: A signal used to sense (or detect) a target (or target object). Optionally, the sensing signal can also be called a detection signal, linear frequency modulated signal, radar signal, radar sensing signal, radar detection signal, or environmental sensing signal, etc. Optionally, the sensing signal can be a pulse signal or a signal from a wireless communication system. For example, the sensing signal can be an orthogonal frequency division multiplexing (OFDM) signal obtained by modulating a specific sequence on a subcarrier. This specific sequence can be any of the following sequences: Zadoff-Chu sequence (ZC sequence), pseudo-random sequence, or predefined sequence. The pseudo-random sequence includes any of the following sequences: longest linear feedback shift register sequence (m-sequence), or Gold sequence. The predefined sequence is, for example, random data symbols, such as random data symbols modulated by quadrature phase shift keying (QPSK) or quadrature amplitude modulation (QAM).

[0060] 3) Communication signals can be signals transmitted between communication devices for communication purposes. For example, communication signals may include signals transmitted between network devices and terminal devices. Communication signals are carried, for example, on the physical downlink shared channel (PDSCH).

[0061] 4) Echo signal, which can be understood as the signal generated by the reflection of the sensing signal by the target. The echo signal, or the echo signal and the sensing signal, can reflect the parameters of the target. For example, the time delay of the echo signal relative to the transmitted sensing signal can reflect the distance of the target relative to the transmitter, and the Doppler frequency shift of the echo signal relative to the sensing signal can reflect the velocity of the target.

[0062] 5) Communication-sensing fusion signals are signals used for both communication and sensing. Optionally, communication-sensing fusion signals can also be called synthetic-sensing fusion signals, synthetic signals, or integrated synthetic-sensing signals, etc. When used for communication, the synthetic-sensing fusion signal can be understood as carrying the communication data or communication reference signal sequence that needs to be transmitted between communication devices. When used for sensing, the synthetic-sensing fusion signal can be understood as being used to sense (or detect) targets.

[0063] 6) The target can be any tangible object in the environment that can reflect electromagnetic waves, such as mountains, forests, or buildings, and can also include mobile objects such as vehicles, drones, pedestrians, and terminal devices. Optionally, the target can also be referred to as a sensed target, a detected target, a sensed object, a sensed device, a sensing target, a detection target, a sensed object, or a detection object, etc., which is not limited in the embodiments of this application.

[0064] For electromagnetic sensing, a target can generally be modeled as at least one scattering point (or scattering center, scatterer, etc.), and the process of a target reflecting (or scattering, or diffracting, or scattering, etc.) electromagnetic waves can be equivalent to the process of at least one scattering point reflecting (or scattering, or diffracting, or scattering, etc.). For example, for a point-like target, the target can be modeled as a single scattering point. For example, for an extended target, the target can be modeled as multiple scattering points. Accordingly, the target in this application can be understood as a single scattering point, or it can be understood as multiple scattering points. In the following text, unless otherwise specified, the target can be understood as a single scattering point.

[0065] II. Perception Mode:

[0066] In terms of sensing, depending on the sender and receiver of the sensing signal, the sensing mode can be divided into two modes: single-station sensing and dual-station sensing.

[0067] Single-site sensing mode refers to a mode where the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are the same device, as shown in Figure 1A. Both the device transmitting the sensing signal and the device receiving the echo signal are device 1. Optionally, single-site sensing mode can be called self-transmitting and self-receiving mode. Figure 1A uses a vehicle as an example as the target.

[0068] In Figure 1A, device 1 can be a base station or a terminal device. For example, in Figure 1A, device 1 is a base station. In single-site sensing mode, the base station transmits a sensing signal and receives the echo signal generated by the reflection of the sensing signal by a scattering object in the environment (e.g., a vehicle in Figure 1A) to perform environmental sensing. As another example, in Figure 1A, device 1 is a terminal device. In single-site sensing mode, the terminal device transmits a sensing signal and receives the echo signal generated by the reflection of the sensing signal by a target in the environment (e.g., a vehicle in Figure 1A) to perform environmental sensing.

[0069] Dual-station sensing mode refers to a mode where the device transmitting the sensing signal and the device receiving the echo signal reflected from the target are different devices, as shown in Figure 1B. Device 2 transmits the sensing signal, and device 3 receives the echo signal. Optionally, dual-station sensing mode can also be called A-transmit / B-receive mode, or self-transmit / other-receive mode. Figure 1B uses a vehicle as an example.

[0070] In Figure 1B, device 2 can be a base station and device 3 can be a terminal device; or device 2 can be a terminal device and device 3 can be a base station; or both device 2 and device 3 can be base stations; or both device 2 and device 3 can be terminal devices. For example, in Figure 1B, device 2 is a base station and device 3 is a terminal device. In the dual-site sensing mode, the base station sends a sensing signal, and the terminal device receives the echo signal generated by the reflection of the sensing signal from a target in the environment (e.g., the vehicle in Figure 1B) to perform environmental sensing. As another example, in Figure 1B, device 2 is a terminal device and device 3 is a base station. In the dual-site sensing mode, the terminal device sends a sensing signal, and the base station receives the echo signal generated by the reflection of the sensing signal from a target in the environment (e.g., the vehicle in Figure 1B) to perform environmental sensing. As yet another example, in Figure 1B, device 2 is base station 1 and device 3 is base station 2. In the dual-site sensing mode, base station 1 sends a sensing signal, and base station 2 receives the echo signal generated by the reflection of the sensing signal from a target in the environment (e.g., the vehicle in Figure 1B) to perform environmental sensing. For example, in Figure 1B, device 2 is terminal device 1 and device 3 is terminal device 2. In the dual-station sensing mode, terminal device 1 sends a sensing signal and terminal device 2 receives the echo signal generated by the reflection of the sensing signal by a target in the environment (such as the vehicle in Figure 1B) to perform environmental sensing.

[0071] III. Terminal Equipment:

[0072] A terminal device is a device with wireless transceiver capabilities. It can be a fixed device, mobile device, handheld device (e.g., mobile phone), wearable device, in-vehicle device, or a wireless device (e.g., communication module, modem, or chip system) built into the aforementioned devices. The terminal device is used to connect people, objects, and machines, and can be widely used in various scenarios, including but not limited to: sensing scenarios, cellular communication, device-to-device (D2D) communication, vehicle-to-everything (V2X) communication, machine-to-machine / machine-type (M2M / MTC) communication, Internet of Things (IoT), virtual reality (VR), augmented reality (AR), industrial control, self-driving, remote medical care, smart grid, smart furniture, smart office, smart wearables, smart transportation, smart city, drones, robots, and terminal devices in indoor commercial scenarios (e.g., mobile phone screen mirroring, file sharing, and video transmission from mobile phone to VR glasses). When the terminal equipment is applied to V2X, it can also be called a V2X device, such as a smart car, digital car, unmanned car, driverless car, pilotless car, or automobile, self-driving car, or autonomous car, pure electric vehicle (EV), hybrid electric vehicle (HEV), range-extended electric vehicle (REEV), plug-in hybrid electric vehicle (PHEV), new energy vehicle, or roadside unit (RSU). The terminal equipment can also be a device used in D2D communication, such as an electricity meter or water meter.

[0073] Furthermore, in this embodiment, the terminal device can also be a terminal device in an IoT system. IoT is an important component of the future development of information technology. Its main technical feature is to connect objects to the network through communication technology, thereby realizing an intelligent network of human-machine interconnection and object-to-object interconnection.

[0074] The various terminal devices described above, if located in a vehicle (e.g., placed inside or installed inside a vehicle), can all be considered in-vehicle terminal devices, also known as on-board units (OBUs). The terminal device of this application can also be an in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit built into a vehicle as one or more components or units. The vehicle can implement the methods of this application through the built-in in-vehicle module, in-vehicle component, in-vehicle chip, or in-vehicle unit.

[0075] The terminal equipment may sometimes be referred to as user equipment (UE), terminal, access station, UE station, remote station, wireless communication equipment, or user device, etc.

[0076] In this application embodiment, the communication device used to implement the terminal device function can be the terminal device itself, or it can be a device capable of supporting the terminal device in implementing the function, such as a chip system. This device can be installed in the terminal device. In the technical solutions provided in this application embodiment, the terminal device is used as an example to describe the technical solutions provided in this application embodiment. Furthermore, for ease of description, the terminal device in this application embodiment is described using a UE as an example.

[0077] IV. Network Equipment:

[0078] Network equipment, including access network equipment and / or core network equipment.

[0079] 1) Core network equipment refers to the equipment in the core network that provides service support to terminals. For example, in the context of the 5th generation (5G) core network, the evolved 5G core network, or the core network in future communication systems, some examples of core network equipment include: access and mobility management function (AMF) entities, session management function (SMF) entities, user plane function (UPF) entities, policy control function (PCF) entities, location management function (LMF) entities, etc., which will not be listed here. These core network devices can work independently or be combined to implement certain control functions; for example, AMF, SMF, and PCF can be combined into a single core network device.

[0080] Optionally, the core network equipment may further include sensing entities (or sensing functional entities). Sensing entities can be used to sense targets, such as determining the target's location or reconstructing the target's environment, and are not limited in this regard. This application does not limit the deployment of sensing entities. For example, sensing entities can be deployed in the core network or in the access network, and are not limited in this respect. For example, sensing entities can also be network management platforms or network management devices, etc. It should be understood that in future communication systems, functional entities used for sensing targets may still be called sensing entities, or may have other names; this application does not limit this.

[0081] It should be noted that in this application, an entity can also be referred to as a network element or a functional entity. For example, a sensing entity can also be referred to as a sensing network element, a sensing functional entity, or a sensing functional network element.

[0082] 2) Access network equipment is a network-side device with wireless transceiver capabilities. For example, a device that provides wireless communication capabilities to terminal devices in a radio access network (RAN) is called an RAN device or RAN node.

[0083] As an example, the access network equipment includes, but is not limited to, base stations (base transceiver stations, BTS, Node B, evolved Node B (eNodeB) / eNB, or next-generation Node B (gNodeB) / gNB), transmission reception points (TRPs), base stations evolved under the 3rd generation partnership project (3GPP), access nodes in Wi-Fi systems, wireless relay nodes, wireless backhaul nodes, etc. The base stations can be: macro base stations, micro base stations, pico base stations, small cells, relay stations, etc. Multiple base stations can support networks using the same access technology or networks using different access technologies. A base station can contain one or more co-located or non-co-located transmission and reception points. Another example is that the access network device can also be a radio controller, central unit (CU), and / or distributed unit (DU) in an open RAN (ORAN) or cloud radio access network (CRAN) scenario. Optionally, the central unit can also be called a control unit. Yet another example is that the access network device can also be a server, etc. For example, the access network device in V2X technology can be a roadside unit (RSU). The following description uses a base station as an example to illustrate the access network device. A base station can communicate with a terminal device, or it can communicate with a terminal device through a relay station. A terminal device can communicate with multiple base stations in different access technologies.

[0084] Optionally, in the CU-DU architecture, the access network equipment may include one or more logical units (or logical network elements) such as CU, DU, or radio unit (RU). This application does not limit the number of CU, DU, and RU. CU and DU may be configured separately or included in the same network element, such as in a baseband unit (BBU). RU may be included in radio equipment or radio units, such as in a remote radio unit (RRU), active antenna unit (AAU), or remote radio head (RRH). For example, the CU may perform the functions of the radio resource control (RRC) protocol and packet data convergence protocol (PDCP) of the base station, and may also perform the functions of the service data adaptation protocol (SDAP). For example, the DU may perform the functions of the radio link control layer and medium access control (MAC) layer of the base station, and may also perform some or all of the physical layer functions. For a detailed description of each of the above protocol layers, please refer to the relevant technical specifications of the 3rd Generation Partnership Project (3GPP).

[0085] Optionally, the CU may include a CU-control plane (CP) and / or a CU-user plane (UP). For example, the CU-CP is a logical node carrying the RRC layer and the PDCP-control plane (PDCP-C) layer, and can be used to implement the control plane functions of the CU. For instance, the CU-CP can interact with network elements in the core network used to implement control plane functions. These network elements in the core network can be, for example, sensing network elements, AMFs, etc., and are not limited. For example, the CU-UP is a logical node carrying the SDAP layer and the PDCP-user plane (PDCP-U) layer, and can be used to implement the user plane functions of the CU. For example, the CU-UP can interact with network elements in the core network used to implement user plane functions. These network elements in the core network can be, for example, UPFs, etc., and are not limited.

[0086] In different systems, CU (or CU-CP and / or CU-UP), DU, or RU may have different names, but those skilled in the art will understand their meaning. For example, in an ORAN system, CU can also be called an open-CU (open-CU, O-CU), DU can also be called an open-DU (open-DU, O-DU), CU-CP can also be called an open-CU-CP (open-CU-CP, O-CU-CP), CU-UP can also be called an open-CU-UP (open-CU-UP, O-CU-UP), and RU can also be called an open-RU (open-RU, O-RU). For ease of description, this application uses CU, CU-CP, CU-UP, DU, and RU as examples. Any of the units among CU (or CU-CP, CU-UP), DU, and RU in this application can be implemented through software modules, hardware modules, or a combination of software modules and hardware modules.

