Devices and methods for integrated sensing and communication

Abstract

Sensing node (110) for integrated sensing and communication, ISAC, in a wireless network (100), The sensing node (110) comprises antenna elements for transmitting and / or receiving ISAC radio signals for generating radio sensing data; further comprises a control unit (114) to measure a change of a position of the antenna elements and to generate movement information associated with the radio sensing data based on the change of the position of the one or more antenna elements; a communication unit (112) configured to provide the radio sensing data and movement information associated with the radio sensing data to a network entity (120) or to a further sensing node. Based on the movement information associated with the radio sensing data, the network entity (120) can process the radio sensing data to take into account the movement of antenna elements of the sensing node (110), resulting in a larger virtual aperture.

Description

[0001] DEVICES AND METHODS FOR INTEGRATED SENSING AND COMMUNICATION

[0002] TECHNICAL FIELD

[0003] The present disclosure relates to wireless technology. More specifically, the present disclosure relates to devices and methods for integrated sensing and communication, ISAC, in a wireless network, in particular a mobile network.

[0004] BACKGROUND

[0005] Integrated sensing and communication, ISAC, in future mobile networks represents a paradigm shift where communication and sensing functions are unified within a single framework, enabling networks and devices to gather and share data beyond traditional wireless communication. ISAC leverages advanced signal processing and Al to simultaneously gather and analyze the information of the environment and objects of interests (such as location, velocity, image, micro-movement and even material composition, and the like) while transmitting data, enabling a range of applications like autonomous driving, immersive augmented reality, smart cities, advanced manufacturing, smart agriculture, and the like.

[0006] The 3GPP SA2 Study Item FS_Sensing (TR22.837) has identified over 30 use cases for Integrated Sensing and Communications (ISAC), many of which require high spatial resolutions - typically smaller than 1 meter, with some use cases reaching centimeter or even millimeter precision as envisioned by research initiatives like the IMT-20306G Promotion Group and projects such as one6G Hexa-X / II. Achieving these high levels of spatial accuracy is challenging and costly when relying on traditional phased array systems. For example, in TR22.837'sUse Case 5.10, achieving a 5m x 5m resolution at a250-meter distance would require a half-power beamwidth (HPBW) of 1.15 degrees, demanding approximately 90 antenna elements spaced at half-wavelength along one dimension to achieve the target resolution.

[0007] SUMMARY

[0008] It is an object of the invention to provide improved devices and methods for integrated sensing and communication, ISAC, in a wireless network, in particular a mobile network.

[0009] The foregoing and other objects are achieved by the subject matter of the independent claims. Further implementation forms are apparent from the dependent claims, the description and the figures. In the following one or more of the following acronyms and abbreviations may be used:

[0010] MME Movement Management Function

[0011] SPF Sensing Processing Function

[0012] MI Movement Information

[0013] MC Movement Command

[0014] MCM Movement Control and Measurement

[0015] SAPT Sensor-Antenna Pose Transformer

[0016] MSN Mobile Sensing Node

[0017] According to a first aspect a sensing node for integrated sensing and communication, ISAC, is provided. The sensing node according to the first aspect comprises one or more antenna elements for transmitting and / or receiving one or more ISAC radio signals for generating radio sensing data. Moreover, the sensing node according to the first aspect comprises a control unit configured to measure a change of a position of the one or more antenna elements and to generate movement informationassociated with the radio sensing data based on the change of the position of the one or more antenna elements. The sensing node according to the first aspect further comprises a communication unit configured to provide the radio sensing data and movement information associated with the radio sensing data to a network entity or to a further sensing node. Based on the movement information associated with the radio sensing data the network entity (or another entity) can process the radio sensing data in a way that takes into account the movement of the one or more antenna elements of the sensing node resulting in a larger virtual aperture and, thus, better sensing resolution due to the antenna movement.

[0018] In a further possible implementation form, the control unit is configured to move the one or more antenna elements as part of a moving body, i.e. a moving portion of the sensing node for changing the position of the one or more antenna elements. This allows the processing of the radio sensing data with a larger virtual aperture resulting from a physical movement of a movable portion of the sensing node (including the one or more antenna elements) relative to a stationary portion thereof.

[0019] In a further possible implementation form, the control unit is configured to move the sensing node as a whole for changing the position of the one or more antenna elements. This allows the processing of the radio sensing data with a larger virtual aperture resulting from a physical movement of the sensing node (including the one or more antenna elements) as a whole.

[0020] In a further possible implementation form, the sensing node is configured to generate the movement information associated with the radio sensing data using a global navigation satellite system, terrestrial positioning using a mobile network, and / or an inertial measurement unit. This allows efficiently providing high resolution movement information.

