Sensing signal sending method and signal processing method for coordinated multi-point system, and node

Abstract

The present disclosure provides a sensing signal sending method and a signal processing method for a coordinated multi-point system, and a node. The sending method comprises: a second node acquires a first frequency sequence, the first frequency sequence comprising a plurality of frequencies; on the basis of the first frequency sequence, the second node determines a subcarrier used for sending a sensing signal within the operating frequency band of the second node; and the second node sends the sensing signal on the determined subcarrier.

Description

Sensing signal transmission methods, signal processing methods, and nodes of multi-point cooperative systems

[0001] This disclosure claims priority to Chinese Patent Application No. 202411695599.5, filed on November 25, 2024, entitled "Method for transmitting sensing signals, signal processing method and node for multi-point cooperative system", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of communication technology, and in particular to a method for transmitting sensing signals, a method for processing signals, and a node for a multi-point cooperative system. Background Technology

[0003] A key application of Integrated Sensing and Communications (ISAC) is high-precision ranging and positioning, which requires continuous and extremely high bandwidth frequency resources. However, high-quality mid-to-low frequency spectrum resources are very limited and are allocated to multiple operators, resulting in a situation where no single operator has enough continuous bandwidth to support high-precision ranging.

[0004] To achieve greater bandwidth in the mid-to-low frequency bands, a readily conceivable solution is for multiple operators' base stations to collaborate, using carrier aggregation (CA) technology to obtain greater bandwidth. Currently, each operator's base station transmits sensing signals within its own frequency band according to its own configuration (e.g., subcarrier spacing configuration, sensing signal transmission density (Comb size), and sensing signal start position). Even if carrier aggregation technology achieves greater sensing signal bandwidth, it is impossible to extract uniformly distributed sensing signals from all transmitted sensing signals. This non-uniform distribution of sensing signals leads to spectrum leakage, resulting in a severe deterioration in ranging performance. Summary of the Invention

[0005] The purpose of this disclosure is to provide a method for transmitting sensing signals, a method for processing signals, and a node for a multi-point cooperative system, so as to solve the problem that existing sensing signal transmission methods cannot achieve high-precision ranging and positioning.

[0006] To address the aforementioned problems, this disclosure provides a method for transmitting sensing signals in a multi-point cooperative system, applied to a second node in a multi-point cooperative system comprising N nodes, wherein the N nodes include one first node and N-1 second nodes. The method includes:

[0007] The second node acquires a first frequency sequence, which includes multiple frequencies; the first frequency sequence is related to a first starting frequency and a target frequency interval; the first starting frequency is the starting frequency at which the first node sends a sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2.

[0008] The second node determines the subcarriers within its operating frequency band used for transmitting sensing signals based on the first frequency sequence.

[0009] The second node transmits the sensing signal on a determined subcarrier.

[0010] This disclosure also provides a signal processing method for a multi-point cooperative system, applicable to any node in a multi-point cooperative system comprising N nodes, the method comprising:

[0011] Obtain the first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2.

[0012] Based on the phase of the echo signal at each frequency point of the third node in the first fused signal sequence, the estimated phase of the echo signal at each frequency point of the fourth node is determined; the third node is any one of the N nodes, and the fourth node is the neighboring node of the third node.

[0013] Based on the estimated phase of the echo signal at the first frequency point of the fourth node and the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence, a second fused signal sequence without phase jump is determined.

[0014] This disclosure also provides a node, which is a second node in a multi-point collaborative system comprising N nodes. The N nodes include one first node and N-1 second nodes. The node includes a memory, a transceiver, and a processor.

[0015] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0016] A first frequency sequence is obtained, which includes multiple frequencies; the first frequency sequence is related to a first starting frequency and a target frequency interval; the first starting frequency is the starting frequency at which the first node sends a sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2.

[0017] Based on the first frequency sequence, determine the subcarriers within the operating frequency band of the second node used for transmitting sensing signals;

[0018] The sensing signal is transmitted on a determined subcarrier.

[0019] This disclosure also provides a sensing signal transmitting device for a multi-point cooperative system, applied to a second node in a multi-point cooperative system comprising N nodes, the device comprising:

[0020] The first acquisition unit is used to acquire a first frequency sequence, which includes multiple frequencies; the first frequency sequence is related to a first starting frequency and a target frequency interval; the first starting frequency is the starting frequency at which the first node sends a sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2.

[0021] The first determining unit is configured to determine, based on the first frequency sequence, the subcarriers within the operating frequency band of the second node used for transmitting sensing signals;

[0022] A transmitting unit is used to transmit the sensing signal on a determined subcarrier.

[0023] This disclosure also provides a node, which is any node in a multi-point cooperative system comprising N nodes, and the node includes a memory, a transceiver, and a processor.

[0024] A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations:

[0025] Obtain the first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2.

[0026] Based on the phase of the echo signal at each frequency point of the third node in the first fused signal sequence, the estimated phase of the echo signal at each frequency point of the fourth node is determined; the third node is any one of the N nodes, and the fourth node is the neighboring node of the third node.

[0027] Based on the estimated phase of the echo signal at the first frequency point of the fourth node and the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence, a second fused signal sequence without phase jump is determined.

[0028] This disclosure also provides a signal processing apparatus for a multi-point cooperative system, comprising:

[0029] The second acquisition unit is used to acquire a first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2.

[0030] The second determining unit is used to determine the estimated phase of the echo signal at each frequency point position of the fourth node based on the phase of the echo signal at each frequency point position of the third node in the first fused signal sequence; the third node is any one of the N nodes, and the fourth node is an adjacent node of the third node.

[0031] The third determining unit is used to determine a second fused signal sequence without phase jump based on the estimated phase of the echo signal at the first frequency point position of the fourth node and the phase of the echo signal at the first frequency point position of the fourth node in the first fused signal sequence.

[0032] This disclosure also provides a processor-readable storage medium storing a program for causing the processor to perform the method described above.

[0033] The above-disclosed technical solution has at least the following beneficial effects:

[0034] In the sensing signal transmission method, signal processing method, and node of the multi-point cooperative system in this disclosure, the sensing signal transmission of each node in the multi-point cooperative system is configured so that the first fused signal sequence after fusion does not have a phase jump at any position. The first fused signal sequence after fusion should satisfy a certain fixed frequency interval at any position of the sequence, and the frequency domain distance between adjacent sensing signals from adjacent nodes should also satisfy the fixed frequency interval. This reduces or even eliminates the phase jump at the echo signal splicing point between nodes, so that carrier aggregation technology can be applied to multi-point cooperative scenarios, thereby achieving large bandwidth and high precision ranging in the mid-low frequency band. Attached Figure Description

[0035] Figure 1 shows a block diagram of a wireless communication system to which embodiments of the present disclosure may be applied;

[0036] Figure 2 is a flowchart illustrating the steps of the sensing signal transmission method of the multi-point cooperative system provided in an embodiment of this disclosure.

[0037] Figure 3 is a flowchart illustrating the steps of a signal processing method for a multi-point cooperative system provided in an embodiment of this disclosure.

