Communication method, device, communication system and storage medium

Abstract

The embodiments of the present disclosure relate to the technical field of communications. Disclosed are a communication method and apparatus, and a computer-readable storage medium. The communication method comprises: sending, to a second device, first information related to sensing measurement, wherein the first information comprises a first sensing measurement result and assistance information, the assistance information being configured to perform compensation processing on the first sensing measurement result; alternatively, the first information comprises a second sensing measurement result, the second sensing measurement result being obtained by preprocessing the first sensing measurement result. In the embodiments of the present disclosure, by means of providing the second device with a pre-processed sensing result or assistance information for assisting the second device in performing compensation processing on the sensing result, the problem of deviation in the sensing result caused by the rotation of a first device itself can be effectively solved.

Description

Communication methods, devices, systems and storage media Technical Field

[0001] This disclosure relates to the field of communication technology, and more specifically, to a communication method, device, system, and storage medium. Background Technology

[0002] Sensing fusion technology refers to the integration of wireless communication and sensing functions, enabling wireless communication systems to simultaneously possess both communication and sensing capabilities. While transmitting wireless signals, the device actively detects reflected / diffracted signals to perceive the physical characteristics of the surrounding environment, thereby achieving mutual enhancement of communication and sensing functions. Summary of the Invention

[0003] This disclosure provides a communication method, device, system, and storage medium.

[0004] A first aspect of this disclosure provides a communication method, the method being executed by a first device, the method comprising:

[0005] Send first information related to sensing and measurement to the second device;

[0006] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or,

[0007] The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

[0008] A second aspect of this disclosure provides a communication method, the method being executed by a second device, the method comprising:

[0009] Receive first information related to sensing and measurement sent by the first device;

[0010] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or,

[0011] The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

[0012] A third aspect of this disclosure provides a first device, comprising:

[0013] The first receiving module is used to send first information related to sensing and measurement to the second device;

[0014] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or,

[0015] The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

[0016] A fourth aspect of this disclosure provides a second device, comprising:

[0017] The second transceiver module is used to receive first information related to sensing and measurement sent by the first device;

[0018] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or,

[0019] The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

[0020] A fifth aspect of this disclosure provides a first device, comprising:

[0021] One or more processors;

[0022] The first device is used to perform an optional implementation of the first aspect described above.

[0023] A sixth aspect of this disclosure provides a second device, comprising:

[0024] One or more processors;

[0025] The second device is used to perform an optional implementation of the second aspect described above.

[0026] A seventh aspect of this disclosure provides a communication system including a first device and a second device, wherein the first device is used to implement the method described in an optional embodiment of the first aspect, and the second device is used to implement the method described in an optional embodiment of the second aspect.

[0027] According to an eighth aspect of the present disclosure, a computer-readable storage medium is provided that stores executable instructions which are loaded and executed by the processor to implement the method described in the optional embodiments of the first or second aspect.

[0028] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0029] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0030] Figure 1a is a schematic diagram of a wireless communication system according to an exemplary embodiment;

[0031] Figure 1b is a schematic diagram illustrating an angle change according to an exemplary embodiment;

[0032] Figure 2a is a flowchart illustrating a communication method according to an exemplary embodiment;

[0033] Figure 2b is a flowchart illustrating a communication method according to an exemplary embodiment;

[0034] Figure 2c is a schematic diagram illustrating a coordinate system transformation according to an exemplary embodiment;

[0035] Figure 2d is a schematic diagram illustrating a coordinate system transformation according to an exemplary embodiment;

[0036] Figure 3a is a flowchart illustrating the communication method according to an embodiment of this disclosure;

[0037] Figure 3b is a flowchart illustrating the communication method according to an embodiment of this disclosure;

[0038] Figure 3c is a flowchart illustrating the communication method according to an embodiment of this disclosure;

[0039] Figure 4a is a flowchart illustrating the communication method according to an embodiment of this disclosure;

[0040] Figure 4b is a flowchart illustrating the communication method according to an embodiment of this disclosure;

[0041] Figure 5 is a schematic diagram illustrating angle estimation according to an embodiment of this disclosure;

[0042] Figure 6a is a schematic diagram of the structure of the first device proposed in an embodiment of this disclosure;

[0043] Figure 6b is a schematic diagram of the structure of the second device proposed in an embodiment of this disclosure;

[0044] Figure 7a is a schematic diagram of the structure of the communication device proposed in an embodiment of this disclosure;

[0045] Figure 7b is a schematic diagram of the chip structure proposed in an embodiment of this disclosure. Detailed Implementation

[0046] This disclosure provides communication methods, devices, communication systems, and storage media.