[0087] Optionally, in various embodiments of this application, if the access network device is a distributed architecture, for example, the access network device includes CU and DU, or includes CU-CP, CU-UP and DU, then the access network device sends information to the UE, specifically the DU included in the access network device sends information to the UE; the access network device receives information from the UE, specifically the DU included in the access network device receives information from the UE; the access network device sends information to the core network device, specifically the CU (or CU-CP, or CU-UP included in the access network device) sends information to the core network device; the access network device receives information from the core network device, which may include the CU (or CU-CP, or CU-UP included in the access network device receiving information from the core network device.

[0088] In this application embodiment, the communication device used to implement the network device function can be a network device itself, or it can be a device capable of supporting the network device in implementing that function, such as a chip system. This device can be installed within the network device. In the technical solutions provided in this application embodiment, the example of a network device being used to implement the network device function is used to describe the technical solutions provided in this application embodiment.

[0089] V. In the embodiments of this application, "multiple" can refer to two or more. Therefore, in the embodiments of this application, "multiple" can also be understood as "at least two". "At least one" can be understood as one or more, such as one, two or more. For example, "including at least one" means including one, two or more. For example, including at least one of A, B and C, then it can include A, B, C, A and B, A and C, B and C, or A, B and C. "And / or" describes the relationship between related objects. Specifically, there can be three relationships. For example, A and / or B can represent: A exists alone, A and B exist simultaneously, and B exists alone. In addition, the character " / ", unless otherwise specified, generally indicates that the related objects before and after are in an "or" relationship.

[0090] VI. In the embodiments of this application, the terms "system" and "network" can be used interchangeably, and "according to" and "based on" can be used interchangeably.

[0091] The ordinal numbers such as "first" and "second" mentioned in the embodiments of this application are generally used to distinguish different objects, and are not used to limit the order, timing, priority, or importance of multiple objects. For example, the first device, second device, and third device involved in the embodiments of this application are used to distinguish different devices, and do not limit the order, timing, priority, or importance of these three devices.

[0092] 7. The terms “comprising” and “having” and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are expressly listed, but may include other steps or units that are not expressly listed or that are inherent to such process, method, product or device.

[0093] 8. In this application, "predefined" may include predefined terms, such as protocol definitions. "Predefined" can be implemented by pre-storing corresponding codes, tables, or other means of indicating relevant information in the device (e.g., including various network elements), and this application does not limit the specific implementation method.

[0094] 9. The term "storage" or "preservation" in this application can refer to storage in one or more memory devices. These memory devices can be separately configured or integrated into an encoder, decoder, processor, or communication device. Alternatively, some memory devices can be separately configured, while others can be integrated into a decoder, processor, or communication device. The type of memory can be any form of storage medium, and this is not limited.

[0095] 10. The arrows or boxes indicated by dashed lines in the schematic diagrams in the accompanying drawings of this application represent optional steps or optional modules.

[0096] XI. In this application, "instruction" may include direct instruction, indirect instruction, explicit instruction, and implicit instruction. When describing a certain instruction information for the purpose of instructing A, it can be understood that the instruction information carries A, directly instructs A, or indirectly instructs A.

[0097] In this application, the information indicated by the instruction information is called the information to be instructed. In specific implementations, there are many ways to indicate the information to be instructed, such as, but not limited to, directly indicating the information to be instructed, such as the information to be instructed itself or its index. It can also indirectly indicate the information to be instructed by indicating other information, where there is a relationship between the other information and the information to be instructed. It can also indicate only a part of the information to be instructed, while the other parts are known or pre-agreed upon. For example, the instruction of specific information can be achieved by using a pre-agreed (e.g., protocol-defined) arrangement of various pieces of information, thereby reducing instruction overhead to some extent. Furthermore, the information to be instructed can be sent as a whole or divided into multiple sub-information pieces, and the sending period and / or timing of these sub-information pieces can be the same or different.

[0098] 12. In this application, "send" and "receive" indicate the direction of signal transmission. For example, "send information to XX" can be understood as the destination of the information being XX, which may include direct transmission via the air interface or indirect transmission by other units or modules via the air interface. "Receive information from YY" can be understood as the source of the information being YY, which may include direct reception from YY via the air interface or indirect reception from YY by other units or modules via the air interface. "Send" can also be understood as the "output" of the chip interface, and "receive" can also be understood as the "input" of the chip interface. In other words, sending and receiving can occur between devices, such as between network devices and terminal devices, or within a device, such as between components, modules, chips, software modules, or hardware modules within the device via a bus, wiring, or interface.

[0099] Thirteen, in the embodiments of this application, the words "exemplarily," "for example," "for instance," etc., are used to indicate examples, illustrations, or descriptions. Any embodiment or design scheme described as an "example" in this application should not be construed as being more preferred or advantageous than other embodiments or design schemes. Specifically, the use of the word "example" is intended to present concepts in a specific manner. In the embodiments of this application, "of," "corresponding, relevant," and "corresponding" may sometimes be used interchangeably, and it should be noted that their intended meanings are consistent when their distinctions are not emphasized.

[0100] XIV. The embodiments of this application will be presented in the context of a system including multiple devices, components, modules, etc. It should be understood that the system may include other unmentioned devices, components, modules, etc., or may only include some of the devices, components, or modules mentioned in the embodiments. Optionally, the terms "component" and "part" in this application can be used interchangeably.

[0101] The communication method provided in this application can be applied to fourth-generation (4G) communication systems, such as Long Term Evolution (LTE) systems, and also to fifth-generation (5G) communication systems, such as 5G New Radio (NR) systems, or to future communication systems. The method provided in this application can also be applied to Bluetooth systems, Wireless Fidelity (Wi-Fi) systems, Long Range Radio (LoRa) systems, or vehicle-to-everything (V2X) systems. The method provided in this application can also be applied to satellite communication systems, wherein the satellite communication system can be integrated with the aforementioned communication systems.

[0102] Figure 2 is a schematic diagram of a scenario of integrated communication and sensing. Figure 2 may include at least one access network device, and a single access network device is shown as an example in Figure 2. For example, the access network device adopts a single-site sensing mode, wherein the sensing of scatterer 3 and scatterer 5 by the access network device is a single-site sensing mode.

[0103] Optionally, Figure 2 may also include at least one UE, with multiple UEs illustrated in Figure 2. For example, UE1 and the access network device adopt a dual-site sensing mode, where UE1 is the transmitter of the sensing signal (or, sensing fusion signal) and the access network device is the receiver of the echo signal of the sensing signal (or, sensing fusion signal); UE3 and the access network device may also adopt a dual-site sensing mode, where the access network device is the transmitter of the sensing signal (or, sensing fusion signal) and UE3 is the receiver of the echo signal of the sensing signal (or, sensing fusion signal). As another example, the UE may also sample a single-site sensing mode, which is not shown in Figure 2.

[0104] In Figure 2, the access network device and UE2 are communicating and can transmit communication signals. Additionally, the access network device can send communication signals to UE4, and can also send sensing signals or fusion sensing signals. UE4 can receive these communication signals. If the access network device sends a fusion sensing signal, UE4 can also receive that fusion sensing signal. The access network device uses a single-site sensing mode, and can also receive the echo signal reflected by the scatterer 4 from the sensing signal or fusion sensing signal.

[0105] Optionally, Figure 2 may also include core network equipment, which is not shown in Figure 2. For example, access network equipment can send sensing data to core network equipment (e.g., sensing network elements) to achieve functions such as positioning; or, for example, the UE sends sensing data to core network equipment (e.g., sensing network elements) through access network equipment to achieve functions such as positioning.

[0106] Figure 2 uses UE3 as an example, where UE3 is a vehicle and scatterer 3 is a human body. There are no restrictions on the type of other UEs and scatterers.

[0107] For access network equipment, core network equipment, and UE, please refer to the terminology explanation; further details will not be provided here.

[0108] The network architecture and application scenarios described in this application are intended to more clearly illustrate the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided in the embodiments of this application. As those skilled in the art will know, with the evolution of network architecture and the emergence of new business scenarios, the technical solutions provided in the embodiments of this application are also applicable to similar technical problems.

[0109] Communication sensing technology is one of the key technologies in next-generation wireless communication networks. Currently, improving the accuracy of target location estimation is a research hotspot in communication sensing technology. To this end, embodiments of this application provide various communication methods and apparatuses to improve the accuracy of target location estimation. These various communication methods and apparatuses can also be referred to as multiple sensing methods and apparatuses, or integrated multiple communication sensing methods and apparatuses. The methods and apparatuses described in this application are based on the same technical concept. Since the principles by which the methods and apparatuses solve problems are similar, the implementations of the apparatus and methods can be referred to each other, and repeated details will not be elaborated further.

[0110] The following describes a communication system provided by an embodiment of this application.

[0111] Figure 3 is a schematic diagram of a communication system provided in an embodiment of this application. This communication system may also be called a sensing system, or an integrated communication and sensing system, etc., without limitation. The communication system may include at least one of the following: a first device, a second device, and a third device. The first device and the third device can communicate with each other. The second device and the third device can communicate with each other. Optionally, the first device and the second device can also communicate with each other, as not shown in Figure 3.

[0112] For example, the first device can be used to acquire sensing measurement data #1 and send the sensing measurement data #1 to the third device. The second device can be used to acquire sensing measurement data #2 and send the sensing measurement data #2 to the third device. The third device can be used to receive sensing measurement data #1 from the first device and receiving sensing measurement data #2 from the second device, and to sense the target based on the sensing measurement data #1 and sensing measurement data #2, such as determining the location of the target.

[0113] Optionally, the sensing measurement data may include, but is not limited to, at least one of the following: timestamp information, coordinate information, velocity information, or signal-to-noise ratio information.

[0114] In this embodiment, the first device can obtain sensing measurement data #1 through single-station sensing mode or dual-station sensing mode; this application does not limit the specific method used. For example, the first device sends signal #1, which is reflected (or scattered, or diffracted, or diffused, etc.) by a target in the environment, generating an echo signal. This echo signal is received by the first device, which then obtains sensing measurement data #1. Alternatively, a fourth device (not shown in Figure 3) sends signal #1, which is reflected (or scattered, or diffracted, or diffused, etc.) by a target in the environment, generating an echo signal. This echo signal is received by the first device, which then obtains sensing measurement data #1. Figure 2 illustrates an example of the first device using single-station sensing mode.

[0115] In one embodiment, the first device may be an access network device, or a device within the access network device (e.g., a module, communication module, circuitry or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the access network device's functions. In another embodiment, the first device may also be a UE, or a device within the UE (e.g., a module, communication module, circuitry or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the UE's functions. In yet another embodiment, the first device may also be a DU or CU in a CU-DU architecture.

[0116] The second device can obtain sensing measurement data #2 through single-station sensing mode or dual-station sensing mode; this embodiment does not limit the specific method used. For example, the second device sends signal #2, which is reflected (or scattered, diffracted, or diffused, etc.) by a target in the environment, generating an echo signal. This echo signal is received by the second device, which then obtains sensing measurement data #2. Alternatively, a fifth device (not shown in Figure 3) sends signal #2, which is reflected (or scattered, diffracted, or diffused, etc.) by a target in the environment, generating an echo signal. This echo signal is received by the second device, which then obtains sensing measurement data #2. Figure 2 illustrates an example of the second device using single-station sensing mode.

[0117] In one embodiment, the second device may be an access network device, or a device within the access network device (e.g., a module, communication module, circuitry or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the access network device's functions. In another embodiment, the second device may also be a UE, or a device within the UE (e.g., a module, communication module, circuitry or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the UE's functions. In yet another embodiment, the second device may also be a DU or CU in a CU-DU architecture.

[0118] The third device can receive sensing measurement data from multiple devices and fuse multiple sensing measurement data of the same sensing target (or the same scattering point) to achieve sensing of the sensing target (or scattering point), such as determining the position of the sensing target (or scattering point).

[0119] In one embodiment, the third device can be a sensing network element, or a device within a sensing network element (e.g., a module, communication module, circuit or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the sensing network element's functions. In another embodiment, the third device can also be a CU in a CU-DU architecture. In yet another embodiment, the third device can also be a fusion center or fusion platform.

[0120] For example, the first device may be a first access network device, the second device may be a second access network device, and the third device may be a sensing network element (or a fusion center, or a fusion platform); or, the first device may be a first DU, the second device may be a second DU, and the third device may be a CU; or, the first device may be a first UE, the second device may be a second UE, and the third device may be a sensing network element (or a fusion center, or a fusion platform). This application does not limit the implementation of the first, second, and third devices in its embodiments.

[0121] For the terms access network equipment, UE, sensing network element, CU, and DU, please refer to the terminology explanation; they will not be repeated here.

[0122] The communication method provided by the embodiments of this application will be described in detail below with reference to the accompanying drawings. Various embodiments of this application can be applied to the network architecture shown in FIG2 or FIG3. For example, the first device involved in the following embodiments can be the first device in FIG3. For example, the second device involved in the following embodiments can be the second device in FIG3. For example, the third device involved in the following embodiments can be the third device in FIG3. The implementation of the first, second, and third devices can be referred to the foregoing and will not be repeated here.

[0123] Figure 4 is a flowchart illustrating the first communication method provided in this application embodiment. This first communication method can also be called a first sensing method, or a first integrated communication and sensing method. As shown in Figure 4, the method includes the following:

[0124] S401: The first device generates (or determines, or acquires, or obtains) first information.

[0125] S401 is an optional step, indicated by a dashed line in Figure 4.

[0126] The first information is associated with the echo signal of the first signal, or the first information is information generated based on the echo signal of the first signal, or the first information is information obtained by measuring the echo signal of the first signal. The echo signal of the first signal is generated by the first signal being reflected (or scattered, or diffracted, or diffused, etc.) by a first sensing target in the environment. The first signal can be used for sensing, or the first signal can be used for sensing and communication. In other words, the first signal can be a sensing signal, or the first signal can be a communication-sensing fusion signal. Optionally, the first sensing target can also be a scattering point, without limitation.