[0038] Figure 4 shows the range radar map obtained by the existing carrier aggregation scheme;

[0039] Figure 5 shows a schematic diagram of the first fused signal sequence generated from the range radar map in Figure 4;

[0040] Figure 6 shows a schematic diagram of the signal phase change at the frequency band boundary after the echo signals of two base stations with asynchronous clocks and adjacent frequency bands are spliced ​​together.

[0041] Figure 7 shows the range radar map obtained after performing Inverse Fast Fourier Transform (IFFT) to eliminate phase jumps;

[0042] Figure 8 shows one of the structural schematic diagrams of a node provided in an embodiment of this disclosure;

[0043] Figure 9 shows a schematic diagram of the sensing signal transmitting device provided in an embodiment of this disclosure;

[0044] Figure 10 shows a second schematic diagram of the structure of a node provided in an embodiment of this disclosure;

[0045] Figure 11 shows a schematic diagram of the structure of the signal processing device provided in an embodiment of this disclosure. Detailed Implementation

[0046] To make the technical problems, technical solutions and advantages to be solved by this disclosure clearer, a detailed description will be given below in conjunction with the accompanying drawings and specific embodiments.

[0047] Figure 1 shows a block diagram of a wireless communication system applicable to embodiments of this disclosure. The wireless communication system includes a terminal device 11 and a network-side device 12. The terminal device 11 can also be referred to as a terminal or user equipment (UE). It should be noted that the specific type of terminal 11 is not limited in this disclosure embodiment. The network-side device 12 can be a base station or a core network. It should be noted that this disclosure embodiment only uses a base station in an NR system as an example, but does not limit the specific type of base station. It should be noted that the nodes provided in this disclosure embodiment can be either the terminal device 11 or the network-side device 12; the N nodes included in the multi-point cooperation system provided in this disclosure embodiment can be N terminal devices, N network-side devices, or a combination of at least one terminal device and at least one network-side device, and are not specifically limited here.

[0048] In this disclosure, the term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three cases: A alone, A and B simultaneously, and B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0049] In this disclosure, the term "multiple" refers to two or more, and other quantifiers are similar.

[0050] The technical solutions of the embodiments of this disclosure will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this disclosure, and not all embodiments. Based on the embodiments of this disclosure, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this disclosure.

[0051] The technical solutions provided in this disclosure can be applied to a variety of systems. For example, applicable systems may include Long Term Evolution (LTE) systems, LTE Frequency Division Duplex (FDD) systems, LTE Time Division Duplex (TDD) systems, Long Term Evolution Advanced (LTE-A) systems, Universal Mobile Telecommunications System (UMTS), Worldwide Interoperability for Microwave Access (WiMAX) systems, 5th Generation Mobile Communication Technology (5G) New Radio (NR) systems and their evolutionary communication systems, and 6th Generation Mobile Communication Technology (6G) systems. These systems may include terminal equipment and network equipment. The systems may also include a core network component, such as an Evolved Packet Core (EPC) or a 5G Core (5GC).

[0052] The terminal devices involved in the embodiments of this disclosure can be devices that provide voice and / or data connectivity to users, handheld devices with wireless connectivity, or other processing devices connected to a wireless modem. The names of the terminal devices may differ in different systems; for example, in a 5G system, a terminal device can be called User Equipment (UE). Wireless terminal devices can communicate with one or more core networks (CNs) via a Radio Access Network (RAN). Wireless terminal devices can be mobile terminal devices, such as mobile phones (or "cellular" phones) and computers with mobile terminal devices, for example, portable, pocket-sized, handheld, computer-embedded, or vehicle-mounted mobile devices that exchange voice and / or data with the RAN. Examples include Personal Communication Service (PCS) phones, cordless phones, Session Initiated Protocol (SIP) phones, Wireless Local Loop (WLL) stations, and Personal Digital Assistants (PDAs). Wireless terminal equipment can also be referred to as a system, subscriber unit, subscriber station, mobile station, mobile station, remote station, access point, remote terminal, access terminal, user terminal, user agent, or user device, but is not limited to these terms in the embodiments disclosed herein.

[0053] The network device disclosed in this embodiment may be a base station, which may include multiple cells providing services to terminals. Depending on the specific application, the base station may also be called an access point, or a device in the access network that communicates with the wireless terminal device through one or more sectors on the air interface, or other names. The network device may be used to exchange received air frames with Internet Protocol (IP) packets, acting as a router between the wireless terminal device and the rest of the access network, where the rest of the access network may include an Internet Protocol (IP) communication network. The network device may also coordinate the attribute management of the air interface. For example, the network equipment involved in this disclosure can be a base transceiver station (BTS) in a Global System for Mobile communications (GSM) or Code Division Multiple Access (CDMA) system, a NodeB in a wide-band Code Division Multiple Access (WCDMA) system, an evolved Node B (eNB or e-NodeB) in a long term evolution (LTE) system, a 5G base station (gNB) in a next generation system, a Home evolved Node B (HeNB), a relay node, a femto, a pico, etc., and is not limited in this disclosure. In some network structures, the network equipment may include centralized unit (CU) nodes and distributed unit (DU) nodes, and the centralized unit and distributed unit may be geographically separated.

[0054] Network devices and terminal devices can each use one or more antennas for Multiple Input Multiple Output (MIMO) transmission. MIMO transmission can be Single User MIMO (SU-MIMO) or Multiple User MIMO (MU-MIMO). Depending on the configuration and number of antenna combinations, MIMO transmission can be 2D MIMO, 3D MIMO, Full Dimension MIMO (FD-MIMO), or Massive MIMO, or it can be diversity transmission, pre-coded transmission, or beamforming transmission, etc.

[0055] As shown in Figure 2, this embodiment of the present disclosure provides a method for transmitting sensing signals in a multi-point cooperative system, applied to a second node in a multi-point cooperative system comprising N nodes, wherein the N nodes include one first node and N-1 second nodes, and the method includes:

[0056] Step 201: The second node acquires a first frequency sequence, which includes multiple frequencies; the first frequency sequence is related to a first starting frequency and a target frequency interval; the first starting frequency is the starting frequency at which the first node sends a sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2.

[0057] Step 202: The second node determines the subcarriers within its operating frequency band for transmitting sensing signals based on the first frequency sequence.

[0058] Step 203: The second node transmits the sensing signal on the determined subcarrier.

[0059] In this embodiment of the disclosure, the above-mentioned N nodes include: nodes that are co-located (shared antenna), use adjacent frequency bands, and come from multiple operators, or nodes that are co-located (shared antenna), use adjacent frequency bands, and come from the same operator; no specific limitation is made here.

[0060] In one implementation, the first node can be any one of the N nodes;

[0061] In another implementation, the first node is either the node with the lowest frequency among the N nodes, or the first node is the node with the highest frequency among the N nodes.

[0062] Suppose there are N co-located nodes (i = 1, ..., N), sorted by frequency band from low to high. The parameters of the i-th node are as follows:

[0063] Subcarrier spacing: Δf i Bandwidth: B i Comb size (sensor signal transmission density): C i .