[0047] In a first aspect, embodiments of this disclosure provide a communication method, which is executed by a first device, the method comprising:

[0048] Send first information related to sensing and measurement to the second device;

[0049] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or,

[0050] The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

[0051] In the above embodiments, by providing the second device with preprocessed sensing results or auxiliary information to assist the second device in compensating for the sensing results, the problem of deviation in sensing results caused by the rotation of the first device itself can be effectively solved.

[0052] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes:

[0053] The capability information of the first device is sent to the second device. The capability information is used to indicate that the first device has the ability to measure a first angle, which is the angle of rotation of the first device relative to the global coordinate system.

[0054] In the above embodiments, by reporting the capability of the first device to measure the first angle to the second device, the second device can know that the first device (e.g., a sensing transmitter, SF, etc.) can determine the actual sensing measurement results, and thus can accurately estimate the position of the sensing target based on the sensing measurement results reported by the first device.

[0055] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes:

[0056] The first device receives second information sent by the second device, the second information being used to indicate whether the first device should report the auxiliary information.

[0057] In the above embodiments, the receiving indication information determines whether to report auxiliary information, thereby better meeting the needs of the second device.

[0058] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes:

[0059] Obtain the auxiliary information.

[0060] In conjunction with some embodiments of the first aspect, in some embodiments, obtaining the auxiliary information includes:

[0061] The auxiliary information is obtained based on measurements taken by the gyroscope of the first device; or...

[0062] The auxiliary information is calculated based on the angular offset of the reference path, which is one of the multipaths of the reference signal used for sensing measurement from the second device to the first device.

[0063] In the above embodiments, auxiliary information is obtained in different ways, which can better suit different application scenarios.

[0064] In conjunction with some embodiments of the first aspect, in some embodiments, the auxiliary information includes angle information used to determine the rotational state of the first device.

[0065] In conjunction with some embodiments of the first aspect, in some embodiments, the angle information includes one of the following:

[0066] The rotational relationship information between the local coordinate system and the global coordinate system used by the first device;

[0067] The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

[0068] In the above embodiments, the rotation of the first device is determined by different offsets, and then reported to the second device as auxiliary information so that the second device can process the perception results reported by the first device to obtain accurate perception results.

[0069] In conjunction with some embodiments of the first aspect, in some embodiments, the rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system;

[0070] Wherein, α represents the offset angle of the global coordinate system about the z-axis;

[0071] β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, which is obtained by rotating the global coordinate system about the z-axis by α.

[0072] γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, which is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β.

[0073] The local coordinate system is obtained by rotating the second local coordinate system by γ around its x-axis.

[0074] In conjunction with some embodiments of the first aspect, in some embodiments, the horizontal angle offset θ and the vertical angle offset of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system are...

[0075] The local coordinate system is a third local coordinate system whose x-axis is rotated about the y-axis of that third local coordinate system. Received;

[0076] The third local coordinate system is obtained by horizontally rotating the x-axis of the global coordinate system by θ.

[0077] In conjunction with some embodiments of the first aspect, in some embodiments, the method further includes:

[0078] Based on the first angle, the first sensing measurement result is compensated for rotational offset to obtain the second sensing measurement result.

[0079] In the above embodiments, the first device can perform rotation offset compensation on the sensing results before reporting them to the second device, thereby saving energy consumption of the second device.

[0080] Secondly, embodiments of this disclosure provide a communication method, which is executed by a second device, the method comprising:

[0081] Receive first information related to sensing and measurement sent by the first device;

[0082] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or,

[0083] The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

[0084] In conjunction with some embodiments of the second aspect, in some embodiments, the method further includes:

[0085] The system receives capability information from the first device, which indicates that the first device has the capability to measure a first angle, where the first angle is the angle at which the first device rotates relative to the global coordinate system.

[0086] In conjunction with some embodiments of the second aspect, in some embodiments, the method further includes:

[0087] Send a second message to the first device, the second message being used to instruct the first device whether to report the auxiliary information.

[0088] In conjunction with some embodiments of the second aspect, in some embodiments, the auxiliary information includes angle information used to determine the rotational state of the first device.