[0021] In a further possible implementation form, the communication unit is configured to receive one or more movement commands provided by the network entity, wherein the control unit is configured to change the position of the one or more antenna elements based on the one or more movement commands provided by the network entity. This allows the network entity to define a desired larger virtual aperture for obtaining the radio sensing data.

[0022] In a further possible implementation form, the one or more movement commands provided by the network entity are based on radio sensing data and movement information associated with the radio sensing data previously provided by the communication unit to the network entity. Thus, the one or more movement commands may be based on previous sensing operations of the sensing node.

[0023] In a further possible implementation form, the one or more movement commands provided by the network entity define a time, trajectory, antenna orientation, speed, time, and / or end time for changing the position of the one or more antenna elements. This allows controlling the movement of the one or more antenna elements with a great degree of flexibility for obtaining the radio sensing data with the larger virtual aperture.

[0024] In a further possible implementation form, the radio sensing data and the movement information associated with the radio sensing data comprise a plurality of time stamps for synchronizing the radio sensing data and the movement information associated with the radio sensing data. This allows for a precise and efficient mapping between the radio sensing data and the movement information.

[0025] In a further possible implementation form, the movement information associated with the radio sensing data defines a time, trajectory, antenna orientation, speed, start time, and / or end time of the position of the one or more antenna elements. This allows monitoring the movement, i.e. the change of position of the one or more antenna elements of the sensing node with a great degree of flexibility.In a further possible implementation form, the sensing node according to the first aspect is a base station or a user equipment of a mobile network. This allows providing a base station or a user equipment of a mobile network with a larger virtual aperture for sensing operations.

[0026] According to a second aspect a method is provided for operating a sensing node for integrated sensing and communication, ISAC. The method according to the second aspect comprises:

[0027] measuring a change of a position of one or more antenna elements of the sensing node, while transmitting and / or receiving one or more ISAC radio signals by the one or more antenna elements for generating radio sensing data; generating movement information associated with the radio sensing data based on the change of the position of the one or more antenna elements; and

[0028] providing the radio sensing data and movement information associated with the radio sensing data to a network entity or to a further sensing node.

[0029] Based on the movement information associated with the radio sensing data the network entity (or another entity) can process the radio sensing data in a way that takes into account the movement of the one or more antenna elements of the sensing node resulting in a larger virtual aperture and, thus, better sensing resolution due to the antenna movement.

[0030] The method according to the second aspect can be performed by the sensing node according to the first aspect. Thus, further features of the method according to the second aspect result directly from the functionality of the sensing node according to the first aspect and its different implementation forms described above and below.

[0031] According to a third aspect a network entity is provided for controlling at least one sensing node for integrated sensing and communication, ISAC, in a wireless network, in particular a mobile network. The network entity according to the third aspect is configured to receive radio sensing data and movement information associated with the radio sensing data from a communication unit of the sensing node, wherein the radio sensing data is based on one or more ISAC radio signals transmitted and / or received by one or more antenna elements of the sensing node and the movement information is indicative of a change of a position of the one or more antenna elements. Moreover, the network entity according to the third aspect is configured to process the radio sensing data using the movement information associated with the radio sensing data. Based on the movement information associated with the radio sensing data the network entity (or another entity) can process the radio sensing data in a way that takes into account the movement of the one or more antenna elements of the sensing node resulting in a larger virtual aperture and, thus, better sensing resolution due to the antenna movement.

[0032] In a further possible implementation form, the network entity is configured to provide one or more movement commands to the communication unit of the sensing node, wherein the one or more movement commands control the change of the position of the one or more antenna elements of the sensing node. This allows the network entity to define a desired larger virtual aperture for obtaining the radio sensing data.

[0033] In a further possible implementation form, the network entity is configured to generate the one or more movement commands based on radio sensing data and movement information associated with the radio sensing data previously provided by the communication unit of the sensing node to the network entity. Thus, the one or more movement commands may be based on previous sensing operations of the sensing node.

[0034] In a further possible implementation form, the one or more movement commands define a time, trajectory, antenna orientation, speed, start time, and / or end time for changing the position of the one or more antenna elements. This allows the network entityto control the movement of the one or more antenna elements with a great degree of flexibility for obtaining the radio sensing data with the larger virtual aperture.

[0035] In a further possible implementation form, the radio sensing data and the movement information associated with the radio sensing data comprise a plurality of time stamps for synchronizing the radio sensing data and the movement information associated with the radio sensing data. This allows for a precise and efficient mapping between the radio sensing data and the movement information.

[0036] In a further possible implementation form, the movement information associated with the radio sensing data defines a time, trajectory, antenna orientation, speed, start time, and / or end time of the position of the one or more antenna elements of the sensing node. This allows monitoring the movement, i.e. the change of position of the one or more antenna elements of the sensing node with a great degree of flexibility.