[0064] As an optional embodiment, the first node selects a subcarrier from subcarrier numbers 0 to C1-1 as the initial sensing signal subcarrier (denoted as the frequency of this subcarrier f). min (i.e., the first starting frequency), and transmit sensing signals in its frequency band B1 with the frequency domain density of Δf1C1.

[0065] As an optional embodiment, step 203 includes:

[0066] The second node and the first node transmit the sensing signal at the same time according to the determined subcarrier. This can also be understood as N nodes negotiating to transmit the sensing signal at the same time according to the determined subcarrier position.

[0067] In some embodiments, the method further includes:

[0068] The N nodes respectively receive the echo signals of the sensing signals;

[0069] The N nodes respectively extract the echo signal on the subcarrier corresponding to the first frequency sequence from the echo signal;

[0070] The echo signals extracted from the N nodes are fused to obtain the first fused signal sequence.

[0071] For example, if the first frequency sequence is f(m), after N nodes receive their respective echo signals, they extract all subcarrier sensing signal echoes at frequency f(m) and fuse them into a first fused signal sequence D. agg Echo signals not at frequency f(m) are discarded.

[0072] The first fused signal sequence D obtained through the above steps agg The frequency interval between any two adjacent elements is the target frequency interval, and there is no phase jump at the splicing point of signals from adjacent frequency band nodes.

[0073] It should be noted that the above echo signal fusion operation can be performed by any one of the N nodes, such as the first node or the second node, or by a third-party node, such as the control node, etc., without specific limitations.

[0074] This multi-point cooperative system integrates echo signals from base stations of multiple operators that are co-located (shared antenna) and use adjacent frequency bands to achieve a larger sensing signal bandwidth, thereby obtaining higher distance resolution and ranging accuracy. Since the configurations of base stations from different operators may differ—for example, bandwidth, subcarrier spacing, sensing signal transmission density, and the setting of the sensing signal transmission start position—to ensure that the fused sensing signal sequence (i.e., the first fused signal sequence) has no phase jump at any position, the fused sensing signal sequence should satisfy a fixed frequency interval at any position in the sequence, and the frequency domain distance between adjacent sensing signals from adjacent base stations should also satisfy this fixed frequency interval (in simpler terms, it means that from the original echo signals of all nodes, a portion of the signals can be selected to generate a sequence that is uniformly distributed in the frequency domain). To achieve this condition, the sensing signal transmission of each base station must satisfy the rules in steps 201 and 202 to eliminate phase jump source 1 (i.e., the frequency difference between two sensing signals at the signal splicing point is different from the frequency difference of adjacent sensing signals at non-signal splicing points).

[0075] In at least one embodiment of this disclosure, the target frequency interval is the least common multiple of the frequency intervals of the sensing signals transmitted by the N nodes.

[0076] When high-precision ranging sensing is required, N co-located nodes need to negotiate (e.g., through a network element that can exchange data from base stations of different operators). The target frequency interval Δf between adjacent sensing signals after signal fusion is calculated based on the comb size configuration of each node. agg Δf agg =LCM(Δf1C1,Δf2C2,…,Δf N C N );

[0077] That is, the target frequency interval Δf between adjacent sensing signals after sensing signal fusion. agg It is the least common multiple (LCM) of the frequency intervals between the sensing signals sent by each node.

[0078] In at least one embodiment of this disclosure, step 201 includes:

[0079] The second node receives the first frequency sequence sent by the first node; in this case, the first node determines the first frequency sequence based on the first starting frequency and the target frequency interval.

[0080] or,

[0081] The second node determines the first frequency sequence based on the first starting frequency and the target frequency interval.

[0082] It should be noted that the method by which the first node determines the first frequency sequence based on the first starting frequency and the target frequency interval is the same as the method by which the second node determines the first frequency sequence based on the first starting frequency and the target frequency interval. The following explanation will take the method by which the second node determines the first frequency sequence as an example.

[0083] In some embodiments, the second node determines the first frequency sequence based on the first starting frequency and the target frequency interval, including:

[0084] The second node determines that the first frequency sequence includes multiple frequencies, which are: multiple frequencies obtained from the first starting frequency with the target frequency interval as the frequency difference.

[0085] For example, with the first starting frequency f min Starting position, Δf agg Let f(m) be the step size. Then, calculate the frequencies of each signal in the fused sensing signal sequence (i.e., the multiple frequencies included in the first frequency sequence f(m)).

[0086] f(m)=f min +m·Δf agg Where m is a positive integer.

[0087] In at least one embodiment of this disclosure, step 202 includes:

[0088] The frequency contained in the first frequency sequence that first appears within the operating frequency band of the second node is determined as the reference frequency; this reference frequency is the frequency position at which the second node must transmit the sensing signal.

[0089] Based on the reference frequency and the frequency interval of the sensing signal transmitted by the second node, a subcarrier for transmitting the sensing signal is determined.

[0090] For example, the first frequency (denoted as f) of sequence f(m) in the second lowest frequency band of base station (i=2) min (2) is the frequency position at which base station 2 must transmit sensing signals. Base station 2, within its frequency band B2, transmits signals at this frequency f. min (2) is the reference point, Δf2C2 is the sensing signal density, and the sensing signal is transmitted in its frequency band B2.

[0091] For example, the first frequency of sequence f(m) in the third lowest frequency band of the base station (i=3) is denoted as f. min (3) is the subcarrier frequency at which base station 3 must transmit sensing signals. Base station 3, within its frequency band B3, transmits signals at this frequency f. min(3) is the reference point, Δf3C3 is the sensing signal density, and the sensing signal is transmitted in its frequency band B3; repeat the above steps until the base station with the highest frequency band (i=N) determines which subcarriers it should transmit the sensing signal on.

[0092] In summary, in this embodiment of the multi-point cooperation system, by configuring the sensing signal transmission of each node, the first fused signal sequence after fusion does not have a phase jump at any position. The first fused signal sequence after fusion should satisfy a certain fixed frequency interval at any position in the sequence, and the frequency domain distance between adjacent sensing signals from adjacent nodes should also satisfy the fixed frequency interval. This reduces or even eliminates the phase jump at the echo signal splicing point between nodes, enabling carrier aggregation technology to be applied to multi-point cooperation scenarios, thereby achieving high bandwidth and high precision ranging in the mid-to-low frequency band.

[0093] It should be noted that after applying the sensing signal transmission method provided in the embodiments of this disclosure, a uniformly distributed sensing signal can be extracted in the frequency band after carrier aggregation. However, due to the clock error between each node, the ranging performance will still be severely degraded. For example, five co-located nodes, in the 3.6-4.1 GHz frequency band, with a sensing configuration of 30 kHz subcarrier spacing, comb-33 (a total of 505 sensing signals), jointly transmit sensing signals in a 500 MHz bandwidth and jointly process the echo signals. Taking a target with a sensing distance of 40 meters as an example, the range radar map obtained by this carrier aggregation (CA) scheme is shown in Figure 4. As can be seen from Figure 4, the main lobe caused by the target has multiple peaks and a large number of side lobes. Multiple peaks make it impossible to determine how many targets are present, and side lobes cause false alarms and missed detections. Its performance is even worse than ranging with a 100 MHz bandwidth. The reason for these problems is that this scheme is actually a signal-level echo signal fusion, which requires 10 picosecond-level clock synchronization between multiple cooperating stations, while existing synchronization technologies can only provide a minimum of 10 nanosecond-level clock synchronization for communication nodes. Clock errors can cause phase jumps at signal splicing points, leading to spectral leakage and resulting in multiple peaks and a large number of sidelobes.