[0089] In conjunction with some embodiments of the second aspect, in some embodiments, the angle information includes one of the following:

[0090] The rotational relationship information between the local coordinate system and the global coordinate system used by the first device;

[0091] The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

[0092] In conjunction with some embodiments of the second aspect, in some embodiments, the rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system;

[0093] Wherein, α represents the offset angle of the global coordinate system about the z-axis;

[0094] β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, which is obtained by rotating the global coordinate system about the z-axis by α.

[0095] γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, which is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β.

[0096] The local coordinate system is obtained by rotating the second local coordinate system by γ around its x-axis.

[0097] In conjunction with some embodiments of the second aspect, in some embodiments, the angle offset information includes: the horizontal angle offset θ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system and the vertical angle offset.

[0098] The local coordinate system is a third local coordinate system whose x-axis is rotated about the y-axis of that third local coordinate system. Received;

[0099] The third local coordinate system is obtained by horizontally rotating the x-axis of the global coordinate system by θ.

[0100] In conjunction with some embodiments of the second aspect, in some embodiments, the method further includes:

[0101] Based on the auxiliary information, the first angle is determined;

[0102] Based on the first angle, rotational offset compensation is applied to the first sensing measurement result.

[0103] In conjunction with some embodiments of the second aspect, in some embodiments, the second sensing measurement result is obtained by the first device performing rotational offset compensation on the first sensing measurement result based on the first angle.

[0104] Thirdly, embodiments of this disclosure provide a first device, comprising:

[0105] The first receiving module is used to send first information related to sensing and measurement to the second device;

[0106] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or,

[0107] The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

[0108] Fourthly, embodiments of this disclosure provide a second device, comprising:

[0109] The second transceiver module is used to receive first information related to sensing and measurement sent by the first device;

[0110] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or,

[0111] The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

[0112] Fifthly, embodiments of this disclosure provide a first device, comprising:

[0113] One or more processors;

[0114] The first device executes the method described in the optional implementation of the first aspect.

[0115] According to a sixth aspect of the embodiments of this disclosure, a second device is provided, comprising:

[0116] One or more processors;

[0117] The second device performs the method described in the optional implementation of the second aspect.

[0118] In a seventh aspect, embodiments of this disclosure provide a communication system including a first device and a second device, wherein the first device is used to implement the method described in the optional embodiments of the first aspect, and the second device is used to implement the method described in the optional embodiments of the second aspect.

[0119] Eighthly, embodiments of this disclosure provide a storage medium storing instructions that, when executed on a communication device, cause the communication device to perform the method as described in the optional embodiments of the first or second aspect.

[0120] Ninthly, embodiments of this disclosure provide a program product that, when executed by a communication device, causes the communication device to perform the method as described in the optional implementation of the first or second aspect.

[0121] In a tenth aspect, embodiments of this disclosure provide a computer program that, when run on a computer, causes the computer to perform the methods described in an optional implementation of the first or second aspect.

[0122] Eleventhly, embodiments of this disclosure provide a chip or chip system including processing circuitry for performing the method described in an optional implementation of the first or second aspect above.

[0123] Understandably, the aforementioned devices, communication equipment, communication systems, storage media, program products, and computer programs for random access are all used to execute the methods proposed in the embodiments of this disclosure. Therefore, the beneficial effects they can achieve can be referred to the beneficial effects in the corresponding methods, and will not be repeated here. The communication equipment can be a terminal or a network device.

[0124] This disclosure provides communication methods, apparatus, devices, systems, and storage media.

[0125] In some embodiments, the terms "communication method" and "for random access" can be used interchangeably, the terms "apparatus for random access" and "information processing apparatus" and "communication apparatus" can be used interchangeably, and the terms "information processing system" and "communication system" can be used interchangeably.

[0126] This disclosure is not exhaustive, but merely illustrative of some embodiments, and is not intended to limit the scope of protection of the embodiments disclosed. Unless otherwise specified, each step in a particular embodiment can be implemented as an independent embodiment, and the steps can be arbitrarily combined. For example, a solution after removing some steps in a particular embodiment can also be implemented as an independent embodiment, and the order of the steps in a particular embodiment can be arbitrarily interchanged. Furthermore, the optional implementation methods in a particular embodiment can be arbitrarily combined; moreover, the embodiments can be arbitrarily combined, for example, some or all steps of different embodiments can be arbitrarily combined, and a particular embodiment can be arbitrarily combined with the optional implementation methods of other embodiments.

[0127] In each of the disclosed embodiments, unless otherwise specified or in case of logical conflict, the terminology and / or descriptions of the embodiments are consistent and can be referenced by each other. Technical features in different embodiments can be combined to form new embodiments based on their inherent logical relationships.