[0127] For terms such as echo signal, sensing signal, communication-sensing fusion signal, sensing target, and scattering point, please refer to the relevant content of the terminology explanation; they will not be repeated here.

[0128] In one embodiment, the first device can receive the echo signal of the first signal and generate first information based on the echo signal of the first signal. For example, in a single-station sensing mode, the first device can transmit the first signal, receive the echo signal of the first signal, and generate first information based on the echo signal of the first signal. As another example, in a dual-station sensing mode, a fourth device transmits the first signal; the first device receives the echo signal of the first signal and generates first information based on the echo signal of the first signal.

[0129] It should be understood that the embodiments of this application do not limit the implementation method of the first device generating the first information.

[0130] The first information may include first error information and first position measurement information of the first perceived target. Alternatively, the first information may include relevant information of the first position measurement information, which may include the first error information and the first position measurement information.

[0131] Optionally, the first information may further include at least one of the following: information about a first timestamp associated with the first position measurement information, information about a first velocity associated with the first position measurement information, or information about a first signal-to-noise ratio associated with the first position measurement information. Alternatively, the relevant information of the first position measurement information may further include at least one of the following: information about a first timestamp associated with the first position measurement information, information about a first velocity associated with the first position measurement information, or information about a first signal-to-noise ratio associated with the first position measurement information.

[0132] The first piece of information will be introduced below.

[0133] 1. First position measurement information, which can be used to indicate the position of the first perceived target.

[0134] In this application, the first position measurement information is associated with the echo signal of the first signal. For example, the measurement value indicated by the first position measurement information (which may be denoted as measurement value #1) is a measurement value obtained based on (or according to) the echo signal of the first signal. For example, the first device can measure the echo signal of the first signal to obtain a measurement value of the position of the first sensing target, i.e., obtain measurement value #1.

[0135] Optionally, the measurement value of the first position measurement information used to indicate the position of the first sensing target can be understood as follows: the first position measurement information can be used to indicate the measurement value of the position of the first sensing target obtained based on the echo signal of the first signal; or it can be understood as follows: the first position measurement information can be used to indicate the position of the first sensing target obtained based on the echo signal of the first signal; or it can be understood as follows: the first position measurement information can be used to indicate the measurement value of the position of the first sensing target obtained by measuring the echo signal of the first signal; or it can be understood as follows: the first position measurement information can be used to indicate the position of the first sensing target obtained by measuring the echo signal of the first signal.

[0136] Optionally, the first position measurement information may also be referred to as first position information or first measurement information, etc. The naming of the first position measurement information is not limited in the embodiments of this application.

[0137] In one embodiment, the measured value #1 can be a two-dimensional coordinate in a Cartesian coordinate system (or a rectangular coordinate system). For example, the measured value #1 may include a first value and a second value. For example, the measured value #1 can be denoted as (x1, y1). Where x1 is the first value and y1 is the second value, which is not limited. Both x1 and y1 are real numbers.

[0138] In another implementation, the measured value #1 can also be a three-dimensional coordinate in a Cartesian coordinate system (or rectangular coordinate system). For example, the measured value #1 may include a first value, a second value, and a third value. For example, the measured value #1 can be denoted as (x1, y1, z1). Where x1 is the first value, y1 is the second value, and z1 is the third value, without limitation. x1, y1, and z1 are all real numbers.

[0139] Optionally, the coordinate system corresponding to the measurement value #1 can be a coordinate system with the first device as the origin, or it can be a coordinate system with absolute geographical location. This application does not limit this.

[0140] It is understood that the implementation of the measurement value #1 is not limited in the embodiments of this application.

[0141] 2. The first error information can be used to represent (or indicate) the uncertainty of the measured value #1.

[0142] Uncertainty can be understood as the degree of uncertainty about the measured value due to measurement error, or as the statistical error between the measured value and the true value. Generally, the greater the uncertainty of a measured value, the worse its quality; the smaller the uncertainty, the better its quality. Accordingly, the first error information used to represent the uncertainty of measured value #1 can be replaced with: the first error information can be used to represent the degree of uncertainty about measured value #1.

[0143] Optionally, the first error information used to represent the uncertainty of the measured value #1 can also be replaced by: the first error information used to represent (or indicate) the reliability of the measured value #1. That is, the first error information can be used to represent the degree of confidence in the measured value #1. Generally, the greater the reliability of a measured value, the smaller its uncertainty and the better its quality; conversely, the smaller the reliability of a measured value, the greater its uncertainty and the worse its quality. The following section uses the example of the first error information representing the uncertainty of the measured value #1.

[0144] In one implementation, the first error information is information determined based on the measured value #1. For example, the first error information may be information determined based on the variance corresponding to the measured value #1. Alternatively, the first error information may be information determined based on the variance and covariance corresponding to the measured value #1. Yet another example is information determined based on the variance and correlation coefficient corresponding to the measured value #1.

[0145] Optionally, the first error information may include the variance of the measured value #1, or the variance of the measured value #1 and the covariance of the measured value #1, or the variance of the measured value #1 and the correlation coefficient of the measured value #1.

[0146] The implementation method of the first error information is described below.

[0147] 1) The measured value #1 can be a two-dimensional coordinate. If the measured value #1 includes a first value and a second value, the first error information can be realized through the following methods 1-1, 1-2 or 1-3.

[0148] Method 1-1: The measured value #1 includes a first value and a second value. The first error information may include the variance of the first value (which can be denoted as variance #1) and the variance of the second value (which can be denoted as variance #2). That is, the measured value #1 includes a first value and a second value, and the first error information may include variance #1 and variance #2.

[0149] Optionally, the measured value #1 is denoted as (x1, y1), where x1 is the first value and y1 is the second value. Correspondingly, variance #1 can be the variance of x1, which can be understood as the variance of the first dimension (i.e., the dimension in which x1 resides). Variance #2 can be the variance of y1, which can be understood as the variance of the second dimension (i.e., the dimension in which y1 resides).

[0150] For example, the measured value #1 is denoted as (x1, y1), and the variance #1 can be E[(x1-x0)]. 2 The variance #2 can be E[(y1-y0)]. 2 ] where x0 is the true value (or real value) of measurement #1 in the dimension where x1 is located. y0 is the true value (or real value) of measurement #1 in the dimension where y1 is located. Both x0 and y0 are real numbers. x1 is the first value, and y1 is the second value. E[·] represents the expectation operation.

[0151] Optionally, x0, which is the true value of measurement #1 in the dimension where x1 is located, can be replaced with: x0 is the sample mean of measurement #1 in the dimension where x1 is located; or it can be replaced with: x0 is the true value (or sample mean) corresponding to x1; or it can be replaced with: x0 is the true value (or sample mean) corresponding to the first value; or it can be replaced with: x0 is the true value (or sample mean) corresponding to the first dimension measurement in measurement #1.

[0152] Optionally, y0, which is the true value of measurement #1 in the dimension where y1 is located, can be replaced with: y0 is the sample mean of measurement #1 in the dimension where y1 is located; or it can be replaced with: y0 is the true value (or sample mean) corresponding to y1; or it can be replaced with: y0 is the true value (or sample mean) corresponding to the second value; or it can be replaced with: y0 is the true value (or sample mean) corresponding to the second dimension measurement in measurement #1.

[0153] In one example, the first error information can be: [AD], where A is variance #1 and D is variance #2.

[0154] It should be understood that the embodiments of this application do not limit the form of expression of the first error information implemented by method 1-1.

[0155] Method 1-2: The measured value #1 includes a first value and a second value. The first error information may include variance #1, variance #2, and the covariance between the first value and the second value (which can be denoted as covariance #1). That is, the measured value #1 includes a first value and a second value, and the first error information may include variance #1, variance #2, and covariance #1.

[0156] Optionally, the measured value #1 is denoted as (x1, y1), where x1 is the first value and y1 is the second value. Correspondingly, the covariance #1 can be the covariance between x1 and y1, which can be understood as the covariance between the first and second dimensions. Furthermore, please refer to the description in Method 1-1 for variance #1, variance #2, the first dimension, and the second dimension; they will not be repeated here.

[0157] For example, the measured value #1 is denoted as (x1, y1), and the variance #1 can be E[(x1-x0)]. 2 The variance #2 can be E[(y1-y0)]. 2 The covariance #1 can be E[(x1-x0)(y1-y0)]. Here, x1 is the first value, and y1 is the second value. For (x0, y0) and E[·], please refer to the description in method 1-1 above; it will not be repeated here.

[0158] In one example, the first error information can be: Where A is variance #1, D is variance #2, and B is covariance #1.

[0159] In another example, the first error information can be: [ADB], where A is variance #1, D is variance #2, and B is covariance #1.

[0160] It should be understood that the embodiments of this application do not limit the form of expression of the first error information implemented by methods 1-2.

[0161] Method 1-3: The measured value #1 includes a first value and a second value. The first error information may include variance #1, variance #2, and the correlation coefficient between the first value and the second value (denoted as coefficient #1). That is, the measured value #1 includes a first value and a second value, and the first error information may include variance #1, variance #2, and coefficient #1.

[0162] Optionally, coefficient #1 can be a coefficient determined based on variance #1, variance #2, and covariance #1. For the covariance #1, please refer to the description in Methods 1-2; it will not be repeated here.

[0163] Optionally, the measured value #1 is denoted as (x1, y1), where x1 is the first value and y1 is the second value. Correspondingly, coefficient #1 can be the correlation coefficient between x1 and y1, which can be understood as the correlation coefficient between the first and second dimensions. Furthermore, please refer to the description in Method 1-1 for variance #1, variance #2, the first dimension, and the second dimension; they will not be repeated here.

[0164] For example, the measured value #1 is denoted as (x1, y1), and the variance #1 can be E[(x1-x0)]. 2 The variance #2 can be E[(y1-y0)]. 2The coefficient #1 can be Where x1 is the first value and y1 is the second value. (x0, y0) and E[·] are described in the aforementioned method 1-1 and will not be repeated here.

[0165] In one example, the first error information can be: Where A is variance #1, D is variance #2, and C is coefficient #1.

[0166] In another example, the first error information can be: [ADC], where A is variance #1, D is variance #2, and C is coefficient #1.

[0167] It should be understood that the embodiments of this application do not limit the form of expression of the first error information implemented by methods 1-3.

[0168] 2) The measured value #1 can be a three-dimensional coordinate. For example, the measured value #1 includes a first value, a second value, and a third value. The first error information can be implemented through the following methods 2-1, 2-2, or 2-3.

[0169] Method 2-1: Measurement value #1 includes a first value, a second value, and a third value. The first error information may include variance #1, variance #2, and the variance of the third value (which can be denoted as variance #3). That is, measurement value #1 includes a first value, a second value, and a third value, and the first error information may include variance #1, variance #2, and variance #3.

[0170] Optionally, the measured value #1 is denoted as (x1, y1, z1), where x1 is the first value, y1 is the second value, and z1 is the third value. Correspondingly, variance #1 can be the variance of x1, which can be understood as the variance of the first dimension (i.e., the dimension containing x1). Variance #2 can be the variance of y1, which can be understood as the variance of the second dimension (i.e., the dimension containing y1). Variance #3 can be the variance of z1, which can be understood as the variance of the third dimension (i.e., the dimension containing z1).

[0171] For example, the measured value #1 is denoted as (x1, y1, z1), and the variance #1 can be E[(x1-x0)]. 2 The variance #2 can be E[(y1-y0)]. 2 The variance #3 can be E[(z1-z0)]. 2 ] where x0 is the true value (or real value) of measurement #1 in the dimension where x1 is located, y0 is the true value (or real value) of measurement #1 in the dimension where y1 is located, and z0 is the true value (or real value) of measurement #1 in the dimension where z1 is located. x0, y0, and z0 are all real numbers. x1 is the first value, y1 is the second value, and z1 is the third value. E[·] represents the expectation operation.

[0172] Optionally, x0, which is the true value of measurement #1 in the dimension where x1 is located, can be replaced with: x0 is the sample mean of measurement #1 in the dimension where x1 is located; or it can be replaced with: x0 is the true value (or sample mean) corresponding to x1; or it can be replaced with: x0 is the true value (or sample mean) corresponding to the first value; or it can be replaced with: x0 is the true value (or sample mean) corresponding to the first dimension measurement in measurement #1.

[0173] Optionally, y0, which is the true value of measurement #1 in the dimension where y1 is located, can be replaced with: y0 is the sample mean of measurement #1 in the dimension where y1 is located; or it can be replaced with: y0 is the true value (or sample mean) corresponding to y1; or it can be replaced with: y0 is the true value (or sample mean) corresponding to the second value; or it can be replaced with: y0 is the true value (or sample mean) corresponding to the second dimension measurement in measurement #1.

[0174] Optionally, z0, which is the true value of measurement #1 in the dimension of z1, can be replaced with: z0 is the sample mean of measurement #1 in the dimension of z1; or it can be replaced with: z0 is the true value (or sample mean) corresponding to z1; or it can be replaced with: z0 is the true value (or sample mean) corresponding to the third value; or it can be replaced with: z0 is the true value (or sample mean) corresponding to the third dimension measurement in measurement #1.

[0175] In one example, the first error information can be: [EIN], where E is variance #1, I is variance #2, and N is variance #3.