[0037] In a further possible implementation form, the movement information associated with the radio sensing data is based on a global navigation satellite system, terrestrial positioning using a mobile network, and / or an inertial measurement unit. This allows efficiently providing high resolution movement information.

[0038] In a further possible implementation form, the network entity is a network function of the mobile network. This allows to efficiently implement the network entity as a network function of the mobile network.

[0039] According to a fourth aspect a method is provided for operating a network entity for controlling at least one sensing node for integrated sensing and communication, ISAC, in a wireless network, in particular a mobile network. The method according to the fourth aspect comprises:

[0040] receiving radio sensing data and movement information associated with the radio sensing data from a communication unit of the sensing node, wherein the radio sensing data is based on one or more ISAC radio signals transmitted and / or received by one or more antenna elements of the sensing node and the movement information is indicative of a change of a position of the one or more antenna elements; and

[0041] processing the radio sensing data using the movement information associated with the radio sensing data.

[0042] Based on the movement information associated with the radio sensing data the network entity (or another entity) can process the radio sensing data in a way that takes into account the movement of the one or more antenna elements of the sensing node resulting in a larger virtual aperture and, thus, better sensing resolution due to the antenna movement.

[0043] The method according to the fourth aspect can be performed by the network entity according to the third aspect. Thus, further features of the method according to the fourth aspect result directly from the functionality of the network entity according to the third aspect and its different implementation forms described above and below.

[0044] According to a fifth aspect a computer program or a computer program product is provided, comprising a computer-readable storage medium carrying program code which causes a computer or a processor to perform the method according to the second aspect or the method according to the fourth aspect when the program code is executed by the computer or the processor.

[0045] The different aspects of the invention can be implemented in software and / or hardware.

[0046] Details of one or more embodiments are set forth in the accompanying drawings and the description below. Other features, objects, and advantages will be apparent from the description, drawings, and claims.BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In the following embodiments of the invention are described in more detail with reference to the attached figures and drawings, in which:

[0048] Fig. 1 shows a schematic diagram illustrating a network entity according to an example and a sensing node according to an example for ISAC in a mobile network;

[0049] Fig. 2 shows a signaling diagram illustrating a sensing operation of a network entity according to an example and a sensing node according to an example in a mobile network;

[0050] Fig. 3 shows a signaling diagram illustrating a sensing operation of a network entity according to a further example and a sensing node according to a further example in a mobile network;

[0051] Fig. 4 shows a signaling diagram illustrating a sensing operation of a network entity according to a further example and a sensing node according to a further example in a mobile network;

[0052] Fig. 5 shows a signaling diagram illustrating a sensing operation of a network entity according to a further example and a sensing node according to a further example in a mobile network;

[0053] Fig. 6 shows a schematic diagram illustrating a sensing operation with an improved resolution by a sensing node according to an example;

[0054] Fig. 7 is a flow diagram illustrating a method according to an example for operating a sensing node; and

[0055] Fig. 8 is a flow diagram illustrating a method according to an example for operating a network entity.

[0056] In the following identical reference signs refer to identical or at least functionally equivalent features.

[0057] DETAILED DESCRIPTION OF THE EMBODIMENTS

[0058] In the following description, reference is made to the accompanying figures, which form part of the disclosure, and which show, by way of illustration, specific aspects of embodiments of the invention or specific aspects in which embodiments of the present disclosure may be used. It is understood that embodiments of the invention may be used in other aspects and comprise structural or logical changes not depicted in the figures. The following detailed description, therefore, is not to be taken in a limiting sense, and the scope of the present disclosure is defined by the appended claims.

[0059] For instance, it is to be understood that a disclosure in connection with a described method may also hold true for a corresponding device or system configured to perform the method and vice versa. For example, if one or a plurality of specific method steps are described, a corresponding device may include one or a plurality of units, e.g. functional units, to perform the described one or plurality of method steps (e.g. one unit performing the one or plurality of steps, or a plurality of units each performing one or more of the plurality of steps), even if such one or more units are not explicitly described or illustrated in the figures. On the other hand, for example, if a specific apparatus is described based on one or a plurality of units, e.g. functional units, a corresponding method may include one step to perform the functionality of the one or plurality of units (e.g. one step performing the functionality of the one or plurality of units, or a plurality of steps each performing the functionalityof one or more of the plurality of units), even if such one or plurality of steps are not explicitly described or illustrated in the figures. Further, it is understood that the features of the various exemplary embodiments and / or aspects described herein may be combined with each other, unless specifically noted otherwise.