[0128] The terminology used in the embodiments of this disclosure is for the purpose of describing particular embodiments only and is not intended to limit the embodiments of this disclosure.

[0129] In this embodiment of the disclosure, unless otherwise stated, elements expressed in the singular form, such as "a," "an," "the," "the," "the," "the," "the," "the," "this," etc., can mean "one and only one," or "one or more," "at least one," etc. For example, when using articles such as "a," "an," "the," etc. in translation, the noun following the article can be understood as either a singular expression or a plural expression.

[0130] In the embodiments disclosed herein, "multiple" refers to two or more.

[0131] In some embodiments, the terms “at least one of”, “at least one of”, “at least one of”, “one or more”, “a plurality of”, “multiple”, etc., may be used interchangeably.

[0132] The descriptions in this disclosure, such as "at least one of A, B, C..." or "A and / or B and / or C...", include the case where any one of A, B, C... exists alone, as well as the case where any combination of any of A, B, C... exists alone. Each case can exist alone. For example, "at least one of A, B, C" includes the cases of A alone, B alone, C alone, A and B combination, A and C combination, B and C combination, and A and B and C combination. For example, A and / or B includes the cases of A alone, B alone, and A and B combination.

[0133] In some embodiments, the notation "in one case A, in another case B" or "in response to one case A, in response to another case B" may include the following technical solutions depending on the situation: A is executed regardless of B, i.e., A is executed in some embodiments; B is executed regardless of A, i.e., B is executed in some embodiments; A and B are selectively executed, i.e., A and B are selected for execution in some embodiments; A and B are both executed, i.e., A and B are executed in some embodiments. The same applies when there are more branches such as A, B, and C.

[0134] The prefixes "first," "second," etc., used in the embodiments of this disclosure are merely for distinguishing different descriptive objects and do not impose restrictions on the position, order, priority, quantity, or content of the descriptive objects. The description of the descriptive objects is found in the claims or the context of the embodiments, and the use of prefixes should not constitute unnecessary restrictions. For example, if the descriptive object is a "field," the ordinal numbers preceding "field" in "first field" and "second field" do not restrict the position or order of the "fields." "First" and "second" do not restrict whether the "fields" they modify are in the same message, nor do they restrict the order of "first field" and "second field." Similarly, if the descriptive object is a "level," the ordinal numbers preceding "level" in "first level" and "second level" do not restrict the priority between "levels." Furthermore, the number of descriptive objects is not limited by ordinal numbers and can be one or more. For example, in "first device," the number of "devices" can be one or more. Furthermore, the objects modified by different prefixes can be the same or different. For example, if the object being described is "device", then "first device" and "second device" can be the same device or different devices, and their types can be the same or different. As another example, if the object being described is "information", then "first configuration" and "second configuration" can be the same information or different information, and their content can be the same or different.

[0135] In some embodiments, “including A,” “containing A,” “for indicating A,” and “carrying A” can be interpreted as directly carrying A or indirectly indicating A.

[0136] In some embodiments, the terms “in response to…”, “in response to determining…”, “in the case of…”, “when…”, “if…”, “if…”, etc., can be used interchangeably.

[0137] In some embodiments, the terms “greater than,” “greater than or equal to,” “not less than,” “more than,” “more than or equal to,” “not less than,” “higher than,” “higher than or equal to,” “not lower than,” and “above” can be used interchangeably, as can the terms “less than,” “less than or equal to,” “not greater than,” “less than,” “less than or equal to,” “not more than,” “lower than,” “lower than or equal to,” “not higher than,” and “below”.

[0138] In some embodiments, devices, etc., can be interpreted as physical or virtual, and their names are not limited to the names recorded in the embodiments. Terms such as “device”, “equipment”, “circuit”, “network element”, “node”, “function”, “unit”, “section”, “system”, “network”, “chip”, “chip system”, “entity”, and “subject” can be used interchangeably.

[0139] In some embodiments, the terms "access network device (AN device)," "radio access network device (RAN device)," "base station (BS)," "radio base station," "fixed station," "node," "access point," "transmission point (TP)," "reception point (RP)," "transmission / reception point (TRP)," "panel," "antenna panel," "antenna array," "cell," "macro cell," "small cell," "femto cell," "pico cell," "sector," "cell group," "carrier," "component carrier," and "bandwidth part (BWP)" can be used interchangeably.