[0176] It should be understood that the embodiments of this application do not limit the form of expression of the first error information implemented by method 2-1.

[0177] Method 2-2: Measured value #1 includes a first value, a second value, and a third value. The first error information may include variance #1, variance #2, variance #3, covariance #1, the covariance of the first and third values ​​(which can be denoted as covariance #2), and the covariance of the second and third values ​​(which can be denoted as covariance #3). That is, measured value #1 includes a first value, a second value, and a third value, and the first error information may include variance #1, variance #2, variance #3, covariance #1, covariance #2, and covariance #3.

[0178] Optionally, the measured value #1 is denoted as (x1, y1, z1), where x1 is the first value, y1 is the second value, and z1 is the third value. Correspondingly, covariance #1 can be the covariance between x1 and y1, which can be understood as the covariance between the first and second dimensions. Covariance #2 can be the covariance between x1 and z1, which can be understood as the covariance between the first and third dimensions. Covariance #3 can be the covariance between y1 and z1, which can be understood as the covariance between the second and third dimensions. Furthermore, please refer to the description in Method 2-1 for variances #1, #2, #3, the first dimension, the second dimension, and the third dimension; they will not be repeated here.

[0179] For example, the measured value #1 is denoted as (x1, y1, z1), and the variance #1 can be E[(x1-x0)]. 2 The variance #2 can be E[(y1-y0)]. 2 The variance #3 can be E[(z1-z0)]. 2 The covariance #1 can be E[(x1-x0)(y1-y0)], the covariance #2 can be E[(x1-x0)(z1-z0)], and the covariance #3 can be E[(y1-y0)(z1-z0)]. Here, x1 is the first value, y1 is the second value, and z1 is the third value. For (x0, y0, z0) and E[·], please refer to the description in method 2-1 above; it will not be repeated here.

[0180] In one example, the first error information can be: Where E is variance #1, I is variance #2, N is variance #3, F is covariance #1, G is covariance #2, and J is covariance #3.

[0181] In another example, the first error information can be: [EINFGJ], where E is variance #1, I is variance #2, N is variance #3, F is covariance #1, G is covariance #2, and J is covariance #3.

[0182] It should be understood that the embodiments of this application do not limit the form of expression of the first error information implemented by method 2-2.

[0183] Method 2-3: Measured value #1 includes a first value, a second value, and a third value. The first error information may include variance #1, variance #2, variance #3, coefficient #1, the correlation coefficient between the first and third values ​​(which can be denoted as coefficient #2), and the correlation coefficient between the second and third values ​​(which can be denoted as coefficient #3). That is, measured value #1 includes a first value, a second value, and a third value, and the first error information may include variance #1, variance #2, variance #3, coefficient #1, coefficient #2, and coefficient #3.

[0184] Optionally, coefficient #1 can be a coefficient determined based on variance #1, variance #3, and covariance #1. Optionally, coefficient #2 can be a coefficient determined based on variance #1, variance #3, and covariance #2. Optionally, coefficient #3 can be a coefficient determined based on variance #2, variance #3, and covariance #3. For the covariance #1, covariance #2, and covariance #3, please refer to the description in Method 2-2, which will not be repeated here.

[0185] Optionally, the measured value #1 is denoted as (x1, y1, z1), where x1 is the first value, y1 is the second value, and z1 is the third value. Correspondingly, coefficient #1 can be the correlation coefficient between x1 and y1, which can be understood as the correlation coefficient between the first and second dimensions. Coefficient #2 can be the correlation coefficient between x1 and z1, which can be understood as the correlation coefficient between the first and third dimensions. Coefficient #3 can be the correlation coefficient between y1 and z1, which can be understood as the correlation coefficient between the second and third dimensions. Furthermore, variance #1, variance #2, variance #3, the first dimension, the second dimension, and the third dimension are described in Method 2-1 and will not be repeated here.

[0186] For example, the measured value #1 is denoted as (x1, y1, z1), and the variance #1 can be E[(x1-x0)]. 2 The variance #2 can be E[(y1-y0)]. 2 ], Three values. (x0, y0, z0), E[·] Please refer to the description in the above method 2-1, which will not be repeated here.

[0187] In one example, the first error information can be: Where E is variance #1, I is variance #2, N is variance #3, H is coefficient #1, K is coefficient #2, and L is coefficient #3.

[0188] In another example, the first error information can be: [EINHKL], where E is variance #1, I is variance #2, N is variance #3, H is coefficient #1, K is coefficient #2, and L is coefficient #3.

[0189] It should be understood that the embodiments of this application do not limit the form of expression of the first error information implemented by methods 2-3.

[0190] The first error information has been described above from the perspectives of two-dimensional and three-dimensional coordinates. Optionally, the measured value #1 can also be coordinates in other dimensions besides two-dimensional and three-dimensional. The implementation process can refer to the content on two-dimensional and three-dimensional coordinates, and will not be repeated here.

[0191] In the above embodiments, the first error information may include the variance of the measured value #1, or the covariance of the variance of the measured value #1 and the corresponding measurement value #1, or the correlation coefficient of the variance of the measured value #1 and the corresponding measurement value #1. These contents can quantify the degree of uncertainty of the measured value #1 indicated by the measurement information. That is, the first error information can be understood as the magnitude of the statistical error between the measured value #1 and the true value. Thus, when the third device integrates the measurement information of the first sensing target reported by multiple devices, it can use the first error information to reduce the uncertainty of the first sensing target position estimation, which is beneficial to improving the accuracy of the target position estimation.

[0192] In another embodiment, the first error information may include a tenth value, which can be used to indicate the quality of measurement value #1. Compared to the first error information including the variance of the measurement value, this reduces overhead. Optionally, the tenth value can be a real number. For example, the tenth value is a real number between 0 and 1, where 1 indicates the best quality of the measurement value and 0 indicates the worst quality. For example, the closer the tenth value is to 1 (or the further the tenth value is from 0), the better the quality of measurement value #1; conversely, the closer the tenth value is to 0 (or the further the tenth value is from 1), the worse the quality of measurement value #1. In this embodiment, the first error information can indicate the quality of measurement value #1. Thus, when the third device fuses the measurement information of the first sensed target reported by multiple devices, it can use the first error information to reduce the uncertainty of the first sensed target position estimation, which is beneficial to improving the accuracy of the target position estimation.

[0193] It is understood that the embodiments of this application do not limit the implementation method of the first error information.

[0194] 3. The information of the first timestamp associated with the first location measurement information can be used to indicate (or determine) the first timestamp. The first timestamp may be the timestamp (or moment) at which the first location measurement information was obtained; or the first timestamp may be the timestamp (or moment) at which the measurement value #1 was obtained; or the first timestamp may be the timestamp (or moment) at which the measurement value #1 was estimated (or measured).

[0195] For example, a first timestamp of 2:00:01 indicates that the estimated measurement #1 was taken at 2:00:01, meaning the first timestamp is 2 hours, 0 minutes, and 0 seconds. Another example is a first timestamp of 1111, indicating that 1111 seconds have elapsed between the specific time point and the estimated measurement #1, meaning 1111 seconds have elapsed between the specific time point and the first timestamp. Optionally, this specific time point can be predefined or pre-agreed upon, without restriction. For example, this specific time point could be Coordinated Universal Time (UTC) at 00:00:00 on January 1, 1970, without restriction.

[0196] It is understood that the implementation method of the first timestamp is not limited in the embodiments of this application.

[0197] 4. The first velocity information associated with the first position measurement information can be used to indicate the velocity of the first sensing target, such as the velocity of the first sensing target at the first time stamp.

[0198] The speed indicated by the first speed information is the speed of the first sensed target obtained based on (or according to) the echo signal of the first signal. For example, the first device can measure the echo signal of the first signal to obtain the speed of the first sensed target.

[0199] Optionally, the velocity indicated by the first velocity information can be the radial velocity of the first sensed target or the Doppler frequency shift of the first sensed target, without limitation.

[0200] 5. The first signal-to-noise ratio (SNR) information associated with the first position measurement information can be used to indicate the SNR corresponding to the echo signal of the first signal. Optionally, the first SNR information can also be called confidence information, without limitation.

[0201] The signal-to-noise ratio indicated by the first signal-to-noise ratio information is a signal-to-noise ratio obtained based on (or according to) the echo signal of the first signal. For example, the first device can measure the echo signal of the first signal to obtain the signal-to-noise ratio of the echo signal of the first signal.

[0202] It should be understood that the relevant information of the first position measurement information may also include other information, and this application embodiment does not limit this.

[0203] In one embodiment, the first information may further include second error information and third position measurement information of the third sensing target. The third position measurement information can be used to indicate the measured value of the position of the third sensing target; details can be found in the description of the first position measurement information, and will not be repeated here. The second error information can be used to represent the uncertainty of the measured value indicated by the third position measurement information; details can be found in the description of the first error information, and will not be repeated here.

[0204] Optionally, the third sensing target and the first sensing target can be different targets, or the third sensing target and the first sensing target can be different scattering points of the same target, without restriction.

[0205] Optionally, the first information may further include at least one of the following: information about a third timestamp associated with the third position measurement information, third velocity information associated with the third position measurement information, or third signal-to-noise ratio information associated with the third position measurement information. The information about the third timestamp, third velocity, and third signal-to-noise ratio will be described in conjunction with the descriptions of the information about the first timestamp, first velocity, and first signal-to-noise ratio, and will not be repeated here.

[0206] In other words, the first information may only include relevant information about the first location measurement information; or it may include relevant information about multiple location measurement information, including the first location measurement information and the third location measurement information. For example, the first information may include relevant information about at least one location measurement information (or at least one record, at least one measurement record, etc.), where the at least one location measurement information includes the first location measurement information. The relevant information for each of the at least one location measurement information may include the location measurement information and error information associated with it. Optionally, the relevant information for each location measurement information may also include at least one of the following: timestamp information associated with the location measurement information, velocity information associated with the location measurement information, or signal-to-noise ratio information associated with the location measurement information.

[0207] For example, the first information may include relevant information from four location measurement pieces, as shown in Table 1. The relevant information for each of the four location measurement pieces is represented by a single row in Table 1, including timestamp information, location measurement information, error information, velocity information, and signal-to-noise ratio information. It should be understood that the data in Table 1 are merely examples, and this application does not limit them.

[0208] Table 1

[0209] In one embodiment, multiple location measurement information can be associated with an error information, thereby reducing the overhead of the first information. The measured values ​​indicated by the multiple location measurement information are less than or equal to a first threshold, or in other words, the locations indicated by the multiple location measurement information are neighboring locations. The first threshold can be predefined, pre-agreed, or pre-configured; this application does not limit its implementation.

[0210] In one example, the first information may include first error information, first position measurement information, and second position measurement information of the second perceived target. The difference between the measured value indicated by the second position measurement information and the measured value #1 is less than or equal to a first threshold (or, in other words, the position indicated by the second position measurement information and the position indicated by the first position measurement information are adjacent). The first error information is also used to represent the uncertainty of the measured value indicated by the second position measurement information. The second position measurement information can be used to indicate the measured value of the position of the second perceived target; for details, please refer to the description of the first position measurement information, which will not be repeated here. In this example, the first position measurement information and the second position measurement information share the first error information; that is, the first error information is used to represent the uncertainty of the measured value #1 and the measured value indicated by the second position measurement information.

[0211] Optionally, the second sensing target and the first sensing target can be different targets, or the second sensing target and the first sensing target can be different scattering points of the same target, without restriction.

[0212] Optionally, the first information may further include at least one of the following: information of a fourth timestamp associated with the second position measurement information, fourth velocity information associated with the second position measurement information, or fourth signal-to-noise ratio information associated with the second position measurement information. The information of the fourth timestamp, fourth velocity, and fourth signal-to-noise ratio are described in conjunction with the descriptions of the information of the first timestamp, first velocity, and first signal-to-noise ratio, and will not be repeated here.

[0213] In another example, the first information may include first error information, first position measurement information, second error information, and third position measurement information, wherein the difference between the measurement value indicated by the first position measurement information and the measurement value indicated by the third position measurement information is greater than a first threshold. The second error information and the third position measurement information are described above and will not be repeated here.

[0214] As shown in Table 2, the first information may include relevant information from four location measurements, with two location measurements associated with one error information, as shown in Table 2. In Table 2, the distance between location #3 and location #4 is less than or equal to a first threshold (or in other words, location #3 and location #4 are adjacent locations), and the uncertainties of both location #3 and location #4 are represented by error information #3. It should be understood that the data in Table 2 are merely examples, and this application does not limit them.

[0215] Table 2

[0216] S402: The second device generates (or determines, or acquires) second information.

[0217] S402 is an optional step, indicated by a dashed line in Figure 4.

[0218] The second information is associated with the echo signal of the second signal, or it is information generated based on the echo signal of the second signal, or it is information obtained by measuring the echo signal of the second signal. The echo signal of the second signal is generated by the second signal being reflected (or scattered, diffracted, or diffused, etc.) by a first sensing target in the environment. This second signal can be used for sensing, or it can be used for both sensing and communication. In other words, the second signal can be a sensing signal, or it can be a communication-sensing fusion signal.

[0219] In one embodiment, the second device can receive the echo signal of the second signal and generate second information based on the echo signal. For example, in a single-station sensing mode, the second device can transmit the second signal, receive the echo signal of the second signal, and generate second information based on the echo signal of the second signal. As another example, in a dual-station sensing mode, the fifth device transmits the second signal; the second device receives the echo signal of the second signal and generates second information based on the echo signal of the second signal.