[0094] To address the aforementioned problems, as shown in Figure 3, this disclosure also provides a signal processing method for a multi-point cooperative system, applicable to any node in a multi-point cooperative system comprising N nodes. The method includes:

[0095] Step 301: Obtain the first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2.

[0096] In some embodiments, the first fused signal sequence does not have a phase jump at any position, and the first fused signal sequence should satisfy a certain fixed frequency interval at any position of the sequence, and the frequency domain distance between adjacent sensing signals from adjacent nodes also satisfies the fixed frequency interval.

[0097] Step 302: Determine the estimated phase of the echo signal at each frequency point of the fourth node based on the phase of the echo signal at each frequency point of the third node in the first fused signal sequence; the third node is any one of the N nodes, and the fourth node is an adjacent node of the third node.

[0098] Step 303: Based on the estimated phase of the echo signal at the first frequency point of the fourth node and the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence, determine the second fused signal sequence without phase jump.

[0099] It should be noted that this signal processing method can be executed by any one of the N nodes, or by a third-party network node, such as a control node; no specific limitation is made here.

[0100] The first fused signal sequence D obtained by transmitting the aforementioned sensing signal agg This eliminates the negative impact from phase jump source 1. However, if the first fused signal sequence D is directly applied... agg Even when implementing traditional ranging algorithms (such as the IFFT algorithm), ideal ranging performance cannot be obtained (as shown in Figure 4). This is because in the first fused signal sequence D... agg The phase jump source 2 (clock errors between multiple nodes exceeding 10 picoseconds) still has an impact. Figure 5 illustrates the first fused signal sequence D used to generate the range radar map in Figure 4. agg At the signal splicing point, a phase jump caused by clock synchronization error is clearly visible.

[0101] To address the phase jump problem caused by clock synchronization issues in CA scenarios, this disclosure proposes a method to eliminate phase jumps by utilizing subsequent echo signals, based on the aforementioned sensing signal transmission method. The key to this method is leveraging the periodicity of the echo signals to identify signal segments with better phase alignment, thereby reducing or eliminating phase discontinuities at signal junctions. Because this method utilizes subsequent signals, it leads to increased sensing delay. Therefore, it is more suitable for applications requiring high-precision ranging but not sensitive to sensing delay, such as environment reconstruction.

[0102] For example, as shown in Figure 6, the signal phase change at the frequency band boundary is illustrated after splicing the echo signals of two base stations (base station 1 and base station 2) with asynchronous clocks and adjacent frequency bands. Each base station has N...s Sensing signals are transmitted on each frequency point. The left curve represents the time-domain echo signal received by base station 1, and the right curve represents the time-domain echo signal received by base station 2. At time t0, the black dashed line (e.g., the phase of base station 1 at time t0) represents the signal received by base station 2. Phase of base station 2 at time t0 The composition indicates the phase change of the spliced ​​echo signal sequence. Due to clock errors between base stations, at frequency N... s -1 phase and at frequency N s The phase of the signal jumps, and the phase difference between the echo signals of the two base stations is Δφ.

[0103] In at least one embodiment of this disclosure, step 303 includes:

[0104] The estimated phase of the echo signal at the first frequency point of the fourth node is compared with the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence to obtain the first phase difference;

[0105] If the absolute value of the first phase difference is less than or equal to the first threshold, the first fused signal sequence is determined to be a second fused signal sequence without phase jumps; or,

[0106] If the absolute value of the first phase difference is greater than the first threshold, the echo signal received by the fourth node at the second time moment is fused with the echo signal received by the third node at the first time moment to generate a third fused signal sequence; and based on the second phase difference between the estimated phase of the echo signal at the first frequency point position of the fourth node and the phase of the echo signal at the first frequency point position of the fourth node in the third fused signal sequence, if the absolute value of the second phase difference is less than or equal to the first threshold, the third fused signal sequence is determined to be a second fused signal sequence without phase jump;

[0107] The second time point is a subsequent time point of the first time point.

[0108] In some embodiments, the first frequency point is the frequency point within the operating frequency band of the fourth node that is closest to the operating frequency band of the third node, and the frequency of the first frequency point belongs to the frequency in the first frequency sequence.

[0109] Wherein, the first frequency sequence is related to the first starting frequency and the target frequency interval; the first starting frequency is the starting frequency at which the reference node among the N nodes sends the sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by the N nodes; N is an integer greater than or equal to 2.

[0110] Example 1, as shown in Figure 6:

[0111] Step 1: Select the phase of the echo signal from base station 1 as the reference phase, denoted as... According to the reference phase From the phase change, we can estimate the phase of the echo signal at each frequency point of base station 2 under the condition of perfect clock synchronization, denoted as . Especially for the phase of frequencies near the boundary, for example The estimate can be made relatively accurately because the comb size relationship between base station 1 and base station 2 remains consistent.

[0112] Step 2, compare at n=N s Estimated phase at the location and true phase To detect phase discontinuities. If the phase difference is less than a predefined threshold Δφ thresh ,Right now

[0113] If no phase transition is found, the IFFT algorithm is directly applied to the spliced ​​echo signal to obtain a high-precision ranging result, and no further steps are performed.

[0114] If the phase difference is greater than the predefined threshold Δφ thresh ,Right now

[0115] If a phase transition is detected, proceed to step three.

[0116] Step 3, use the subsequent echo signal received by base station 2 at time t1, whose phase is This signal is spliced ​​with the echo signal received by base station 1 at time t0. Compare at n = N. s Estimated phase at the location and true phase To detect phase discontinuities. If the phase difference is less than a predefined threshold Δφ thresh If the phase transition is not observed, the spliced ​​signal is considered to have no phase jump, and the IFFT algorithm is directly applied to the spliced ​​echo signal to obtain a high-precision ranging result, without proceeding to the next step. Otherwise, the subsequent echo signal received by base station 2 at time t2 is spliced ​​with the echo signal received by base station 1 at time t0. Step 3 is repeated until the phase difference of the spliced ​​signal sequence at the splicing point is less than the predefined threshold Δφ. thresh The iteration continues until a preset number of iterations is reached.

[0117] Figure 6 illustrates a scenario where the phase jump is eliminated after splicing the subsequent echo signal received by base station 2 at time t4 with the echo signal received by base station 1 at time t0. The phase of the echo signal from base station 1 at time t0, after being spliced ​​with the phase of the echo signal from base station 2 at time t4, forms a smooth sine curve, indicating that the phase jump has been eliminated.