[0140] In some embodiments, the terms "terminal", "terminal device", "user equipment (UE)", "user terminal", "mobile station (MS)", "mobile terminal (MT)", "subscriber station", "mobile unit", "subscriber unit", "wireless unit", "remote unit", "mobile device", "wireless device", "wireless communication device", "remote device", "mobile subscriber station", "access terminal", "mobile terminal", "wireless terminal", "remote terminal", "handset", "user agent", "mobile client", and "client" can be used interchangeably.

[0141] In some embodiments, the access network device, core network device, or network device can be replaced by a terminal. For example, various embodiments of this disclosure can also be applied to structures that replace communication between the access network device, core network device, or network device and the terminal with communication between multiple terminals (e.g., also referred to as device-to-device (D2D), vehicle-to-everything (V2X), etc.). In this case, the terminal can also be configured to have all or part of the functions of the access network device. Furthermore, terms such as "uplink" and "downlink" can be replaced with terms corresponding to communication between terminals (e.g., "side").

[0142] For example, uplink channels and downlink channels can be replaced with side channels, and uplink links and downlink links can be replaced with side links.

[0143] In some embodiments, the terms "uplink", "uplink", and "physical uplink" can be used interchangeably, as can the terms "downlink", "downlink", and "physical downlink", as well as the terms "sidelink", "sidelink", "sidelink communication", "sidelink communication", "direct connection", "direct link", "direct communication", and "direct link communication".

[0144] In some embodiments, the terms “downlink control information (DCI),” “downlink (DL) assignment,” “DL DCI,” “uplink (UL) grant,” and “UL DCI” can be used interchangeably.

[0145] In some embodiments, terms such as "physical downlink shared channel (PDSCH)" and "DL data" can be used interchangeably, as can terms such as "physical uplink shared channel (PUSCH)" and "UL data".

[0146] In some embodiments, the determination or judgment can be made by a value represented by 1 bit (0 or 1), or by a true or false value (boolean), or by a comparison of numerical values ​​(e.g., a comparison with a predetermined value), but is not limited thereto.

[0147] In some embodiments, "network" can be interpreted as devices included in a network (e.g., access network devices, core network devices, etc.).

[0148] In some embodiments, the acquisition of data, information, etc., may comply with the laws and regulations of the country where the location is situated.

[0149] In some embodiments, data, information, etc., may be obtained with the user's consent.

[0150] Figure 1a is a schematic diagram of the architecture of a communication system according to an embodiment of the present disclosure.

[0151] As shown in Figure 1a, the communication system 100 includes a terminal 101 and a network device 102.

[0152] In some embodiments, terminal 101 includes, but is not limited to, at least one of the following: mobile phone, wearable device, Internet of Things device, car with communication function, smart car, tablet computer, computer with wireless transceiver function, virtual reality (VR) terminal device, augmented reality (AR) terminal device, wireless terminal device in industrial control, wireless terminal device in self-driving, wireless terminal device in remote medical surgery, wireless terminal device in smart grid, wireless terminal device in transportation safety, wireless terminal device in smart city, and wireless terminal device in smart home.

[0153] In some embodiments, network device 102 may include at least one of access network device and core network device.

[0154] In some embodiments, the access network device is, for example, a node or device that connects a terminal to a wireless network. The network device may include, but is not limited to, at least one of the following in a 5G communication system: evolved Node B (eNB), next-generation eNB (ng-eNB), next-generation Node B (gNB), node B (NB), home node B (HNB), home evolved node B (HeNB), wireless backhaul device, radio network controller (RNC), base station controller (BSC), base transceiver station (BTS), base band unit (BBU), mobile switching center, base station in a 6G communication system, open RAN, cloud RAN, base station in other communication systems, and access node in a wireless fidelity (WiFi) system.

[0155] In some embodiments, the technical solutions of this disclosure can be applied to the Open RAN architecture. In this case, the interfaces between or within network devices involved in the embodiments of this disclosure can be transformed into internal interfaces of Open RAN. The processes and information interactions between these internal interfaces can be implemented by software or programs.

[0156] In some embodiments, the access network device may be composed of a central unit (CU) and a distributed unit (DU). The CU may also be called a control unit. The CU-DU structure can separate the protocol layer of the network device. Some of the protocol layer functions are centrally controlled by the CU, while the remaining part or all of the protocol layer functions are distributed in the DU and centrally controlled by the CU. However, this is not the only possibility.