[0220] It should be understood that the embodiments of this application do not limit the implementation method of the second device generating the second information.

[0221] The second information may include the third error information and the fourth position measurement information of the first sensing target. Alternatively, the second information may include relevant information of the fourth position measurement information, which may include the third error information and the fourth position measurement information.

[0222] Optionally, the second information may further include at least one of the following: information about a second timestamp associated with the fourth position measurement information, second velocity information associated with the fourth position measurement information, or second signal-to-noise ratio information associated with the fourth position measurement information. Alternatively, the relevant information of the fourth position measurement information may further include at least one of the following: information about a second timestamp associated with the fourth position measurement information, second velocity information associated with the fourth position measurement information, or second signal-to-noise ratio information associated with the fourth position measurement information.

[0223] The fourth position measurement information can be used to indicate the measured value of the position of the first sensing target. In this application, the fourth position measurement information is associated with the echo signal of the second signal. For example, the measured value indicated by the fourth position measurement information (which can be denoted as measurement value #2) is a measured value obtained based on (or according to) the echo signal of the second signal. For example, the second device can measure the echo signal of the second signal to obtain the measured value of the position of the first sensing target, i.e., obtain measurement value #2.

[0224] Optionally, the fourth position measurement information used to indicate the position of the first sensing target can be understood as follows: the fourth position measurement information can be used to indicate the position of the first sensing target obtained based on the echo signal of the second signal; or it can be understood as follows: the fourth position measurement information can be used to indicate the position of the first sensing target obtained based on the echo signal of the second signal; or it can be understood as follows: the fourth position measurement information can be used to indicate the position of the first sensing target obtained by measuring the echo signal of the second signal; or it can be understood as follows: the fourth position measurement information can be used to indicate the position of the first sensing target obtained by measuring the echo signal of the second signal.

[0225] Optionally, the fourth position measurement information may also be referred to as fourth position information or fourth measurement information, etc. The naming of the fourth position measurement information is not limited in the embodiments of this application.

[0226] In one implementation, the measured value #2 can be a two-dimensional coordinate in a Cartesian coordinate system (or a rectangular coordinate system). For example, the measured value #2 may include a fourth value and a fifth value. For example, the measured value #2 can be denoted as (x2, y2). Here, x2 is the fourth value, and y2 is the fifth value, without limitation. Both x2 and y2 are real numbers. In other words, both the fourth and fifth values ​​are real numbers.

[0227] In another implementation, the measured value #2 can also be a three-dimensional coordinate in a Cartesian coordinate system (or rectangular coordinate system). For example, the measured value #2 may include a fourth value, a fifth value, and a sixth value. For example, the measured value #2 can be denoted as (x2, y2, z2). Here, x2 is the fourth value, y2 is the fifth value, and z2 is the sixth value, without limitation. x2, y2, and z2 are all real numbers. In other words, the fourth, fifth, and sixth values ​​are all real numbers.

[0228] Optionally, the coordinate system corresponding to the measurement value #2 can be a coordinate system with the second device as the origin, or it can be a coordinate system with absolute geographical location. This application does not limit this.

[0229] It is understood that the implementation of the measurement value #2 is not limited in the embodiments of this application.

[0230] The third error information can be used (or indicated) to represent the uncertainty of the measured value #2. Optionally, the use of the third error information to represent the uncertainty of the measured value #2 can be replaced by: the third error information can be used to represent (or indicate) the degree of uncertainty of the measured value #2.

[0231] Alternatively, the third error information used to represent the uncertainty of the measured value #2 can be replaced by: the third error information used to represent (or indicate) the reliability of the measured value #2. That is, the third error information can be used to represent the degree of confidence in the measured value #2. The following text uses the third error information to represent the uncertainty of the measured value #2 as an example.

[0232] In one implementation, the third error information is information determined based on the measured value #2. For example, the third error information could be information determined based on the variance corresponding to the measured value #2. Alternatively, the third error information could be information determined based on the variance and covariance corresponding to the measured value #2. Yet another example is that the third error information could be information determined based on the variance and correlation coefficient corresponding to the measured value #2.

[0233] Optionally, the third error information may include the variance of the measured value #2, or the variance and covariance of the measured value #2, or the variance and correlation coefficient of the measured value #2.

[0234] In one example, the measured value #2 can be a two-dimensional coordinate, such as the measured value #2 including a fourth value and a fifth value. Accordingly, the third error information may include the variance of the fourth value and the variance of the fifth value; or, the third error information may include the variance of the fourth value, the variance of the fifth value, and the covariance of the fourth value and the fifth value; or, the third error information may include the variance of the fourth value, the variance of the fifth value, and the correlation coefficient of the fourth value and the fifth value.

[0235] In another example, the measured value #2 can be a three-dimensional coordinate, such as the measured value #2 including a fourth value, a fifth value, and a sixth value. Accordingly, the third error information may include the variance of the fourth value, the variance of the fifth value, and the variance of the sixth value; or, the third error information may include the variance of the fourth value, the variance of the fifth value, the variance of the sixth value, the covariance of the fourth and fifth values, the covariance of the fourth and sixth values, and the covariance of the fifth and sixth values; or, the third error information may include the variance of the fourth value, the variance of the fifth value, the variance of the sixth value, the correlation coefficient between the fourth and fifth values, the correlation coefficient between the fourth and sixth values, and the correlation coefficient between the fifth and sixth values.

[0236] The implementation method of the third error information can refer to the implementation method of the first error information, and will not be repeated here.

[0237] The second timestamp associated with the fourth location measurement information can be used to indicate (or determine) the second timestamp. The second timestamp can be the timestamp (or moment) at which the fourth location measurement information was obtained; or the second timestamp can be the timestamp (or moment) at which the measurement value #2 was obtained; or the second timestamp can be the timestamp (or moment) at which the measurement value #2 was estimated (or measured). The implementation method of the second timestamp is described in the first timestamp description and will not be repeated here.

[0238] Optionally, the second timestamp can be the same as the first timestamp, or the difference between the second timestamp and the first timestamp can be less than or equal to a second threshold. The second threshold can be predefined, pre-agreed upon, or pre-configured, and is not limited. For example, the first and second timestamps are included within a first time unit. The length of the first time unit can be predefined, pre-agreed upon, or pre-configured, and is not limited.

[0239] The second velocity information associated with the fourth position measurement information can be used to indicate the velocity of the first sensing target, such as the velocity of the first sensing target at the second timestamp. The velocity indicated by the second velocity information is the velocity of the first sensing target obtained based on (or according to) the echo signal of the second signal. For example, the second device can measure the echo signal of the second signal to obtain the velocity of the first sensing target. Optionally, the velocity indicated by the second velocity information can be the radial velocity of the first sensing target or the Doppler frequency shift of the first sensing target, without limitation.

[0240] The second signal-to-noise ratio (SNR) information associated with the fourth position measurement information can be used to indicate the SNR corresponding to the echo signal of the second signal. Optionally, the second SNR information can also be called confidence information, without limitation. The SNR indicated by the second SNR information is based on (or according to) the SNR obtained from the echo signal of the second signal. For example, the second device can measure the echo signal of the second signal to obtain the SNR of the echo signal of the second signal.

[0241] It should be understood that the relevant information of the fourth position measurement information may also include other information, and the embodiments of this application do not limit this.

[0242] Optionally, the second information may include only the relevant information of the fourth location measurement information; or it may include the relevant information of multiple location measurement information. Please refer to the description of the first information for details, which will not be repeated here.

[0243] It is understood that the execution order of S401 and S402 is merely an example, and this application does not limit it. For example, the second device may generate the second information before the first device generates the first information. As another example, the second device may generate the second information simultaneously with the first device generating the first information.

[0244] S403: The first device sends first information to the third device. Accordingly, the third device receives the first information from the first device.

[0245] For example, the first device can map the first information onto time-frequency resources for transmission. This application does not limit the implementation method of the first device transmitting the first information.

[0246] It is understood that the execution order of S402 and S403 is merely an example, and this application does not limit it. For example, the first device may send the first information before the second device generates the second information. As another example, the first device may send the first information simultaneously with the second device generating the second information.

[0247] S404: The second device sends second information to the third device. Accordingly, the third device receives the second information from the second device.

[0248] For example, the second device can map the second information onto time-frequency resources for transmission. This application does not limit the implementation method of the second device transmitting the second information.

[0249] It is understood that the execution order of S403 and S404 is merely an example, and this application does not limit it. For example, the second device may send the second information before the first device sends the first information. As another example, the second device may send the second information simultaneously with the first device sending the first information.

[0250] S405: The third device determines (or estimates) the position of the first sensing target based on the first information and the second information.

[0251] For example, the third device can determine the position of the first sensing target based on measurement value #1, first error information, measurement value #2, and third error information. For instance, the third device fuses measurement value #1 and measurement value #2 based on the first error information and the third error information to obtain the position of the first sensing target.

[0252] For example, the third device can determine the position of the first sensing target within a first time unit based on the first information and the second information. For instance, if the first timestamp and the second timestamp are the same, the third device can determine the position of the first sensing target at the first timestamp based on the first information and the second information; the first timestamp belongs to the first time unit. As another example, if the difference between the first timestamp and the second timestamp is less than or equal to a second threshold, the third device can determine the position of the first sensing target within a first time unit based on the first information and the second information; the first time unit includes the first timestamp and the second timestamp.

[0253] Optionally, the third device can determine that the sensing target corresponding to the first position measurement information and the sensing target corresponding to the fourth position measurement information are the same, i.e., both are the first sensing target. For example, the third device can determine through an association algorithm that the sensing target corresponding to the first position measurement information from the first device and the sensing target corresponding to the fourth position measurement information from the second device are the same sensing target.

[0254] In one embodiment, the measurement value #1 is a two-dimensional coordinate, including a first value and a second value; the measurement value #2 is a two-dimensional coordinate, including a fourth value and a fifth value; the position of the first sensing target includes a seventh value and an eighth value; the seventh value can be determined based on the first value, the fourth value, the first error information, and the third error information; and the eighth value can be determined based on the second value, the fifth value, the first error information, and the third error information.

[0255] For example, measurement value #1 is (x1, y1), measurement value #2 is (x2, y2), and the third device can determine the position of the first sensing target based on the first error information, the third error information, (x1, y1), and (x2, y2). Wherein, x1 is the first value, y1 is the second value, x2 is the fourth value, and y2 is the fifth value.

[0256] For example, the position of the first perceived target is denoted as (x, y), which can satisfy the following formula (1).

[0257] Where A1 is the variance of the first value (i.e., the variance of x1), D1 is the variance of the second value (i.e., the variance of y1), A2 is the variance of the fourth value (i.e., the variance of x2), and D2 is the variance of the fifth value (i.e., the variance of y2).

[0258] In another embodiment, the measurement value #1 is a three-dimensional coordinate, including a first value, a second value, and a third value; the measurement value #2 is a three-dimensional coordinate, including a fourth value, a fifth value, and a sixth value; and the position of the first sensing target includes a seventh value, an eighth value, and a ninth value. The seventh value can be determined based on the first value, the fourth value, the first error information, and the third error information; the eighth value can be determined based on the second value, the fifth value, the first error information, and the third error information; and the ninth value can be determined based on the third value, the sixth value, the first error information, and the third error information.

[0259] For example, measurement value #1 is (x1, y1, z1), and measurement value #2 is (x2, y2, z2). The third device can determine the position of the first sensing target based on the first error information, the third error information, (x1, y1, z1), and (x2, y2, z2). Wherein, x1 is the first value, y1 is the second value, z1 is the third value, x2 is the fourth value, y2 is the fifth value, and z2 is the sixth value.

[0260] For example, the position of the first perceived target is denoted as (x, y, z), which can satisfy the following formula (2).

[0261]

[0262] Where E1 is the variance of the first value (i.e., the variance of x1), I1 is the variance of the second value (i.e., the variance of y1), N1 is the variance of the third value (i.e., the variance of z1), E2 is the variance of the fourth value (i.e., the variance of x2), I2 is the variance of the fifth value (i.e., the variance of y2), and N2 is the variance of the sixth value (i.e., the variance of z2).

[0263] In another embodiment, the third device can perform selective fusion when fusing measurement value #1 and measurement value #2, such as selecting the more accurate value for fusion. In one example, measurement value #1 is (x1, y1), measurement value #2 is (x2, y2), and the position of the first sensing target is denoted as (x, y), which can satisfy the following formula (3).

[0264] Where x1 is the first value, y1 is the second value, x2 is the fourth value, and y2 is the fifth value. A1 is the variance of the first value (i.e., the variance of x1), D1 is the variance of the second value (i.e., the variance of y1), A2 is the variance of the fourth value (i.e., the variance of x2), and D2 is the variance of the fifth value (i.e., the variance of y2).

[0265] For example, the measurement value #1 obtained by the first device is (x1, y1), and the first error information includes the variance of x1 and the variance of y1. The measurement value #2 obtained by the second device is (x2, y2), and the third error information includes the variance of x2 and the variance of y2. If the variance of x1 is less than the variance of x2 and the variance of y1 is greater than the variance of y2, then the third device can perform selective fusion when fusing measurement value #1 and measurement value #2, such as fusion according to formula (3), that is, selecting the most accurate value of each measurement for fusion, and obtaining the position of the first sensing target as (x1, y2).