[0118] After applying the proposed method to eliminate the phase jump in the echo signal shown in Figure 6, the range radar map obtained by performing IFFT is shown in Figure 7. After CA aggregation, the bandwidth reaches 500MHz, and the main lobe caused by the target is very narrow, which means that the range resolution and ranging accuracy are significantly improved. Compared with the range radar map obtained in Figure 4 without phase jump elimination after aggregation, the main lobe caused by the target in Figure 7 has only one peak, and the number of side lobes is greatly reduced, proving the effectiveness of the signal processing method provided in the embodiments of this disclosure.

[0119] In one implementation, after obtaining the phase difference between the echo signals of base station 1 and base station 2 through the above steps, within a preset time period (this time is related to the clock stability of base station 1 and base station 2, and the clock difference between base station 1 and base station 2 should not change significantly within this time period), the phase of the transmitted sensing signal of base station 2 is adjusted according to the phase difference between the echo signals of base station 1 and base station 2. Within the preset time period, IFFT can be directly performed on the spliced ​​sensing echo signal to obtain the ranging result after phase jump elimination.

[0120] In another implementation, the phases of the echo signals from base station 1 and base station 2 can serve as reference phases for each other. That is, in addition to performing the steps described above, the subsequent echo signals from base station 1 can be simultaneously spliced ​​with the echo signal from base station 2 at time t0, and the phase transition at the splicing point can be compared. This process is performed synchronously with the above steps, and in the worst case, it can reduce the delay of the spliced ​​echo signal with phase transition eliminated by 50%.

[0121] In some embodiments, the target frequency interval is the least common multiple of the frequency intervals of the sensing signals transmitted by the N nodes. For example, when high-precision ranging sensing is required, the N co-located nodes need to negotiate (e.g., through a network element that can exchange data from base stations of different operators), and calculate the target frequency interval Δf between adjacent sensing signals after sensing signal fusion, based on the comb size configuration of each node. agg Δf agg =LCM(Δf1C1,Δf2C2,…,Δf N C N )

[0122] That is, the target frequency interval Δf between adjacent sensing signals after sensing signal fusion. aggIt is the least common multiple (LCM) of the frequency intervals between the sensing signals sent by each node.

[0123] In some embodiments, the first frequency sequence includes a plurality of frequencies, which are obtained by starting from the first starting frequency and using the target frequency interval as the frequency difference.

[0124] For example, with the first starting frequency f min Starting position, Δf agg Let f(m) be the step size. Then, calculate the frequencies of each signal in the fused sensing signal sequence (i.e., the multiple frequencies included in the first frequency sequence f(m)).

[0125] f(m)=f min +m·Δf agg Where m is a positive integer.

[0126] In summary, the embodiments of this disclosure utilize the periodic characteristics of echo signals to identify signal segments with better phase alignment, thereby reducing or eliminating phase discontinuities at signal splicing points. This reduces or even eliminates phase jumps at echo signal splicing points between nodes, enabling carrier aggregation technology to be applied to multi-point collaborative scenarios, thus achieving high-bandwidth and high-precision ranging in the mid-to-low frequency band.

[0127] As shown in Figure 8, this embodiment of the present disclosure also provides a node, which is a second node in a multi-point collaborative system comprising N nodes. The N nodes include one first node and N-1 second nodes. The node includes a memory 820, a transceiver 810, and a processor 800.

[0128] The memory 820 is used to store computer programs; the transceiver 810 is used to send and receive data under the control of the processor 800; the processor 800 is used to read the computer program in the memory 820 and perform the following operations:

[0129] A first frequency sequence is obtained, which includes multiple frequencies; the first frequency sequence is related to a first starting frequency and a target frequency interval; the first starting frequency is the starting frequency at which the first node sends a sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2.

[0130] Based on the first frequency sequence, determine the subcarriers within the operating frequency band of the second node used for transmitting sensing signals;

[0131] The sensing signal is transmitted on a determined subcarrier.

[0132] As an optional embodiment, the target frequency interval is the least common multiple of the frequency intervals of the sensing signals transmitted by the N nodes.

[0133] As an optional embodiment, the processor is also configured to read a computer program from the memory and perform the following operations:

[0134] Receive the first frequency sequence sent by the first node;

[0135] or,

[0136] The first frequency sequence is determined based on the first starting frequency and the target frequency interval.

[0137] As an optional embodiment, the processor is also configured to read a computer program from the memory and perform the following operations:

[0138] The first frequency sequence is defined as including multiple frequencies, which are obtained by starting from the first starting frequency and using the target frequency interval as the frequency difference.

[0139] As an optional embodiment, the processor is also configured to read a computer program from the memory and perform the following operations:

[0140] The frequency contained in the first frequency sequence that first appears within the operating frequency band of the second node is determined as the reference frequency.

[0141] Based on the reference frequency and the frequency interval of the sensing signal transmitted by the second node, a subcarrier for transmitting the sensing signal is determined.

[0142] As an optional embodiment, the processor is also configured to read a computer program from the memory and perform the following operations:

[0143] The sensing signal is transmitted at the same time as the first node according to the determined subcarrier.

[0144] As an optional embodiment, the processor is also configured to read a computer program from the memory and perform the following operations:

[0145] They respectively receive the echo signals of the sensed signals;

[0146] The echo signals on the subcarriers corresponding to the first frequency sequence are extracted from the echo signals respectively;

[0147] The echo signals extracted from the N nodes are fused to obtain the first fused signal sequence.

[0148] In Figure 8, the bus architecture can include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 800 and memory represented by memory 820. The bus architecture can also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. Transceiver 810 can be multiple elements, including transmitters and receivers, providing a unit for communicating with various other devices over transmission media, including wireless channels, wired channels, optical fibers, etc. Processor 800 is responsible for managing the bus architecture and general processing, and memory 820 can store data used by processor 800 during operation.

[0149] The processor 800 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0150] In this embodiment of the disclosure, the multi-point cooperative system configures the transmission of sensing signals of each node so that the first fused signal sequence after fusion does not have a phase jump at any position. The first fused signal sequence after fusion should satisfy a certain fixed frequency interval at any position of the sequence, and the frequency domain distance between adjacent sensing signals from adjacent nodes should also satisfy the fixed frequency interval. This reduces or even eliminates the phase jump at the splicing of echo signals between nodes, so that carrier aggregation technology can be applied to multi-point cooperative scenarios, thereby achieving high bandwidth and high precision ranging in the mid-low frequency band.

[0151] It should be noted that the node provided in this disclosure is a node capable of executing the above-described sensing signal transmission method. Therefore, all embodiments of the above-described sensing signal transmission method are applicable to this node and can achieve the same or similar beneficial effects, which will not be repeated here.

[0152] As shown in Figure 9, this embodiment of the present disclosure also provides a sensing signal transmitting device for a multi-point cooperative system, applied to a second node in a multi-point cooperative system comprising N nodes, wherein the N nodes include one first node and N-1 second nodes, and the device includes:

[0153] The first acquisition unit 901 is used to acquire a first frequency sequence, which includes multiple frequencies; the first frequency sequence is related to a first starting frequency and a target frequency interval; the first starting frequency is the starting frequency at which the first node sends a sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2.

[0154] The first determining unit 902 is used to determine, based on the first frequency sequence, the subcarriers within the operating frequency band of the second node used for transmitting sensing signals;

[0155] The transmitting unit 903 is used to transmit the sensing signal on a determined subcarrier.