[0157] In some embodiments, the access network device may be a single device, multiple devices, or a group of devices, including all or part of a first network element, a second network element, etc. Network elements may be virtual or physical. Network devices may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), and a Next Generation Core (NGC).

[0158] In some embodiments, a core network device may be a single device comprising one or more network elements, or it may be multiple devices or a group of devices, each comprising all or part of the aforementioned one or more network elements. Network elements may be virtual or physical. The core network may include, for example, at least one of an Evolved Packet Core (EPC), a 5G Core Network (5GCN), or a Next Generation Core (NGC).

[0159] It is understood that the communication system described in this disclosure is for the purpose of more clearly illustrating the technical solutions of this disclosure, and does not constitute a limitation on the technical solutions proposed in this disclosure. As those skilled in the art will know, with the evolution of system architecture and the emergence of new business scenarios, the technical solutions proposed in this disclosure are also applicable to similar technical problems.

[0160] The following embodiments of this disclosure can be applied to the communication system 100 shown in FIG1a, or to some of the main bodies, but are not limited thereto. The main bodies shown in FIG1a are illustrative. The communication system may include all or some of the main bodies in FIG1a, or it may include other main bodies outside of FIG1a. The number and form of each main body are arbitrary. The connection relationship between the main bodies is illustrative. The main bodies may not be connected or may be connected. The connection can be in any way, it can be a direct connection or an indirect connection, it can be a wired connection or a wireless connection.

[0161] The embodiments disclosed herein can be applied to Long Term Evolution (LTE), LTE-Advanced (LTE-A), LTE-Beyond (LTE-B), SUPER 3G, IMT-Advanced, 4th generation mobile communication system (4G), 5th generation mobile communication system (5G), 5G new radio (NR), Future Radio Access (FRA), New-Radio Access Technology (RAT), New Radio (NR), New radio access (NX), Future generation radio access (FX), Global System for Mobile communications (GSM), CDMA2000, Ultra Mobile Broadband (UMB), IEEE 802.11 (Wi-Fi), IEEE 802.16 (WiMAX), and IEEE 802.20, Ultra-Wideband (UWB), Bluetooth (a registered trademark), Public Land Mobile Network (PLMN) networks, Device-to-Device (D2D) systems, Machine-to-Machine (M2M) systems, Internet of Things (IoT) systems, Vehicle-to-Everything (V2X) systems, utilizing other systems for random access, and next-generation systems built upon them, etc. Furthermore, multiple systems can be combined (e.g., a combination of LTE or LTE-A with 5G).

[0162] In wireless sensing systems, the sensing receiver typically estimates the position, distance, and velocity of the target by acquiring information such as the time delay, angle, and Doppler amplitude of the sensing signal. Since wireless sensing and wireless communication technologies are highly similar, an integrated sensing and communication (ISAC) system can combine these two technologies to simultaneously achieve communication and sensing functions.

[0163] In some embodiments, the sensed measurement information is specifically divided into:

[0164] Perception results include the target's distance, speed, and even information such as vehicle inspection data, smart intersections, and dynamic maps.

[0165] Perceive intermediate data: point cloud information generated by perception measurement, etc.

[0166] Preliminary sensing data includes: time-delay spread spectrum, Doppler spectrum, micro-Doppler spectrum, angular spectrum, signal intensity spectrum, etc. This spectral information contains information about multiple paths or motion modes, each of which can be reflected by independent spectral lines or parameters.

[0167] Sensing raw data: received signals or raw channel information (e.g., complex results of received signals or channel responses, amplitude and / or phase, I-channel / Q-channel and their related calculation results).

[0168] For angle-related sensing, such as speed sensing and angle sensing, the sensing result is highly correlated with the orientation of the sensing receiver. As shown in Figure 1b, when the direction of the incoming signal reflected from the sensing target is 90°, the sensing receiver will estimate different sensing angles depending on its own rotation. As shown on the right side of Figure 1b, because the sensing receiver rotates by α degrees, the estimated angle is 90°+α. However, the direction of the incoming signal reflected from the target has not changed. Therefore, to obtain the true direction of the incoming signal, rotation offset compensation is needed for the sensing result.

[0169] To address the aforementioned issues, considering that the sensing transmitter cannot know the rotational offset of the sensing receiver, the sensing receiver needs to report some auxiliary information to assist the sensing transmitter in processing the sensing results.

[0170] Based on the aforementioned wireless communication system, various embodiments of the communication method proposed in this disclosure will be described in detail below.