[0060] Figure 1 shows a schematic diagram illustrating a network entity 120 according to an embodiment in the form of a sensing processing function, SPF, 120 and a sensing node 110 (herein also referred to as mobile sensing node, MSN, 110) according to an embodiment for integrated sensing and communication, ISAC, in a mobile network system 100. The mobile network 100 may be a 3GPP mobile network, such as a 5G, 6G or a further generation 3GPP mobile network 100. The network entity 120, e.g. SPF 120 is configured to communicate via the mobile network 100 with a communication unit 112 of a portion 111 of the sensing node 110. In the embodiment of figure 1 the communication unit 112 is implemented as a movement management function 112 of the portion 111 of the sensing node, which may be implemented as a user equipment, UE, or a base station, BS, of the mobile network 100. As will be described in more detail below, the communication unit 112, e.g. MMF 112 is configured to interact with a control unit 114, which in the embodiment of figure 1 is implemented as a movement control and measurement, MCM, unit or function 112 of a moving body portion 113 of the sensing node 110. As will be described in more detail below, the moving body portion 113 of the sensing node 110 comprises one or more antenna elements for transmitting and / or receiving one or more ISAC radio signals for generating radio sensing data, i.e. radio sensing measurements. As illustrated in figure 1, the sensing node 110 may further comprise a Sensor-Antenna Pose Transformer 115 configured to monitor the pose of the one or more antenna elements of the sensing node.

[0061] As will be described in more detail in the following, embodiments disclosed herein generally allow enhancing the sensing resolution by integrating movement information from the physical world into the ISAC. Embodiments disclosed herein involve utilizing the physical movement of either the sensing node 110 or the target object to create a much larger synthetic antenna aperture, thereby enhancing spatial resolution. The synthetic aperture approach offers the advantage of maintaining high level of azimuth resolution independently of both range and frequency, which underscores the synthetic aperture's significant potential for ISAC.

[0062] The control unit 114, e.g. MCM 114 of the sensing node 110 is configured to measure a change of a position, i.e. a movement of the one or more antenna elements of the sensing node 110 and generate movement information MI associated with the radio sensing data based on the change of the position of the one or more antenna elements, while transmitting and / or receiving one or more ISAC radio signals for generating the radio sensing data. As illustrated in figure 1, the communication unit 112, e.g. MMF 112 of the sensing node 110 is configured to provide the radio sensing data and movement information MI associated with the radio sensing data to the network entity 120, e.g. SPF 120 or to a further neighboring sensing node.

[0063] In an embodiment, in addition to signaling the movement information MI to the network entity 120, e.g. SPF 120, the communication unit 112, e.g. MMF 112 is configured to receive one or more movement commands, MCs, for changing the position of the one or more antenna elements of the sensing node 110, as illustrated in figure 1. Thus, the communication unit 112, e.g. MMF 112 of the sensing node 110 is configured to handle the movement information MI (provided, for instance, by the control unit 114, e.g. MCM 114) and the one or more movement commands MC provided by the network entity 120, e.g. SPF 120. The one or more movement commands MC provided by the network entity 120, e.g. SPF 120 may originate from a sensing application operating via the mobile network 100. In a further embodiment, the communication unit 112, e.g. MMF 112 of the sensing node 110 is configured to establish a time synchronization with the moving body’s movement control and measurement devices, in particular the control unit 114, e.g. MCM 114.

[0064] In an embodiment, the sensing node 110 may be implemented, for instance, in the form of a ground vehicle, a robot, a UAV, or a personal device with a UE or BS unit onboard (e.g. a nomadic BS). The one or more antennas may comprise a movableantenna system of a UE or BS unit which can move mechanically (e.g. an antenna which is mounted on a robot arm) or mechanically steerable antenna on moving vehicles.

[0065] The network entity 120, e.g. SPF 120 is configured to receive the radio sensing data and the movement information MI associated with the radio sensing data from the communication unit 112, e.g. MMF 112 of the UE or BS unit 111 of the sensing node 110. As already described above, the radio sensing data is based on one or more ISAC radio signals transmitted and / or received by the one or more antenna elements of the sensing node 110 and the movement information MI is indicative of a change of a position, i.e. a movement of the one or more antenna elements. The network entity 120, e.g. SPF 120 is further configured to process the radio sensing data using the movement information associated with the radio sensing data. Thus, the network entity 120, e.g. SPF 120 may utilize the movement information MI for sensing processing for achieving high resolution using, for instance, an aperture synthesis algorithm. As already described above and illustrated in figure 1 , the network entity 120, e.g. SPF 120 may instruct the control unit 114, e.g. MCM 114 of the sensing node 110 to execute the one or more movement commands, MCs, in order to perform a desired movement for a sensing task. In an embodiment, the movement information MI may include: time, trajectory, antenna orientation, and / or speed. In an embodiment, the one or more movement commands MCs may include: time, trajectory, antenna orientation, speed, and / or start and end time (which are the time command for a movement action in the future). In an embodiment, the movement information MI may be generated by the control unit 114, e.g. MCM 114 of the sensing node 110 based on a GNSS, terrestrial positioning using the mobile network 100, an inertial measurement unit (IMU) of the sensing node 110, and / or a robot movement controller for executing movement and reporting the movement status.