[0156] As an optional embodiment, the target frequency interval is the least common multiple of the frequency intervals of the sensing signals transmitted by the N nodes.

[0157] As an optional embodiment, the first acquisition unit includes:

[0158] The first receiving subunit is used to receive the first frequency sequence sent by the first node;

[0159] or,

[0160] The first determining subunit is used to determine the first frequency sequence based on the first starting frequency and the target frequency interval.

[0161] As an optional embodiment, the first determining subunit is further configured to:

[0162] The first frequency sequence is defined as including multiple frequencies, which are obtained by starting from the first starting frequency and using the target frequency interval as the frequency difference.

[0163] As an optional embodiment, the first determining unit includes:

[0164] The second determining subunit is used to determine the frequency contained in the first frequency sequence that appears for the first time in the operating frequency band of the second node as the reference frequency.

[0165] The third determining subunit is used to determine a subcarrier for transmitting the sensing signal based on the reference frequency and the frequency interval of the sensing signal transmitted by the second node.

[0166] As an optional embodiment, the transmitting unit includes:

[0167] The transmitting subunit is used to transmit the sensing signal at the same time as the first node according to the determined subcarrier.

[0168] As an optional embodiment, the apparatus further includes:

[0169] An echo receiving unit is used to receive the echo signals of the sensed signals respectively;

[0170] Extraction unit, used to extract echo signals on subcarriers corresponding to the first frequency sequence from the echo signals respectively;

[0171] The echo signals extracted from the N nodes are fused to obtain the first fused signal sequence.

[0172] In this embodiment of the disclosure, the multi-point cooperative system configures the transmission of sensing signals of each node so that the first fused signal sequence after fusion does not have a phase jump at any position. The first fused signal sequence after fusion should satisfy a certain fixed frequency interval at any position of the sequence, and the frequency domain distance between adjacent sensing signals from adjacent nodes should also satisfy the fixed frequency interval. This reduces or even eliminates the phase jump at the splicing of echo signals between nodes, so that carrier aggregation technology can be applied to multi-point cooperative scenarios, thereby achieving high bandwidth and high precision ranging in the mid-low frequency band.

[0173] As shown in Figure 10, this embodiment of the present disclosure also provides a node, which is any node in a multi-point cooperative system including N nodes. The node includes a memory 1020, a transceiver 1010, and a processor 1000.

[0174] The memory 1020 is used to store computer programs; the transceiver 1010 is used to send and receive data under the control of the processor 1000; the processor 1000 is used to read the computer program in the memory 1020 and perform the following operations:

[0175] Obtain the first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2.

[0176] Based on the phase of the echo signal at each frequency point of the third node in the first fused signal sequence, the estimated phase of the echo signal at each frequency point of the fourth node is determined; the third node is any one of the N nodes, and the fourth node is the neighboring node of the third node.

[0177] Based on the estimated phase of the echo signal at the first frequency point of the fourth node and the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence, a second fused signal sequence without phase jump is determined.

[0178] As an optional embodiment, the processor is also configured to read a computer program from the memory and perform the following operations:

[0179] The estimated phase of the echo signal at the first frequency point of the fourth node is compared with the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence to obtain the first phase difference;

[0180] If the absolute value of the first phase difference is less than or equal to the first threshold, the first fused signal sequence is determined to be a second fused signal sequence without phase jumps; or,

[0181] If the absolute value of the first phase difference is greater than the first threshold, the echo signal received by the fourth node at the second time moment is fused with the echo signal received by the third node at the first time moment to generate a third fused signal sequence; and based on the second phase difference between the estimated phase of the echo signal at the first frequency point position of the fourth node and the phase of the echo signal at the first frequency point position of the fourth node in the third fused signal sequence, if the absolute value of the second phase difference is less than or equal to the first threshold, the third fused signal sequence is determined to be a second fused signal sequence without phase jump;

[0182] The second time point is a subsequent time point of the first time point.

[0183] As an optional embodiment, the first frequency point is the frequency point within the operating frequency band of the fourth node that is closest to the operating frequency band of the third node, and the frequency of the first frequency point belongs to the frequency in the first frequency sequence.

[0184] Wherein, the first frequency sequence is related to the first starting frequency and the target frequency interval; the first starting frequency is the starting frequency at which the reference node among the N nodes sends the sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by the N nodes; N is an integer greater than or equal to 2.

[0185] As an optional embodiment, the target frequency interval is the least common multiple of the frequency intervals of the sensing signals transmitted by the N nodes.

[0186] As an optional embodiment, the first frequency sequence includes multiple frequencies that are obtained by starting from the first starting frequency and using the target frequency interval as the frequency difference.

[0187] In Figure 10, the bus architecture may include any number of interconnected buses and bridges, specifically linking various circuits of one or more processors represented by processor 1000 and memory represented by memory 1020. The bus architecture may also link various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. The bus interface provides an interface. The transceiver 1010 may be multiple elements, including a transmitter and a receiver, providing a unit for communicating with various other devices over a transmission medium, including wireless channels, wired channels, optical fibers, etc. Processor 1000 is responsible for managing the bus architecture and general processing, and memory 1020 may store data used by processor 1000 during operation.

[0188] The processor 1000 can be a central processing unit (CPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a complex programmable logic device (CPLD). The processor can also adopt a multi-core architecture.

[0189] This disclosure utilizes the periodicity of echo signals to identify signal segments with better phase alignment, thereby reducing or eliminating phase discontinuities at signal splicing points. This reduces or even eliminates phase jumps at echo signal splicing points between nodes, enabling carrier aggregation technology to be applied to multi-point collaborative scenarios, thus achieving high-bandwidth and high-precision ranging in the mid-to-low frequency band.

[0190] It should be noted that the node provided in this disclosure is a node capable of executing the above signal processing method. Therefore, all embodiments of the above signal processing method are applicable to this node and can achieve the same or similar beneficial effects, which will not be repeated here.

[0191] As shown in Figure 11, this disclosure also provides a signal processing device for a multi-point cooperative system, comprising:

[0192] The second acquisition unit 1101 is used to acquire a first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2.

[0193] The second determining unit 1102 is used to determine the estimated phase of the echo signal at each frequency point position of the fourth node based on the phase of the echo signal at each frequency point position of the third node in the first fused signal sequence; the third node is any one of the N nodes, and the fourth node is an adjacent node of the third node.

[0194] The third determining unit 1103 is used to determine a second fused signal sequence without phase jump based on the estimated phase of the echo signal at the first frequency point position of the fourth node and the phase of the echo signal at the first frequency point position of the fourth node in the first fused signal sequence.