[0171] This disclosure provides a scheme for a first device to send compensated sensing measurement results to a second device.

[0172] Figure 2a is an interactive schematic diagram of a communication method according to an embodiment of the present disclosure. As shown in Figure 2a, the communication method is used in a communication system 100, and the method includes:

[0173] S201. The first device preprocesses the first sensing measurement result to obtain the second sensing measurement result.

[0174] In some embodiments, preprocessing the first sensing measurement result may include performing rotational offset compensation on the first sensing measurement result.

[0175] In some embodiments, the first device may be a sensing receiver, or may be described as a sensing recipient or sensing receiver. Optionally, the first device may be a terminal, but is not limited thereto.

[0176] In some embodiments, the first device may compensate for the first sensing measurement result based on its own rotation angle.

[0177] In some embodiments, the first device may measure the angle of its rotation relative to a global coordinate system, which may be described as a first angle. Optionally, the first device may obtain the first angle based on the measurement of its gyroscope.

[0178] In some embodiments, the global coordinate system may include: a Cartesian coordinate system or a rectangular coordinate system, or a polar coordinate system.

[0179] In some embodiments, the first device may perform rotational offset compensation on the first sensing measurement result based on the first angle to obtain the second sensing measurement result.

[0180] In some embodiments, the first device can calculate the first angle based on the angular offset of the reference path. Optionally, the angle of the reference path at the initial moment is fixed, and the first angle is obtained by comparing the angular deviation of the reference path at the current moment with that at the initial moment.

[0181] In some embodiments, the reference path is one of the multipaths of the reference signal used for sensing measurements from the second device to the first device.

[0182] Optionally, the reference path can be a line-of-sight (LoS) path, or a path through a large reflecting surface (e.g., the ground or a wall), but is not limited to these.

[0183] In some embodiments, the angular offset of the reference path may include the rotational offset angle between the local coordinate system used by the first device and the Cartesian coordinate system or the rectangular coordinate system, or the angular offset of the local coordinate system used by the first device relative to the polar coordinate system.

[0184] In some embodiments, the rotation offset angle can be denoted as {α,β,γ}.

[0185] In some embodiments, α represents the offset angle of the Cartesian coordinate system or rectangular coordinate system rotated about the z-axis. Optionally, the Cartesian coordinate system or rectangular coordinate system is rotated about the z-axis by an angle α to obtain a first local coordinate system.

[0186] In some embodiments, β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system. Optionally, the angle β of the rotation of the first local coordinate system about the y-axis results in a second local coordinate system.

[0187] In some embodiments, γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system. Optionally, the local coordinate system adopted by the first device is obtained by rotating the second local coordinate system about the x-axis by an angle γ.

[0188] In some embodiments, the angular offset may include: a horizontal angular offset θ of the x-axis in the local coordinate system adopted by the first device relative to the x-axis in the polar coordinate system, and a vertical angular offset.

[0189] Optionally, the x-axis of the polar coordinate system is rotated horizontally by θ to obtain a third local coordinate system, the x-axis of which is then rotated about the y-axis. The local coordinate system used by the first device is obtained.

[0190] In some embodiments, the first device may determine a first angle of rotation relative to the global coordinate system based on the aforementioned rotation offset angle or angle offset, and then perform offset compensation on the first sensing measurement result to obtain a second sensing measurement result.

[0191] S202, The first device sends the first information to the second device.

[0192] In some embodiments, the first information includes the results of a second sensing measurement.

[0193] In some embodiments, the second device may be a sensing transmitter, or may be described as a sensing sender or sensing transmitter. Optionally, the second device may be a network device (e.g., a base station), or a sensing function (SF), but is not limited thereto.

[0194] In some embodiments, a first device acting as a sensing receiver can report the preprocessed sensing results to a second device acting as a sensing transmitter. Optionally, the first device can report a second sensing measurement result, after performing rotation offset compensation on the first sensing measurement result based on a first angle of rotation relative to the global coordinate system, to the second device.

[0195] In some embodiments, to obtain the specific location information of the perceived target, it is necessary to estimate the reflected signal passing through the perceived target at the sensing receiver, and calculate the position of the perceived target based on information such as the angle of arrival and time delay of the signal. Here, the angle of the perceived target relative to Rx is the angle in the global coordinate system, while the angle estimated by the sensing receiver is the angle in the local coordinate system.