[0066] For synchronizing the movement information MI with the radio sensing data the control unit 114, e.g. MCM 114 of the sensing node 110 may be configured to estimate the relative or absolute location and orientation where a radio sensing measurement is done. Both radio sensing data and movement information may be time-stamped through which, the two can be associated. However, the moving body portion 113 and the UE or BS unit 111 may be driven by own clocks, therefore, the time synchronization between the UE or BS and the MCM is needed. The time synchronization between UE and BS can be done using the mobile network’s time synchronization protocol. The time synchronization between UE and MCM or between BS and MCM can be done using e.g. IEEE 1588 protocol or its variants.

[0067] Embodiments of the sensing node 110 and the network entity 120 may be used for high resolution radio LOS / NLOS imaging by networked vehicles or AGV (Automated Guided Vehicle) or AMR (Autonomous Mobile Robot) which utilize their moving trajectory and radio sensing data, for avoiding collision with other vehicles, robots and vulnerable road users (pedestrian, bicyclist, and the like). In this scenario, the vehicle, AGV or AMR is the sensing node 110 with the UE unit 111 onboard. For this scenario, a RAN-UE Joint Sensing based on the movement of UE or a UE only Sensing based on the movement of UE may be performed. In a further embodiment, the vehicle, AGV or AMR may be the sensing node 110 with a BS unit 111 onboard (basically the setup in the dynamic small cell, DSC, nomadic node concept). In this case, the setup of BS Sensing based on the movement of the BS applies.

[0068] Moreover, embodiments of the sensing node 110 and the network entity 120 may be used for penetrative radio imaging device for quality inspection and hidden object detection, which is handheld or mounted as robot end effector. The movement is made by human arm movement or robot arm movement. In this case the setups of both RAN-UE Joint Sensing and UE-only sensing based on the movement of UE are possible.

[0069] Furthermore, embodiments of the sensing node 110 may be used as a BS with a mechanically moving (rotating) antenna system which can be used for precise aerial intruder identification and localization. In this case, the BS Sensing based on the movement of BS applies.Moreover, embodiments of the sensing node 110 and the network entity 120 may be used for a scenario where an AMR is commanded to patrol a certain area with a predefined trajectory based on one or more movement commands MCs originating from a sensing application. The AMR carries the UE or BS to perform the sensing operation accordingly. In this case, the setup Mobile Sensing according to Movement Command applies.

[0070]

[0071] <

[0072] In an embodiment, the control unit 114, e.g. MCM 114 is configured to measure the trajectory data of the moving body and the Antenna orientation data (the parameters indicating the relation between the antenna orientation and the moving direction may be pre-configured and known by the control unit 114, e.g. MCM 114). The trajectory and orientation may be captured by onboard movement sensors of the moving body, which are in different locations relative to the antenna elements. The SAPT 115 transforms sensor-antenna pose to get meaningful position data used for sensing.

[0073] <

[0074]

[0075] Figure 2 shows a signaling diagram illustrating a sensing operation of the network entity 120, e.g. SPF 120 and the sensing node 110 for a UE-based RAN-UE joint sensing based on the movement of the UE. In step 201 of figure 2 a base station of the mobile network 140, the MMF 112 of the UE unit 111 and the MCM 114 of the sensing node 110 are synchronized in time. In step 203 of figure 2 the SPF 120 receives a sensing request from a sensing application 130. In response to the sensing request the SPF 120, the base station 140 and the MMF 112 of the UE unit 111 of the sensing node 110 start the requested sensing operation in step 205 of figure 2. In step 207 of figure 2 the MMF 112 of the UE unit 111 triggers the MCM 114 to measure movement of the one or more antenna elements (either relative to a stationary portion of the sensing node 110 or relative to an external reference frame). In steps 209 and 211 of figure 2 the radio sensing data and the associated movement information MI is collected, while performing the requested sensing operation. In step 213 of figure 2 the MCM 114 provides the movement information MI to the MMF 112. In step 215 of figure 2 the movement information is transferred via the base station 140 to the SPF 120. In step 217 of figure 2 the SPF 120 processes the radio sensing data using the movement information MI associated with the radio sensing data. Thus, the SPF 120 may utilize the movement information MI for sensing processing for achieving high resolution using, for instance, an aperture synthesis algorithm. In step 219 of figure 2 the sensing result is provided to the sensing application 130.