[0195] As an optional embodiment, the third determining unit includes:

[0196] The comparison subunit is used to compare the estimated phase of the echo signal at the first frequency point position of the fourth node with the phase of the echo signal at the first frequency point position of the fourth node in the first fused signal sequence to obtain the first phase difference;

[0197] The fourth determining subunit is configured to determine that the first fused signal sequence is a second fused signal sequence without phase transition when the absolute value of the first phase difference is less than or equal to a first threshold; or,

[0198] The fifth determining subunit is used to fuse the echo signal received by the fourth node at the second time with the echo signal received by the third node at the first time when the absolute value of the first phase difference is greater than the first threshold, to generate a third fused signal sequence; and to determine the third fused signal sequence as a second fused signal sequence without phase jump when the absolute value of the second phase difference is less than or equal to the first threshold, based on the estimated phase of the echo signal at the first frequency point of the fourth node and the phase of the echo signal at the first frequency point of the fourth node in the third fused signal sequence.

[0199] The second time point is a subsequent time point of the first time point.

[0200] As an optional embodiment, the first frequency point is the frequency point within the operating frequency band of the fourth node that is closest to the operating frequency band of the third node, and the frequency of the first frequency point belongs to the frequency in the first frequency sequence.

[0201] Wherein, the first frequency sequence is related to the first starting frequency and the target frequency interval; the first starting frequency is the starting frequency at which the reference node among the N nodes sends the sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by the N nodes; N is an integer greater than or equal to 2.

[0202] As an optional embodiment, the target frequency interval is the least common multiple of the frequency intervals of the sensing signals transmitted by the N nodes.

[0203] As an optional embodiment, the first frequency sequence includes multiple frequencies that are obtained by starting from the first starting frequency and using the target frequency interval as the frequency difference.

[0204] This disclosure utilizes the periodicity of echo signals to identify signal segments with better phase alignment, thereby reducing or eliminating phase discontinuities at signal splicing points. This reduces or even eliminates phase jumps at echo signal splicing points between nodes, enabling carrier aggregation technology to be applied to multi-point collaborative scenarios, thus achieving high-bandwidth and high-precision ranging in the mid-to-low frequency band.

[0205] It should be noted that the apparatus provided in this embodiment can implement all the method steps implemented in the above method embodiment and can achieve the same technical effect. Therefore, the parts and beneficial effects that are the same as those in the method embodiment will not be described in detail here.

[0206] It should be noted that the division of units in the embodiments of this disclosure is illustrative and only represents one logical functional division. In actual implementation, other division methods may be used. Furthermore, the functional units in the various embodiments of this disclosure can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated units described above can be implemented in hardware or as software functional units.

[0207] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a processor-readable storage medium. Based on this understanding, the technical solution of this disclosure, 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 disclosure. 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.

[0208] This disclosure also provides a processor-readable storage medium storing a computer program that causes the processor to execute the various processes described in the method embodiments above, achieving the same technical effects. To avoid repetition, these processes will not be repeated here. The processor-readable storage medium can be any available medium or data storage device accessible to the processor, including but not limited to magnetic storage (e.g., floppy disks, hard disks, magnetic tapes, magneto-optical disks (MO), etc.), optical storage (e.g., compact discs (CDs), digital video discs (DVDs), Blu-ray discs (BD), high-definition versatile discs (HVD), etc.), and semiconductor storage (e.g., ROMs, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), non-volatile memory (NAND flash), solid-state drives (SSDs), etc.).

[0209] This disclosure also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, they implement the various processes in the method embodiments described above and achieve the same technical effects. To avoid repetition, they will not be described again here.

[0210] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage and optical storage) containing computer-usable program code.

[0211] This disclosure is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this disclosure. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer-executable instructions. These computer-executable 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 flowchart illustrations and / or one or more block diagrams.

[0212] These processor-executable instructions may also be stored in a processor-readable memory that can instruct a computer or other programmable data processing device to operate in a particular manner, such that the instructions stored in the processor-readable memory 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.

[0213] These processor-executable instructions can 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.

[0214] Obviously, those skilled in the art can make various modifications and variations to this disclosure without departing from its spirit and scope. Therefore, if such modifications and variations fall within the scope of the claims of this disclosure and their equivalents, this disclosure is also intended to include such modifications and variations.

Claims

1. A method for transmitting sensing signals in a multi-point cooperative system, applied to a second node in a multi-point cooperative system comprising N nodes, wherein the N nodes include one first node and N-1 second nodes, the method comprising: The second node acquires a first frequency sequence, which includes multiple frequencies; the first frequency sequence is related to the interval between a first starting frequency and a target frequency. The first starting frequency is the starting frequency at which the first node sends the sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2; The second node determines the subcarriers within its operating frequency band used for transmitting sensing signals based on the first frequency sequence. The second node transmits the sensing signal on a determined subcarrier.

2. The method according to claim 1, wherein, The target frequency interval is the least common multiple of the frequency intervals of the sensing signals sent by the N nodes.

3. The method according to claim 1, wherein, The second node acquires the first frequency sequence, including: The second node receives the first frequency sequence sent by the first node; or, The second node determines the first frequency sequence based on the first starting frequency and the target frequency interval.

4. The method according to claim 3, wherein, The second node determines the first frequency sequence based on the first starting frequency and the target frequency interval, including: The second node determines that the first frequency sequence includes multiple frequencies, which are: multiple frequencies obtained from the first starting frequency with the target frequency interval as the frequency difference.

5. The method according to claim 1, wherein, The second node determines, based on the first frequency sequence, the subcarriers within its operating frequency band used for transmitting sensing signals, including: The frequency contained in the first frequency sequence that first appears within the operating frequency band of the second node is determined as the reference frequency. Based on the reference frequency and the frequency interval of the sensing signal transmitted by the second node, a subcarrier for transmitting the sensing signal is determined.

6. The method according to any one of claims 1-5, wherein, The second node transmits the sensing signal on a determined subcarrier, including: The second node and the first node transmit the sensing signal at the same time according to the determined subcarrier.

7. The method according to claim 6, wherein, The method further includes: The N nodes respectively receive the echo signals of the sensing signals; The N nodes respectively extract the echo signal on the subcarrier corresponding to the first frequency sequence from the echo signal; The echo signals extracted from the N nodes are fused to obtain the first fused signal sequence.

8. A signal processing method for a multi-point cooperative system, applied to any node in a multi-point cooperative system comprising N nodes, the method comprising: Obtain the first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2; Based on the phase of the echo signal at each frequency point of the third node in the first fused signal sequence, the estimated phase of the echo signal at each frequency point of the fourth node is determined; the third node is any one of the N nodes, and the fourth node is the neighboring node of the third node. Based on the estimated phase of the echo signal at the first frequency point of the fourth node and the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence, a second fused signal sequence without phase jump is determined.

9. The method according to claim 8, wherein, Based on the estimated phase of the echo signal at the first frequency point of the fourth node and the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence, a second fused signal sequence without phase jumps is determined, including: The estimated phase of the echo signal at the first frequency point of the fourth node is compared with the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence to obtain the first phase difference; If the absolute value of the first phase difference is less than or equal to the first threshold, the first fused signal sequence is determined to be a second fused signal sequence without phase jumps; or, If the absolute value of the first phase difference is greater than the first threshold, the echo signal received by the fourth node at the second time moment is fused with the echo signal received by the third node at the first time moment to generate a third fused signal sequence; and based on the second phase difference between the estimated phase of the echo signal at the first frequency point position of the fourth node and the phase of the echo signal at the first frequency point position of the fourth node in the third fused signal sequence, if the absolute value of the second phase difference is less than or equal to the first threshold, the third fused signal sequence is determined to be a second fused signal sequence without phase jump; The second time point is a subsequent time point of the first time point.