[0266] The variance of x1 being less than the variance of x2 means that the uncertainty of x1 measured by the first device is smaller than the uncertainty of x2 measured by the second device, i.e., x1 is more accurate than x2 (or x2 is less accurate than x1, or x1 is closer to the true value corresponding to the first dimension). The variance of y1 being greater than the variance of y2 means that the uncertainty of y1 measured by the first device is larger than the uncertainty of y2 measured by the second device, i.e., y1 is less accurate than y2 (or y2 is more accurate than y1, or y2 is closer to the true value corresponding to the second dimension). The third device performs selective fusion when fusing measurement values ​​#1 and #2 to obtain (x1, y2). This (x1, y2) is more accurate in the dimension containing y1 (i.e., the second dimension) than (x1, y1), and more accurate in the dimension containing x2 (i.e., the first dimension) than (x2, y2), thus improving the accuracy of target position estimation. The first and second dimensions are described in S401 and will not be repeated here.

[0267] In another example, the measurement value #1 is (x1, y1, z1), the measurement value #2 is (x2, y2, z2), and the position of the first perceived target is denoted as (x, y, z). This (x, y, z) can satisfy the following formula (4).

[0268] Where x1 is the first value, y1 is the second value, z1 is the third value, x2 is the fourth value, y2 is the fifth value, and z2 is the sixth value. E1 is the variance of the first value (i.e., the variance of x1), I1 is the variance of the second value (i.e., the variance of y1), N1 is the variance of the third value (i.e., the variance of z1), E2 is the variance of the fourth value (i.e., the variance of x2), I2 is the variance of the fifth value (i.e., the variance of y2), and N2 is the variance of the sixth value (i.e., the variance of z2).

[0269] For example, the measurement value #1 obtained by the first device is (x1, y1, z1), and the first error information includes the variance of x1, the variance of y1, and the variance of z1. The measurement value #2 obtained by the second device is (x2, y2, z2), and the third error information includes the variance of x2, the variance of y2, and the variance of z2. If the variance of x1 is less than the variance of x2, the variance of y1 is greater than the variance of y2, and the variance of z1 is greater than the variance of z2, then the third device can perform selective fusion when fusing measurement value #1 and measurement value #2, such as fusion according to formula (4), that is, selecting the most accurate value of each measurement for fusion, and obtaining the position of the first sensing target as (x1, y2, z2).

[0270] The fact that the variance of x1 is less than the variance of x2 means that the uncertainty of x1 measured by the first device is smaller than the uncertainty of x2 measured by the second device, i.e., x1 is more accurate than x2 (or x2 is less accurate than x1, or x1 is closer to the true value corresponding to the first dimension). Similarly, the fact that the variance of y1 is greater than the variance of y2 means that the uncertainty of y1 measured by the first device is larger than the uncertainty of y2 measured by the second device, i.e., y1 is less accurate than y2 (or y2 is more accurate than y1, or y2 is closer to the true value corresponding to the second dimension). Likewise, the fact that the variance of z1 is greater than the variance of z2 means that the uncertainty of z1 measured by the first device is larger than the uncertainty of z2 measured by the second device, i.e., z1 is less accurate than z2 (or z2 is more accurate than z1, or z2 is closer to the true value corresponding to the third dimension). The third device performs selective fusion when fusing measurement values ​​#1 and #2, obtaining (x1, y2, z2). Compared to (x1, y1, z1), (x1, y2, z2) is more accurate in the dimension containing y1 (i.e., the second dimension) and the dimension containing z1 (i.e., the third dimension). Compared to (x2, y2, z2), (x1, y2, z2) is more accurate in the dimension containing x2 (i.e., the first dimension), thus improving the accuracy of target position estimation. The first, second, and third dimensions are described in S401 and will not be repeated here.

[0271] In formulas (3) and (4) above, the third device selects and fuses based on the variance of the measured values. The third device can also select and fuse based on other information representing the uncertainty of the measured values. For example, the third device selects and fuses based on the variance and covariance of the measured values. For example, the third device selects and fuses based on the variance and correlation coefficient of the measured values. The implementation methods can be found in formulas (3) and (4), and will not be listed individually here.

[0272] It should be understood that the embodiments of this application do not limit the implementation method of the third device determining the position of the first sensing target based on the first information and the second information.

[0273] In the first communication method described above, the first information includes first position measurement information of the first sensing target and first error information, which is used to represent the uncertainty of the measurement value indicated by the first position measurement information. The second information includes fourth position measurement information of the first sensing target and third error information, which is used to represent the uncertainty of the measurement value indicated by the fourth position measurement information. In this way, when estimating the position of the first sensing target based on the first position measurement information and the fourth position measurement information, the first error information and the third error information can be considered, which can improve the accuracy of target position estimation.

[0274] The implementation methods of single-station sensing mode and dual-station sensing mode will be explained below with reference to Figures 5 to 7.

[0275] Figure 5 is a flowchart illustrating the second communication method provided in this embodiment. This second communication method can also be called a second sensing method, or a second integrated communication and sensing method. In this embodiment, both the first device and the second device adopt a single-site sensing mode. Furthermore, in this embodiment, the first device is a first access network device (e.g., denoted as base station #1), the second device is a second access network device (e.g., denoted as base station #2), the third device is a sensing network element, and the first sensing target is denoted as scattering point #1. As shown in Figure 5, the method includes the following:

[0276] S501: Base station #1 sends the first signal.

[0277] The first signal is either a sensing signal or a communication-sensing fusion signal.

[0278] S502: Base station #2 sends a second signal.

[0279] The second signal is either a sensing signal or a communication-sensing fusion signal.

[0280] S503: Base station #1 receives the echo signal of the first signal.

[0281] In this embodiment, the first signal is reflected by scattering point #1 to generate an echo signal, which is then received by base station #1.

[0282] S504: Base station #2 receives the echo signal of the second signal.

[0283] In this embodiment, the second signal is reflected by scattering point #1 to generate an echo signal, which is then received by base station #2.

[0284] S505: Base station #1 generates first information based on the echo signal of the first signal.

[0285] S505 is an optional step, indicated by a dashed line in Figure 5.

[0286] The first information includes first error information and first position measurement information. Optionally, the first information may also include at least one of the following: first timestamp information, first velocity information, or first signal-to-noise ratio information. The implementation process of S505 is described in S401 and will not be repeated here.

[0287] S506: Base station #2 generates second information based on the echo signal of the second signal.

[0288] S506 is an optional step, indicated by a dashed line in Figure 5.

[0289] The second information includes third error information and fourth position measurement information. Optionally, the second information may also include at least one of the following: second timestamp information, second velocity information, or second signal-to-noise ratio information. The implementation process of S506 is described in S402 and will not be repeated here.

[0290] S507: Base station #1 sends first information to the sensing network element; correspondingly, the sensing network element receives the first information from base station #1.

[0291] S508: Base station #2 sends second information to the sensing network element; correspondingly, the sensing network element receives the second information from base station #2.

[0292] S509: The sensing network element determines the position of scattering point #1 based on the first information and the second information.

[0293] The implementation process of S509 is described in S405 and will not be repeated here.

[0294] It should be understood that the execution order of each step in Figure 5 is as an example and is not limited by the embodiments of this application.

[0295] The second communication method described above is illustrated using a single-site sensing mode for both base stations. In another embodiment, the second communication method can also be applied to scenarios where two UEs (e.g., the first UE and the second UE) employ a single-site sensing mode. For example, the first UE can execute the steps performed by base station #1, and the second UE can execute the steps performed by base station #2. It should be understood that the sensing network element is deployed in the core network; the first UE can send first information to the sensing network element through the base station corresponding to the first UE, and the second UE can send second information to the sensing network element through the base station corresponding to the second UE.

[0296] In another implementation, the second communication method described above can also be applied to a DU-CU architecture. For example, the first DU can be used to execute the steps performed by base station #1, the second DU can be used to execute the steps performed by base station #2, and the CU can be used to execute the steps performed by the sensing network element.

[0297] Figure 6 is a flowchart illustrating the third communication method provided in this embodiment. This third communication method can also be called a third sensing method, or a third integrated communication and sensing method. In this embodiment, both the first device and the second device adopt a dual-station sensing mode. Furthermore, in this embodiment, the first device is a first access network device (e.g., denoted as base station #1), the second device is a second access network device (e.g., denoted as base station #2), the third device is a sensing network element, the fourth device is a first UE (denoted as UE #1), the fifth device is a second UE (denoted as UE #2), and the first sensing target is denoted as scattering point #1. As shown in Figure 6, this method may include the following:

[0298] S601: UE#1 sends the first signal.

[0299] The first signal is either a sensing signal or a communication-sensing fusion signal.

[0300] S602: UE#2 sends a second signal.

[0301] The second signal is either a sensing signal or a communication-sensing fusion signal.

[0302] S603: Base station #1 receives the echo signal of the first signal.

[0303] In this embodiment, the first signal is reflected by scattering point #1 to generate an echo signal, which is then received by base station #1.

[0304] S604: Base station #2 receives the echo signal of the second signal.

[0305] In this embodiment, the second signal is reflected by scattering point #1 to generate an echo signal, which is then received by base station #2.

[0306] S605: Base station #1 generates first information based on the echo signal of the first signal.

[0307] S605 is an optional step, indicated by a dashed line in Figure 6.

[0308] The first information includes first error information and first position measurement information. Optionally, the first information may also include at least one of the following: first timestamp information, first velocity information, or first signal-to-noise ratio information. The implementation process of S605 is described in S401 and will not be repeated here.

[0309] S606: Base station #2 generates second information based on the echo signal of the second signal.

[0310] S606 is an optional step, indicated by a dashed line in Figure 6.

[0311] The second information includes third error information and fourth position measurement information. Optionally, the second information may also include at least one of the following: second timestamp information, second velocity information, or second signal-to-noise ratio information. The implementation process of S606 is described in S402 and will not be repeated here.

[0312] S607: Base station #1 sends first information to the sensing network element; correspondingly, the sensing network element receives the first information from base station #1.

[0313] S608: Base station #2 sends second information to the sensing network element; correspondingly, the sensing network element receives the second information from base station #2.

[0314] S609: The sensing network element determines the position of scattering point #1 based on the first information and the second information.

[0315] The implementation process of S609 is described in S405 and will not be repeated here.

[0316] It should be understood that the execution order of each step in Figure 6 is as an example and is not limited by the embodiments of this application.

[0317] The third communication method described above is illustrated using a scenario where the UE transmits and the base station receives. In another embodiment, the third communication method can also be applied to a scenario where the base station transmits and the UE receives; the implementation process can be referred to the implementation process shown in Figure 6, and will not be repeated here.

[0318] In another implementation, the third communication method described above can also be applied to a DU-CU architecture. For example, the first DU can be used to execute the steps performed by base station #1, the second DU can be used to execute the steps performed by base station #2, and the CU can be used to execute the steps performed by the sensing network element.

[0319] Optionally, in a scenario involving UE#1, UE#1 receives the echo signal of the first signal, generates first information based on the echo signal, and sends the first information to the sensing network element through base station #1 corresponding to UE#1. Alternatively, UE#1, upon receiving the echo signal of the first signal, may also generate third information based on the echo signal and send the third information to base station #1 corresponding to UE#1; base station #1 receives the third information, generates the first information based on the third information, and sends the first information to the sensing network element. For example, the third information may include first position measurement information but does not include first error information, which is determined by base station #1.

[0320] Figure 7 is a flowchart illustrating the fourth communication method provided in this application embodiment. This fourth communication method can also be called a fourth sensing method, or a fourth integrated communication and sensing method. In this embodiment, both the first device and the second device adopt a dual-station sensing mode. Furthermore, in this embodiment, the first device is a first access network device (e.g., denoted as base station #1), the second device is a second access network device (e.g., denoted as base station #2), the third device is a sensing network element, the fourth device is a third access network device (e.g., denoted as base station #3), the fifth device is a fourth access network device (e.g., denoted as base station #4), and the first sensing target is denoted as scattering point #1. As shown in Figure 7, this method may include the following:

[0321] S701: Base station #3 sends the first signal.

[0322] The first signal is either a sensing signal or a communication-sensing fusion signal.

[0323] S702: Base station #4 sends a second signal.

[0324] The second signal is either a sensing signal or a communication-sensing fusion signal.

[0325] S703: Base station #1 receives the echo signal of the first signal.

[0326] In this embodiment, the first signal is reflected by scattering point #1 to generate an echo signal, which is then received by base station #1.

[0327] S704: Base station #2 receives the echo signal of the second signal.

[0328] In this embodiment, the second signal is reflected by scattering point #1 to generate an echo signal, which is then received by base station #2.

[0329] S705: Base station #1 generates first information based on the echo signal of the first signal.

[0330] S705 is an optional step, indicated by a dashed line in Figure 7.

[0331] The first information includes first error information and first position measurement information. Optionally, the first information may also include at least one of the following: first timestamp information, first velocity information, or first signal-to-noise ratio information. The implementation process of S705 is described in S401 and will not be repeated here.

[0332] S706: Base station #2 generates second information based on the echo signal of the second signal.

[0333] S706 is an optional step, indicated by a dashed line in Figure 7.

[0334] The second information includes third error information and fourth position measurement information. Optionally, the second information may also include at least one of the following: second timestamp information, second velocity information, or second signal-to-noise ratio information. The implementation process of S707 is described in S402 and will not be repeated here.

[0335] S707: Base station #1 sends first information to the sensing network element; correspondingly, the sensing network element receives the first information from base station #1.

[0336] S708: Base station #2 sends second information to the sensing network element; correspondingly, the sensing network element receives the second information from base station #2.