[0076] Figure 3 shows a signaling diagram illustrating a variant of the sensing operation of figure 2 for a UE-only sensing based on the movement of the UE, i.e. without the involvement of the base station 140. In step 301 of figure 3 the MMF 112 of the UE unit 111 and the MCM 114 of the sensing node 110 are synchronized in time. In step 303 of figure 3 the SPF 120 receives a sensing request from a sensing application 130. In response to the sensing request the SPF 120 and the MMF 112 of the UEunit 111 of the sensing node 110 start the requested sensing operation in step 305 of figure 3. In step 307 of figure 3 the MMF 112 of the UE unit 111 triggers the MCM 114 to measure movement of the one or more antenna elements (either relative to a stationary portion of the sensing node 110 or relative to an external reference frame). In steps 309 and 311 of figure 3 the radio sensing data and the associated movement information MI is collected, while performing the requested sensing operation. In step 313 of figure 3 the MCM 114 provides the movement information MI to the MMF 112. In step 315 of figure 3 the movement information is transferred to the SPF 120. In step 317 of figure 3 the SPF 120 processes the radio sensing data using the movement information MI associated with the radio sensing data. Thus, the SPF 120 may utilize the movement information MI for sensing processing for achieving high resolution using, for instance, an aperture synthesis algorithm. In step 319 of figure 3 the sensing result is provided to the sensing application 130.

[0077] Figure 4 shows a signaling diagram illustrating a variant of the sensing operation of figure 3 for a BS sensing based on the movement of the BS, i.e. where the sensing node 110 is implemented as a BS. The sensing operation including sensing data collection may involve an UE as well. It depends on how the BS and UE are cooperating particularly in the bi / multi-static sensing types. In step 401 of figure 4 the MMF 112 of the BS unit 111 and the MCM 114 of the sensing node 110 are synchronized in time. In step 403 of figure 4 the SPF 120 receives a sensing request from a sensing application 130. In response to the sensing request the SPF 120 and the MMF 112 of the BS unit 111 of the sensing node 110 start the requested sensing operation in step 405 of figure 4. In step 407 of figure 4 the MMF 112 of the BS unit 111 triggers the MCM 114 to measure movement of the one or more antenna elements (either relative to a stationary portion of the sensing node 110 or relative to an external reference frame). In steps 409 and 411 of figure 4 the radio sensing data and the associated movement information MI is collected, while performing the requested sensing operation. In step 413 of figure 4 the MCM 114 provides the movement information MI to the MMF 112. In step 415 of figure 4 the movement information is transferred to the SPF 120. In step 417 of figure 4 the SPF 120 processes the radio sensing data using the movement information MI associated with the radio sensing data. Thus, the SPF 120 may utilize the movement information MI for sensing processing for achieving high resolution using, for instance, an aperture synthesis algorithm. In step 419 of figure 4 the sensing result is provided to the sensing application 130.

[0078] Figure 5 shows a signaling diagram illustrating a variant of the sensing operations of figures 3 and 4, wherein the sensing operation is based on one or more movement commands. In step 501 of figure 5 the MMF 112 of the UE or BS unit 111 and the MCM 114 of the sensing node 110 are synchronized in time. In step 503 of figure 5 the SPF 120 receives a sensing request from a sensing application 130. In response to the sensing request sends one or more movement commands MCs to the MCM 114 via the MMF 112 of the UE or BS unit 111 in step 504 of figure 5. The SPF 120 and the MMF 112 of the UE or BS unit 111 of the sensing node 110 start the requested sensing operation in step 505 of figure 5 based on the one or more movement commands MCs. In step 507 of figure 5 the MMF 112 of the UE or BS unit 111 triggers the MCM 114 to measure movement of the one or more antenna elements based on the one or more MCs (either relative to a stationary portion of the sensing node 110 or relative to an external reference frame). In steps 509 and 511 of figure 5 the radio sensing data and the associated movement information MI is collected, while performing the requested sensing operation. In step 513 of figure 5 the MCM 114 provides the movement information MI to the MMF 112. In step 515 of figure 5 the movement information is transferred to the SPF 120. In step 517 of figure 5 the SPF 120 processes the radio sensing data using the movement information MI associated with the radio sensing data. Thus, the SPF 120 may utilize the movement information MI for sensing processing for achieving high resolution using, for instance, an aperture synthesis algorithm. In step 519 of figure 5 the sensing result is provided to the sensing application 130.