10. The method according to claim 8 or 9, wherein, The first frequency point is the frequency point within the operating frequency band of the fourth node that is closest to the operating frequency band of the third node, and the frequency of the first frequency point belongs to the frequency in the first frequency sequence. Wherein, the first frequency sequence is related to the first starting frequency and the target frequency interval; the first starting frequency is the starting frequency at which the reference node among the N nodes sends the sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by the N nodes; N is an integer greater than or equal to 2.

11. The method according to claim 10, wherein, The target frequency interval is the least common multiple of the frequency intervals of the sensing signals sent by the N nodes.

12. The method according to claim 10, wherein, The first frequency sequence includes multiple frequencies, which are obtained by starting from the first starting frequency and using the target frequency interval as the frequency difference.

13. A node, wherein the node is a second node in a multi-point cooperative system comprising N nodes, the N nodes including one first node and N-1 second nodes, the node comprising a memory, a transceiver, and a processor: A memory for storing computer programs; a transceiver for sending and receiving data under the control of the processor; and a processor for reading the computer programs from the memory and performing the following operations: A first frequency sequence is obtained, which includes multiple frequencies; the first frequency sequence is related to a first starting frequency and a target frequency interval; the first starting frequency is the starting frequency at which the first node sends a sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2. Based on the first frequency sequence, determine the subcarriers within the operating frequency band of the second node used for transmitting sensing signals; The sensing signal is transmitted on a determined subcarrier.

14. The node according to claim 13, wherein, The target frequency interval is the least common multiple of the frequency intervals of the sensing signals sent by the N nodes.

15. The node according to claim 13, wherein, The processor is also configured to read the computer program in the memory and perform the following operations: Receive the first frequency sequence sent by the first node; or, The first frequency sequence is determined based on the first starting frequency and the target frequency interval.

16. The node according to claim 15, wherein, The processor is also configured to read the computer program in the memory and perform the following operations: The first frequency sequence is defined as including multiple frequencies, which are obtained by starting from the first starting frequency and using the target frequency interval as the frequency difference.

17. The node according to claim 13, wherein, The processor is also configured to read the computer program in the memory and perform the following operations: The frequency contained in the first frequency sequence that first appears within the operating frequency band of the second node is determined as the reference frequency. Based on the reference frequency and the frequency interval of the sensing signal transmitted by the second node, a subcarrier for transmitting the sensing signal is determined.

18. The node according to any one of claims 13-17, wherein, The processor is also configured to read the computer program in the memory and perform the following operations: The sensing signal is transmitted at the same time as the first node according to the determined subcarrier.

19. The node according to claim 18, wherein, The processor is also configured to read the computer program in the memory and perform the following operations: They respectively receive the echo signals of the sensed signals; The echo signals on the subcarriers corresponding to the first frequency sequence are extracted from the echo signals respectively; The echo signals extracted from the N nodes are fused to obtain the first fused signal sequence.

20. A sensing signal transmitting device for a multi-point cooperative system, applied to a second node in a multi-point cooperative system comprising N nodes, wherein the N nodes include one first node and N-1 second nodes, the device comprising: The first acquisition unit is used to acquire a first frequency sequence, which includes multiple frequencies; the first frequency sequence is related to a first starting frequency and a target frequency interval; the first starting frequency is the starting frequency at which the first node sends a sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by N nodes; N is an integer greater than or equal to 2. The first determining unit is configured to determine, based on the first frequency sequence, the subcarriers within the operating frequency band of the second node used for transmitting sensing signals; A transmitting unit is used to transmit the sensing signal on a determined subcarrier.

21. A node, wherein the node is any node in a multi-point cooperative system comprising N nodes, the node comprising a memory, a transceiver, and a processor: The memory is used to store computer programs; the transceiver is used to send and receive data under the control of the processor. Processor, configured to read the computer program in the memory and perform the following operations: Obtain the first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2. Based on the phase of the echo signal at each frequency point of the third node in the first fused signal sequence, the estimated phase of the echo signal at each frequency point of the fourth node is determined; the third node is any one of the N nodes, and the fourth node is the neighboring node of the third node. Based on the estimated phase of the echo signal at the first frequency point of the fourth node and the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence, a second fused signal sequence without phase jump is determined.

22. The node according to claim 21, wherein, The processor is also configured to read the computer program in the memory and perform the following operations: The estimated phase of the echo signal at the first frequency point of the fourth node is compared with the phase of the echo signal at the first frequency point of the fourth node in the first fused signal sequence to obtain the first phase difference; If the absolute value of the first phase difference is less than or equal to the first threshold, the first fused signal sequence is determined to be a second fused signal sequence without phase jumps; or, If the absolute value of the first phase difference is greater than the first threshold, the echo signal received by the fourth node at the second time moment is fused with the echo signal received by the third node at the first time moment to generate a third fused signal sequence; and based on the second phase difference between the estimated phase of the echo signal at the first frequency point position of the fourth node and the phase of the echo signal at the first frequency point position of the fourth node in the third fused signal sequence, if the absolute value of the second phase difference is less than or equal to the first threshold, the third fused signal sequence is determined to be a second fused signal sequence without phase jump; The second time point is a subsequent time point of the first time point.

23. The node according to claim 21 or 22, wherein, The first frequency point is the frequency point within the operating frequency band of the fourth node that is closest to the operating frequency band of the third node, and the frequency of the first frequency point belongs to the frequency in the first frequency sequence. Wherein, the first frequency sequence is related to the first starting frequency and the target frequency interval; the first starting frequency is the starting frequency at which the reference node among the N nodes sends the sensing signal; the target frequency interval is determined by the frequency interval of the sensing signals sent by the N nodes; N is an integer greater than or equal to 2.

24. The node according to claim 23, wherein, The target frequency interval is the least common multiple of the frequency intervals of the sensing signals sent by the N nodes.

25. The node according to claim 23, wherein, The first frequency sequence includes multiple frequencies, which are obtained by starting from the first starting frequency and using the target frequency interval as the frequency difference.

26. A signal processing device for a multi-point cooperative system, comprising: The second acquisition unit is used to acquire a first fused signal sequence, which is obtained by fusing the echo signals received by N nodes at the first moment; N is an integer greater than or equal to 2. The second determining unit is used to determine the estimated phase of the echo signal at each frequency point of the fourth node based on the phase of the echo signal at each frequency point position of the third node in the first fused signal sequence. The third node is any one of the N nodes, and the fourth node is the neighboring node of the third node; The third determining unit is used to determine a second fused signal sequence without phase jump based on the estimated phase of the echo signal at the first frequency point position of the fourth node and the phase of the echo signal at the first frequency point position of the fourth node in the first fused signal sequence.

27. A processor-readable storage medium storing a program for causing the processor to perform the method of any one of claims 1 to 7, or the program for causing the processor to perform the method of any one of claims 8 to 12.

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