[0337] S709: The sensing network element determines the position of scattering point #1 based on the first information and the second information.

[0338] The implementation process of S709 is described in S405 and will not be repeated here.

[0339] It should be understood that the execution order of each step in Figure 7 is as an example and is not limited by the embodiments of this application.

[0340] In another implementation, the fourth communication method described above can also be applied to the DU-CU architecture. Please refer to the foregoing description for details, which will not be repeated here.

[0341] In the above embodiments, both the first device and the second device adopt a single-station sensing mode, or both adopt a dual-station sensing mode. In another embodiment, the first device may adopt a single-station sensing mode and the second device may adopt a dual-station sensing mode; or, the first device may adopt a dual-station sensing mode and the second device may adopt a single-station sensing mode.

[0342] Based on the same technical concept as the above-described method embodiments, this application provides a corresponding communication device that can be used to perform the functions of the relevant steps in the above-described method embodiments. This function can be implemented in hardware, software, or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. The communication device can be a terminal or access network device, or a device within the terminal or access network device (e.g., a module, communication module, circuit or chip responsible for communication functions (such as a modem chip, or a SoC chip or SIP chip containing a modem core), chip system, or processor), or a logical node, logical module, or software capable of implementing all or part of the terminal or functions.

[0343] Figure 8 illustrates a schematic diagram of a communication device 800 provided in an embodiment of this application. This communication device 800 can implement the functions or steps performed by the first device or the third device in the various method embodiments described above.

[0344] For example, when the communication device 800 is used to implement the functions or steps implemented by the first device in the above method embodiments, the communication device 800 may be an access network device or a component in the access network device, or a terminal device or a component in the terminal device, etc.

[0345] For example, when the communication device 800 is used to implement the functions or steps implemented by the third device in the above-described method embodiments, the communication device 800 may be an access network device or a component in the access network device, or a core network device or a component in the core network device, etc.

[0346] In one embodiment, the communication device 800 may include a processing module 801 and a transceiver module 802; or it may include a processing module 801 but not a transceiver module 802; or it may include a transceiver module 802 but not a processing module 801. Wherein:

[0347] The processing module 801 can be used to support the communication device 800 in performing the processing actions in the above method embodiments. The processing module 801 can be implemented using one or more processors. For example, the processor can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), microcontroller units (MCUs), or other programmable logic devices, transistor logic devices, hardware components, or any combination thereof. A general-purpose processor can be a microprocessor or any conventional processor.

[0348] In this application, the processing module 801 may also be referred to as a processing unit, etc., without limitation.

[0349] Transceiver module 802 is used for inputting and / or outputting information. Input information can be replaced by received information, and output information can be replaced by transmitted information. When outputting information, transceiver module 802 can output information to other devices outside of communication device 800, or to other units within communication device 800. In some embodiments, transceiver module 802 can be implemented through at least one of a physical interface, a communication module, a communication interface, and an input / output interface. In other embodiments, transceiver module 802 can be implemented through interface circuitry, such as a mobile communication module. The mobile communication module may include one or more of at least one antenna, at least one filter, a switch, a power amplifier, and a low-noise amplifier (LNA).

[0350] Optionally, the transceiver module 802 may include a sending module and / or a receiving module. The sending module is used to perform the sending operation in the above method embodiments. The receiving module is used to perform the receiving operation in the above method embodiments. It should be noted that the communication device 800 may include a sending module but not a receiving module. Alternatively, the communication device 800 may include a receiving module but not a sending module. Specifically, it depends on whether the above scheme performed by the communication device 800 includes both sending and receiving actions.

[0351] In this application, the transceiver module 802 may also be referred to as a communication interface, a communication module, a transceiver unit, an interface module, an interface unit, or a communication unit, etc., without limitation.

[0352] It should be noted that the communication device 800 may include a processing module 801, but not a transceiver module 802. Alternatively, the communication device 800 may include a transceiver module 802, but not a processing module 801. Specifically, it depends on whether the above-described scheme executed by the communication device 800 includes processing and transceiver actions.

[0353] Optionally, the communication device 800 may further include a storage module, not shown in FIG8. The storage module may be used to store instructions and / or data, and the processing module 801 may read the instructions and / or data in the storage module to enable the communication device 800 to implement the aforementioned method embodiment.

[0354] Optionally, the communication device 800 may be a chip system, the transceiver module 802 may be the input / output interface of the chip (e.g., a baseband chip), and the processing module 801 may be the processor of the chip system.

[0355] In one possible design, when the communication device 800 is a communication equipment or a communication module within a communication equipment, the functionality of the processing module 801 can be implemented by one or more processors. Exemplarily, the processor may include a modem chip (also known as a baseband chip), or a system-on-a-chip (SoC) chip containing a modem core, or a system-in-package (SIP) chip. The functionality of the transceiver module 802 can be implemented by transceiver circuitry. Optionally, the communication equipment may be a terminal device or an access network device.

[0356] In one possible design, when the communication device 800 is a circuit or chip responsible for communication functions in a communication device, such as a modem chip or a SoC chip or SIP chip containing a modem core, the function of the processing module 801 can be implemented by a circuit system in the aforementioned chip that includes one or more processors or processor cores. The function of the transceiver module 802 can be implemented by the interface circuit or data transceiver circuit on the aforementioned chip. Optionally, the communication device can be an access network device or a core network device.

[0357] In the first implementation, the communication device 800 can perform the functions of the first device and execute the following: a processing module 801 is used to generate first information, wherein the first information includes first error information and first position measurement information of the first sensing target, and the first error information is used to represent the uncertainty of the measurement value indicated by the first position measurement information; a transceiver module 802 is used to send the first information.

[0358] In one possible implementation, the measured value indicated by the first position measurement information may include a first value and a second value; the first error information includes: the variance of the first value and the variance of the second value; or, the first error information includes: the variance of the first value, the variance of the second value, and the covariance of the first value and the second value; or, the first error information includes: the variance of the first value, the variance of the second value, and the correlation coefficient of the first value and the second value.

[0359] Alternatively, the measured values ​​indicated by the first position measurement information include a first value, a second value, and a third value; the first error information includes: the variance of the first value, the variance of the second value, and the variance of the third value; or, the first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the covariance of the first value and the second value, the covariance of the first value and the third value, and the covariance of the second value and the third value; or, the first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the correlation coefficient between the first value and the second value, the correlation coefficient between the first value and the third value, and the correlation coefficient between the second value and the third value.

[0360] In one possible implementation, the first information may further include at least one of the following: information about a first timestamp associated with the first location measurement information, information about a first velocity associated with the first location measurement information, or information about a first signal-to-noise ratio associated with the first location measurement information.

[0361] In one possible implementation, the first information may further include second position measurement information of the second sensing target, and the first error information is further used to represent the uncertainty of the measurement value indicated by the second position measurement information, wherein the difference between the measurement value indicated by the second position measurement information and the measurement value indicated by the first position measurement information is less than or equal to a first threshold.

[0362] In one possible implementation, the first information may further include second error information and third position measurement information of the third sensing target, wherein the second error information is used to represent the uncertainty of the measurement value indicated by the third position measurement information, and the difference between the measurement value indicated by the third position measurement information and the measurement value indicated by the first position measurement information is greater than a first threshold.

[0363] In one possible implementation, the above method can be applied to either single-station sensing mode or dual-station sensing mode.

[0364] Single-station sensing mode: Transceiver module 802 is used to send a first signal and receive the echo signal of the first signal; processing module 801 is used to generate first information based on the echo signal of the first signal.

[0365] Dual-station sensing mode: transceiver module 802 is used to receive the echo signal of the first signal; processing module 801 is used to generate first information based on the echo signal of the first signal.

[0366] In the second implementation, the communication device 800 can perform the functions of the third device, executing the following: a transceiver module 802, used to receive first information from the first device and second information from the second device, the first information including first error information and first position measurement information of the first sensing target, the second information including third error information and fourth position measurement information of the first sensing target, wherein the first error information is used to represent the uncertainty of the measurement value indicated by the first position measurement information, and the third error information is used to represent the uncertainty of the measurement value indicated by the fourth position measurement information; a processing module 801, used to determine the position of the first sensing target based on the first information and the second information.

[0367] In one possible implementation, the measurement value indicated by the first position measurement information may include a first value and a second value, and the measurement value indicated by the fourth position measurement information may include a fourth value and a fifth value. The first error information includes: the variance of the first value and the variance of the second value; or, the first error information includes: the variance of the first value, the variance of the second value, and the covariance of the first value and the second value; or, the first error information includes: the variance of the first value, the variance of the second value, and the correlation coefficient between the first value and the second value. The third error information includes: the variance of the fourth value and the variance of the fifth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, and the covariance of the fourth value and the fifth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, and the correlation coefficient between the fourth value and the fifth value.

[0368] Alternatively, the measured values ​​indicated by the first location measurement information may include a first value, a second value, and a third value, and the measured values ​​indicated by the fourth location measurement information may include a fourth value, a fifth value, and a sixth value. The first error information includes: the variance of the first value, the variance of the second value, and the variance of the third value; or, the first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the covariance of the first value and the second value, the covariance of the first value and the third value, and the covariance of the second value and the third value; or, the first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the correlation coefficient between the first value and the second value, the correlation coefficient between the first value and the third value, and the correlation coefficient between the second value and the third value. The third error information includes: the variance of the fourth value, the variance of the fifth value, and the variance of the sixth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, the variance of the sixth value, the covariance of the fourth and fifth values, the covariance of the fourth and sixth values, and the covariance of the fifth and sixth values; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, the variance of the sixth value, the correlation coefficient of the fourth and fifth values, the correlation coefficient of the fourth and sixth values, and the correlation coefficient of the fifth and sixth values.

[0369] In one possible implementation, the first information may further include information about a first timestamp associated with the first location measurement information, and the second information may further include information about a second timestamp associated with the fourth location measurement information. The first timestamp is the same as the second timestamp, or the difference between the first timestamp and the second timestamp is less than or equal to a second threshold. When determining the location of the first sensing target based on the first information and the second information, the processing module 801 is used to determine the location of the first sensing target within a first time unit based on the first information and the second information. The first time unit includes the first timestamp and the second timestamp.

[0370] In one possible implementation, the first information may further include first velocity information associated with the first position measurement information and / or first signal-to-noise ratio information associated with the first position measurement information; and / or, the second information may further include second velocity information associated with the fourth position measurement information and / or second signal-to-noise ratio information associated with the fourth position measurement information.

[0371] In one possible implementation, the first information may further include second position measurement information of the second sensing target, and the first error information is further used to represent the uncertainty of the measurement value indicated by the second position measurement information, wherein the difference between the measurement value indicated by the second position measurement information and the measurement value indicated by the first position measurement information is less than or equal to a first threshold.

[0372] In one possible implementation, the first information may further include second error information and third position measurement information of the third sensing target, wherein the second error information is used to represent the uncertainty of the measurement value indicated by the third position measurement information, and the difference between the measurement value indicated by the third position measurement information and the measurement value indicated by the first position measurement information is greater than a first threshold.

[0373] Detailed descriptions of the above-mentioned processing module 801 and transceiver module 802 can be obtained directly from the relevant descriptions in the foregoing method embodiments, and will not be repeated here.

[0374] Figure 9 illustrates a schematic diagram of another communication device 900 provided in an embodiment of this application. The communication device 900 may include a processor 920, used to implement or support the communication device 900 in implementing the functions of the first or third device in the foregoing method embodiments. For details, please refer to the detailed descriptions in the foregoing method embodiments, which will not be repeated here. For example, the processor 920 is used to read and execute program instructions through the communication interface 910, so that the communication device 900 implements the corresponding method. The processor 920 may include one or more processors, without limitation.

[0375] It should be noted that the aforementioned functional modules can be implemented by hardware or by a combination of hardware and software, without limitation. Furthermore, when the communication device 900 includes only the processor 920, the communication device 900 can be a chip or a chip system.

[0376] For example, the communication device 900 can be a chip system. The chip system can be composed of chips or can include chips and other discrete components, without limitation.

[0377] For example, when the communication device 900 is a chip, the communication interface 910 can be the chip's input / output interface, where input corresponds to receiving operations and output corresponds to sending operations.

[0378] Optionally, the communication device 900 may further include a memory 930 for storing program instructions and / or data. The memory 930 is coupled to the processor 920. This coupling can be understood as an indirect coupling or communication connection between devices, units, or modules, and can be electrical, mechanical, or other forms, used for information exchange between devices, units, or modules. The processor 920 may operate in conjunction with the memory 930; the processor 920 and the memory 930 may be integrated together or disposed separately.

[0379] Furthermore, the processor 920 is used to execute program instructions stored in the memory 930 so that the communication device 900 implements the corresponding method.

[0380] One or more of the memories in memory 930 may be included in the processor, or memory 930 may exist independently, such as off-chip memory, and be connected to processor 920 via a communication bus (represented by thick line 940 in Figure 9). Memory 930 and processor 920 may also be integrated together.

[0381] Optionally, the communication device 900 further includes a communication interface 910 (shown as dashed lines in FIG9) for communicating with other devices via a transmission medium, thereby enabling the devices in the communication device 900 to communicate with other devices.

[0382] For example, when the communication device 900 is a third device, the other devices can be a first device, a second device, etc. The processor 920 can use the communication interface 910 to send and receive data. For example, the processor 920 can be used to control the communication interface 910 to receive and / or send signals.