[0079] Figure 6 shows a schematic diagram illustrating in more detail a sensing operation and in particular the processing of the radio sensing data using the movement information MI associated with the radio sensing data by the network entity 120, e.g. SPF 120 according to an embodiment. In a first step, the MCM 114 is synchronized with the MMF 112 for achieving a commonunderstanding of the time. In a second step, a time-space alignment of the sensing dataS(t) and trajectory data M(t) is achieved. The key is to know the location along the moving trajectory of the one or more antenna elements of the sensing node 110 where a sensing data (e.g. CIR) measurement is performed. To this end, in an embodiment, the MMF 112 knows the timestamps of the sensing data and the MCM 114 knows the timestamps of the measured locations along the trajectory. With the help of timestamps and the time synchronization between the MMF 112 and the MCM 114, the “location” of the sensing data may be obtained. The sensing data and the trajectory data may have different sampling periods and starting times. Methods such as interpolation may be applied for aligning these data.

[0080] In a third step, for obtaining the sensing image the indices of the samples in the sensing data may be identified which contribute to the image pixel at the location (x, y, z). nm(x,y, z) is the index of the sample in the sensing data sensed at time tm, which corresponds to the image pixel at (x,y,z). In CIR, the indices nm(x,y, z) may be calculated based on the distance between the pixel location (x,y,z) and the location of the sensing node 110 M ( trn) at time tmbased on the following equation:

[0081]

[0082] The CIR sample index may be determined as nm(x,y, z) = ^sdm(-z'y'z^ y O.sj, wherein fsis the sensing signal’s sampling rate and C is the speed of light. In an embodiment, the selection of sensing data instances S(tm) may also take into account whether the pixel falls into the antenna’s coverage according to its orientation M (tm).

[0083] In a fourth step, for synthesizing all the sensing data samples which contribute to the image pixels, one of methods would be to measure the phase alignment from the sensing signals obtained at multiple locations along the trajectory, i.e.:

[0084]

[0085] wherein 2 is the signal’s wavelength.

[0086] In a fifth step, by synthesizing many pixels at different locations, a 2D or 3D radio sensing image may be created for environment reconstruction, object identification, recognition and localization.

[0087] Figure 7 is a flow diagram illustrating a method 700 for operating the sensing node 110. The method 700 comprises a step 701 of measuring a change of a position of one or more antenna elements of the sensing node, while transmitting and / or receiving one or more ISAC radio signals by the one or more antenna elements for generating radio sensing data. Moreover, the method 700 comprises a step 703 of generating movement information associated with the radio sensing data based on the change of the position of the one or more antenna elements. The method 700 further comprises a step 705 of providing the radio sensing data and movement information associated with the radio sensing data to the network entity 120 or to a further sensing node.

[0088] Figure 8 is a flow diagram illustrating a method 800 for operating the network entity 120 for controlling the at least one sensing node 110 for integrated sensing and communication, ISAC, in the mobile network 100. The method 800 comprises a step 801 of receiving radio sensing data and movement information associated with the radio sensing data from the communication unit 112 of the sensing node 110. As already described above, the radio sensing data is based on one or more ISAC radio signals transmitted and / or received by the one or more antenna elements of the sensing node 110 and the movement information isindicative of a change of a position of the one or more antenna elements. The method 800 further comprises a step 803 of processing the radio sensing data using the movement information associated with the radio sensing data.

[0089] The person skilled in the art will understand that the "blocks" ("units") of the various figures (method and apparatus) represent or describe functionalities of embodiments of the invention (rather than necessarily individual "units" in hardware or software) and thus describe equally functions or features of apparatus embodiments as well as method embodiments (unit = step).

[0090] In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the described apparatus embodiment is merely exemplary. For example, the unit division is merely logical function division and may be other division in actual implementation. For example, a plurality of units or components may be combined or integrated into another system, or some features may be ignored or not performed. In addition, the displayed or discussed mutual couplings or direct couplings or communication connections may be implemented by using some interfaces. The indirect couplings or communication connections between the apparatuses or units may be implemented in electronic, mechanical, or other forms.

[0091] The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one position, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

[0092] In addition, functional units in the embodiments of the invention may be integrated into one processing unit, or each of the units may exist alone physically, or two or more units are integrated into one unit.

Claims

CLAIMS1. A sensing node (110) for integrated sensing and communication, ISAC, wherein the sensing node (110) comprises:one or more antenna elements for transmitting and / or receiving one or more ISAC radio signals for generating radio sensing data;a control unit (114) configured to measure a change of a position of the one or more antenna elements and to generate movement information associated with the radio sensing data based on the change of the position of the one or more antenna elements; anda communication unit (112) configured to provide the radio sensing data and movement information associated with the radio sensing data to a network entity (120) or to a further sensing node.

2. The sensing node (110) of claim 1, wherein the control unit (114) is configured to move the one or more antenna elements as part of a moving body (113) of the sensing node (110) for changing the position of the one or more antenna elements.

3. The sensing node (110) of claim 1, wherein the control unit (114) is configured to move the sensing node (110) for changing the position of the one or more antenna elements.