[0383] Specifically, the communication interface 910 can be a transceiver. In terms of hardware implementation, the transceiver can be used to implement the functions of the aforementioned transceiver module 802, and the transceiver is integrated into the communication device 900 to form the communication interface 910.

[0384] Optionally, the transceiver may include a transmitter and / or a receiver to respectively implement the sending and receiving operations in the method embodiment; other operations besides sending and receiving may be implemented by the processor 920.

[0385] It should be noted that the communication interface 910 may have both sending and receiving functions, enabling the transmission and reception of signals; or it may have a sending function but no receiving function, used for transmitting signals; or it may have a receiving function but no sending function, used for receiving signals.

[0386] It should be noted that the specific connection medium between the communication interface 910, processor 920, and memory 930 is not limited in the embodiments of this application. Figure 9 shows the memory 930, processor 920, and communication interface 910 connected via a communication bus 940. The connection methods between other components are merely illustrative and not intended to be limiting. The communication bus 940 can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used in Figure 9, but this does not indicate that there is only one communication bus or one type of communication bus.

[0387] In the embodiments of this application, the processor 920 may be a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices. The general-purpose processor may be a microprocessor or any conventional processor. The methods disclosed in conjunction with the embodiments of this application may be executed by the hardware in the processor, or by a combination of hardware and software in the processor.

[0388] In this embodiment, the memory 930 can be a non-volatile memory, such as a hard disk drive (HDD) or a solid-state drive (SSD), or it can be volatile memory, such as random-access memory (RAM). The memory can also be any other medium used to carry or store program code in the form of instructions or data structures that can be accessed by a computer; or it can be a circuit or any other device capable of implementing storage functions for storing program instructions and / or data.

[0389] In a first possible implementation, the communication device 900 may be a first device used to implement the relevant methods corresponding to the first device in the above embodiments. For specific functions, please refer to the descriptions in the above embodiments.

[0390] For example, the methods corresponding to the first device in the above embodiments include: generating first information, wherein the first information includes first error information and first position measurement information of the first sensing target, the first error information being used to represent the uncertainty of the measurement value indicated by the first position measurement information; and sending the first information.

[0391] In a second possible implementation, the communication device 900 may be a second device used to implement the methods corresponding to the third device in the above embodiments. For specific functions, please refer to the descriptions in the above embodiments.

[0392] For example, the methods corresponding to the third device in the above embodiments include: receiving first information from the first device and second information from the second device, the first information including first error information and first position measurement information of the first sensing target, the second information including third error information and fourth position measurement information of the first sensing target, wherein the first error information is used to represent the uncertainty of the measurement value indicated by the first position measurement information, and the third error information is used to represent the uncertainty of the measurement value indicated by the fourth position measurement information; determining the position of the first sensing target based on the first information and the second information.

[0393] For the specific implementation process, please refer to the relevant content in the aforementioned embodiments; it will not be repeated here.

[0394] Figure 10 illustrates an alternative communication device 1000 provided in an embodiment of this application, including: an input / output interface 1010 and a logic circuit 1020; the input / output interface 1010 is used to receive code instructions and transmit them to the logic circuit 1020; the logic circuit 1020 is used to run the code instructions to execute the method executed by the first device or the third device in any of the above embodiments.

[0395] In the first implementation, the communication device 1000 can be a first device that executes the method described above, specifically, for example, the method executed by the first device in the aforementioned method embodiments. For example, the communication device 1000 can generate first information, wherein the first information includes first error information and first position measurement information of a first sensing target, the first error information being used to represent the uncertainty of the measurement value indicated by the first position measurement information; and transmit the first information.

[0396] In the first implementation, the communication device 1000 can be a third device, executing the method performed by the aforementioned third device, specifically, for example, the method executed by the third device in the aforementioned method embodiments. For example, the communication device 1000 can receive first information from a first device and second information from a second device. The first information includes first error information and first position measurement information of a first sensing target. The second information includes third error information and fourth position measurement information of the first sensing target. The first error information represents the uncertainty of the measurement value indicated by the first position measurement information, and the third error information represents the uncertainty of the measurement value indicated by the fourth position measurement information. The position of the first sensing target is determined based on the first information and the second information.

[0397] For the specific implementation process, please refer to the aforementioned method implementation examples, which will not be repeated here.

[0398] It should be noted that the module division in the above embodiments of this application is illustrative and only represents a logical functional division. In actual implementation, there may be other division methods. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, exist as separate physical units, or have two or more units integrated into one unit. The integrated units can be implemented in hardware, as software functional units, or in a combination of hardware and software. Whether a function is executed in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0399] For example, the functional unit in any of the above devices may be one or more integrated circuits configured to implement the above methods, such as one or more ASICs, one or more CPUs, one or more MCUs, one or more DSPs, or one or more FPGAs, or a combination of at least two of these integrated circuit forms.

[0400] If the integrated units described above are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0401] This application also provides a computer-readable storage medium for storing computer programs or instructions, which, when run, enable the methods or steps executed by the first or third device in the foregoing embodiments to be implemented.

[0402] This application also provides a computer program product, including a computer program, which, when run on a computer, causes the methods or steps executed by the first or third device in the foregoing embodiments to be implemented.

[0403] This application provides a chip system including a processor for implementing the functions of the first or third device in the aforementioned method (e.g., executing corresponding methods or steps). The chip system may be composed of a chip or may include a chip and other discrete devices.

[0404] Optionally, the chip system also includes a memory for storing program instructions that the processor can read and execute to implement the corresponding method.

[0405] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0406] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems, devices, and units described above can be referred to the corresponding processes in the foregoing method embodiments, and will not be repeated here.

[0407] In the various embodiments of this application, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of different embodiments are consistent and can be referenced by each other. The technical features of different embodiments can be combined to form new embodiments according to their inherent logical relationship.

[0408] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to this application. It should 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 can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in one or more blocks of the flowchart illustrations and / or one or more blocks of the block diagrams.

[0409] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means that implement the functions specified in one or more flowcharts and / or one or more block diagrams.

[0410] These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer-implemented process, such that the instructions, which execute on the computer or other programmable apparatus, provide steps for implementing the functions specified in one or more flowcharts and / or one or more block diagrams.

[0411] It is understood that the various numerical designations used in the embodiments of this application are merely for descriptive convenience and are not intended to limit the scope of the embodiments of this application. The order of the process numbers described above does not imply the order of execution; the execution order of each process should be determined by its function and internal logic.

[0412] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A communication method, characterized in that, The method includes: Generate first information, wherein the first information includes first error information and first position measurement information of the first sensing target, and the first error information is used to represent the uncertainty of the measurement value indicated by the first position measurement information; Send the first message.

2. The method according to claim 1, characterized in that, The measurement value indicated by the first position measurement information includes a first value and a second value; The first error information includes: the variance of the first value and the variance of the second value; or, The first error information includes: the variance of the first value, the variance of the second value, and the covariance of the first value and the second value; or, The first error information includes: the variance of the first value, the variance of the second value, and the correlation coefficient between the first value and the second value.

3. The method according to claim 1, characterized in that, The measurement values ​​indicated by the first position measurement information include a first value, a second value, and a third value; The first error information includes: the variance of the first value, the variance of the second value, and the variance of the third value; or, The first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the covariance of the first value and the second value, the covariance of the first value and the third value, and the covariance of the second value and the third value; or, The first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the correlation coefficient between the first value and the second value, the correlation coefficient between the first value and the third value, and the correlation coefficient between the second value and the third value.

4. The method according to any one of claims 1 to 3, characterized in that, The first information further includes at least one of the following: information about a first timestamp associated with the first location measurement information, information about a first velocity associated with the first location measurement information, or information about a first signal-to-noise ratio associated with the first location measurement information.

5. The method according to any one of claims 1 to 4, characterized in that, The first information also includes second position measurement information of the second sensing target, and the first error information is further used to represent the uncertainty of the measurement value indicated by the second position measurement information, wherein the difference between the measurement value indicated by the second position measurement information and the measurement value indicated by the first position measurement information is less than or equal to a first threshold.

6. The method according to any one of claims 1 to 5, characterized in that, The first information also includes second error information and third position measurement information of the third sensing target. The second error information is used to represent the uncertainty of the measurement value indicated by the third position measurement information, wherein the difference between the measurement value indicated by the third position measurement information and the measurement value indicated by the first position measurement information is greater than a first threshold.

7. The method according to any one of claims 1 to 6, characterized in that, The generation of the first information includes: Receive the echo signal of the first signal; The first information is generated based on the echo signal of the first signal.

8. The method according to claim 7, characterized in that, The method further includes: Send the first signal.

9. A communication method, characterized in that, The method includes: The system receives first information from a first device and second information from a second device. The first information includes first error information and first position measurement information of a first sensing target. The second information includes third error information and fourth position measurement information of the first sensing target. The first error information is used to represent the uncertainty of the measurement value indicated by the first position measurement information, and the third error information is used to represent the uncertainty of the measurement value indicated by the fourth position measurement information. The location of the first perceived target is determined based on the first information and the second information.

10. The method according to claim 9, characterized in that, The measurement value indicated by the first position measurement information includes a first value and a second value, and the measurement value indicated by the fourth position measurement information includes a fourth value and a fifth value; The first error information includes: the variance of the first value and the variance of the second value; or, the first error information includes: the variance of the first value, the variance of the second value, and the covariance of the first value and the second value; or, the first error information includes: the variance of the first value, the variance of the second value, and the correlation coefficient of the first value and the second value. The third error information includes: the variance of the fourth value and the variance of the fifth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, and the covariance of the fourth value and the fifth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, and the correlation coefficient of the fourth value and the fifth value.

11. The method according to claim 9, characterized in that, The measurement values ​​indicated by the first position measurement information include a first value, a second value, and a third value, and the measurement values ​​indicated by the fourth position measurement information include a fourth value, a fifth value, and a sixth value; The first error information includes: the variance of the first value, the variance of the second value, and the variance of the third value; or, the first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the covariance of the first value and the second value, the covariance of the first value and the third value, and the covariance of the second value and the third value; or, the first error information includes: the variance of the first value, the variance of the second value, the variance of the third value, the correlation coefficient between the first value and the second value, the correlation coefficient between the first value and the third value, and the correlation coefficient between the second value and the third value. The third error information includes: the variance of the fourth value, the variance of the fifth value, and the variance of the sixth value; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, the variance of the sixth value, the covariance of the fourth and fifth values, the covariance of the fourth and sixth values, and the covariance of the fifth and sixth values; or, the third error information includes: the variance of the fourth value, the variance of the fifth value, the variance of the sixth value, the correlation coefficient of the fourth and fifth values, the correlation coefficient of the fourth and sixth values, and the correlation coefficient of the fifth and sixth values.

12. The method according to any one of claims 9 to 11, characterized in that, The first information also includes information about a first timestamp associated with the first location measurement information, and the second information also includes information about a second timestamp associated with the fourth location measurement information. The first timestamp is the same as the second timestamp, or the difference between the first timestamp and the second timestamp is less than or equal to a second threshold. Determining the location of the first perceived target based on the first information and the second information includes: Based on the first information and the second information, the position of the first perceived target within a first time unit is determined, wherein the first time unit includes the first timestamp and the second timestamp.

13. The method according to any one of claims 9 to 12, characterized in that, The first information further includes first velocity information associated with the first position measurement information and / or first signal-to-noise ratio information associated with the first position measurement information; and / or, the second information further includes second velocity information associated with the fourth position measurement information and / or second signal-to-noise ratio information associated with the fourth position measurement information.

14. The method according to any one of claims 9 to 13, characterized in that, The first information also includes second position measurement information of the second sensing target, and the first error information is further used to represent the uncertainty of the measurement value indicated by the second position measurement information, wherein the difference between the measurement value indicated by the second position measurement information and the measurement value indicated by the first position measurement information is less than or equal to a first threshold.

15. The method according to any one of claims 9 to 14, characterized in that, The first information also includes second error information and third position measurement information of the third sensing target. The second error information is used to represent the uncertainty of the measurement value indicated by the third position measurement information, wherein the difference between the measurement value indicated by the third position measurement information and the measurement value indicated by the first position measurement information is greater than a first threshold.

16. A communication device, characterized in that, Includes modules for performing the method as described in any one of claims 1 to 15.

17. A communication device, characterized in that, It includes at least one processor, said at least one processor being used to perform the method as described in any one of claims 1 to 15.

18. A communication system, characterized in that, It includes a first device, a second device, and a third device, wherein: The first device is configured to: send first information to the third device, the first information including first error information and first position measurement information of the first sensing target, the first error information being used to represent the uncertainty of the measurement value indicated by the first position measurement information; The second device is used to: send second information to the third device, the second information including third error information and fourth position measurement information of the first sensing target, the third error information being used to represent the uncertainty of the measurement value indicated by the third position measurement information; The third device is used to: receive the first information and the second information, and determine the location of the first sensing target based on the first information and the second information.

19. The communication system according to claim 18, characterized in that, The first device is a first access network device or a device within a first access network device, the second device is a second access network device or a device within a second access network device, and the third device is a sensing network element.

20. The communication system according to claim 18, characterized in that, The first device is a first distributed unit, the second device is a second distributed unit, and the third device is a centralized unit.

21. A computer-readable storage medium, characterized in that, It stores a computer program or instructions that, when executed, cause the method as described in any one of claims 1 to 15 to be implemented.

22. A computer program product, characterized in that, The computer program product includes a computer program that, when run on a computer, causes the method as described in any one of claims 1 to 15 to be implemented.

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