4. The sensing node (110) of any one of the preceding claims, wherein the sensing node (110) is configured to generate the movement information associated with the radio sensing data using a global navigation satellite system, terrestrial positioning using a mobile network (100), and / or an inertial measurement unit.

5. The sensing node (110) of any one of the preceding claims, wherein the communication unit (112) is configured to receive one or more movement commands provided by the network entity (120) and wherein the control unit (114) is configured to change the position of the one or more antenna elements based on the one or more movement commands provided by the network entity (120).

6. The sensing node (110) of claim 5, wherein the one or more movement commands provided by the network entity (120) are based on radio sensing data and movement information associated with the radio sensing data previously provided by the communication unit (112) to the network entity (120).

7. The sensing node (110) of claim 5 or 6, wherein the one or more movement commands provided by the network entity (120) define a time, trajectory, antenna orientation, speed, start time, and / or end time for changing the position of the one or more antenna elements.

8. The sensing node (110) of any one of the preceding claims, wherein the radio sensing data and the movement information associated with the radio sensing data comprise a plurality of time stamps for synchronizing the radio sensing data and the movement information associated with the radio sensing data.

9. The sensing node (110) of any one of the preceding claims, wherein the movement information associated with the radio sensing data defines a time, trajectory, antenna orientation, speed, start time, and / or end time of the position of the one or more antenna elements.

10. The sensing node (110) of any one of the preceding claims, wherein the sensing node is a base station (110) or a user equipment (110) of a mobile network (100).

11. A method (700) for operating a sensing node (110) for integrated sensing and communication, ISAC, wherein the method (700) comprises:measuring (701) a change of a position of one or more antenna elements of the sensing node (110), while transmitting and / or receiving one or more ISAC radio signals by the one or more antenna elements for generating radio sensing data;generating (703) movement information associated with the radio sensing data based on the change of the position of the one or more antenna elements; andproviding (705) the radio sensing data and movement information associated with the radio sensing data to a network entity (120) or to a further sensing node.

12. A network entity (120) for controlling at least one sensing node (110) for integrated sensing and communication, ISAC, in a wireless network (100), wherein the network entity (120) is configured to:receive radio sensing data and movement information associated with the radio sensing data from a communication unit (112) of the sensing node (110), wherein the radio sensing data is based on one or more ISAC radio signals transmitted and / or received by one or more antenna elements of the sensing node (110) and the movement information is indicative of a change of a position of the one or more antenna elements; andprocess the radio sensing data using the movement information associated with the radio sensing data.

13. The network entity (120) of claim 12, wherein the network entity (120) is configured to provide one or more movement commands to the communication unit (112) of the sensing node (110), wherein the one or more movement commands control the change of the position of the one or more antenna elements of the sensing node (110).

14. The network entity (120) of claim 13, wherein the network entity (120) is configured to generate the one or more movement commands based on radio sensing data and movement information associated with the radio sensing data previously provided by the communication unit (112) of the sensing node (110) to the network entity (120).

15. The network entity (120) of claim 13 or 14, wherein the one or more movement commands define a time, trajectory, antenna orientation, speed, start time, and / or end time for changing the position of the one or more antenna elements.

16. The network entity (120) of any one of claims 12 to 15, wherein the radio sensing data and the movement information associated with the radio sensing data comprise a plurality of time stamps for synchronizing the radio sensing data and the movement information associated with the radio sensing data.

17. The network entity (120) of any one of claims 12 to 16, wherein the movement information associated with the radio sensing data defines a time, trajectory, antenna orientation, speed, start time, and / or end time of the position of the one or more antenna elements of the sensing node (110).

18. The network entity (120) of any one of claims 12 to 17, wherein the movement information associated with the radio sensing data is based on a global navigation satellite system, terrestrial positioning using a mobile network (100), and / or an inertial measurement unit.

19. The network entity (120) of any one of claims 12 to 18, wherein the network entity (120) is a network function of the mobile network (100).

20. A method (800) for operating a network entity (120) for controlling at least one sensing node (110) for integrated sensing and communication, ISAC, in a wireless network (100), wherein the method (800) comprises:receiving (801) radio sensing data and movement information associated with the radio sensing data from a communication unit (112) of the sensing node (110), wherein the radio sensing data is based on one or more ISAC radio signals transmitted and / or received by one or more antenna elements of the sensing node (110) and the movement information is indicative of a change of a position of the one or more antenna elements; andprocessing (803) the radio sensing data using the movement information associated with the radio sensing data.

21. A computer program product comprising a computer-readable storage medium for storing program code which causes a computer or a processor to perform the method (700) of claim 11 or the method (800) of claim 20 when the program code is executed by the computer or the processor.14

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