[0196] Optionally, the global coordinate system can be a Cartesian coordinate system, as shown in Figure 2c. The solid coordinate axes represent the global coordinate system {x, y, z}, and the dashed coordinate axes represent the local coordinate systems obtained after different rotations. Where α represents the rotation angle of the global coordinate system around the z-axis, resulting in the local coordinate system. β represents Around The angle of rotation of the axis yields the local coordinate system. γ represents Around The coordinate axes are obtained by rotating the axis by an angle. Connect {x,y,z} with The rotational relationship between them is defined as {α,β,γ}, where the global coordinate system is an absolute coordinate system, and the directions corresponding to {x,y,z} do not change with time.

[0197] Optionally, the global coordinate system can be taken as a polar coordinate system, as shown in Figure 2d. The black part represents the global coordinate system {x,y,z}, while the gray coordinate axes represent x' obtained by rotating the x-axis horizontally by an angle θ in the global coordinate system, and x' rotated along the vertical dimension. The angle is then used to obtain x”. Since the angle between the coordinate axes {x, y, z} is 90°, based on the above rotation relationship, other coordinate axes {y”, z”} can also be obtained, and thus the local coordinate system {x”, y”, z”} can be obtained.

[0198] In some embodiments, the first device, acting as a sensing receiver, acquires information such as the time delay, angle, and Doppler amplitude of the sensing signal, and then estimates information such as the position, distance, and velocity of the sensing target to obtain a sensing result. In estimating the sensing result based on the direction of arrival of the sensing signal reflected from the sensing target, if the change in the direction of arrival due to the rotation of the sensing receiver itself is not considered, the obtained sensing result (e.g., the first sensing measurement result) will have a deviation. Using the solution in this embodiment, the sensing receiver can compensate for the deviation caused by its rotation in the first sensing measurement result, thereby obtaining an accurate sensing result (e.g., the second sensing measurement result).

[0199] In some embodiments, the first information may be sent in a manner including but not limited to: sending via higher-layer signaling, sending as higher-layer data, or transmitting using PUCCH signaling.

[0200] In some embodiments, the names of information, etc., are not limited to those described in the embodiments. Terms such as "information", "message", "signal", "signaling", "report", "configuration", "indication", "instruction", "command", "channel", "parameter", "domain", "field", "symbol", and "data" can be used interchangeably.

[0201] In some embodiments, terms such as “send,” “transmit,” “report,” “distribute,” “transmit,” “bidirectional transmission,” “send and / or receive” can be used interchangeably.

[0202] In some embodiments, terms such as "certain," "preset," "default," "set," "indicated," "a certain," "any," and "first" can be used interchangeably. "Certain A," "preset A," "default A," "set A," "indicated A," "a certain A," "any A," and "first A" can be interpreted as A pre-defined in a protocol or the like, or as A obtained through setting, configuration, or instruction, or as specific A, a certain A, any A, or first A, but are not limited thereto.

[0203] In some embodiments, terms such as “in the case of,” “when,” “when,” “if,” “if,” etc., can be used interchangeably.

[0204] The method involved in the embodiments of this disclosure may include at least one of steps S201 to S202. For example, step S202 may be implemented as a separate embodiment, but is not limited thereto.

[0205] In some embodiments, step S201 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0206] This disclosure also provides a scheme for a second device to compensate for sensing measurement results based on auxiliary information sent by a first device.

[0207] Figure 2b is an interactive schematic diagram of a communication method according to an embodiment of the present disclosure. As shown in Figure 2b, the communication method is used in a communication system 100, and the method includes:

[0208] S211, The first device sends its capability information to the second device.

[0209] In some embodiments, the capability information of the first device is used to indicate that the first device has the capability to measure a first angle.

[0210] In some embodiments, the first angle is the angle by which the first device rotates relative to the global coordinate system.

[0211] Optionally, the first device has the ability to measure the rotation angle of the first device relative to the global coordinate system.

[0212] In some embodiments, the global coordinate system may include: a Cartesian coordinate system or a rectangular coordinate system, or a polar coordinate system.

[0213] In some embodiments, the first device may be a sensing receiver, or may be described as a sensing recipient or sensing receiver. Optionally, the first device may be a terminal, but is not limited thereto.

[0214] In some embodiments, the second device may be a sensing transmitter, or may be described as a sensing sender or sensing transmitter. Optionally, the second device may be a network device (e.g., a base station), or an SF, but is not limited thereto.

[0215] S212, The first device receives the second information sent by the second device.

[0216] In some embodiments, the second information is used to indicate whether the first device should report auxiliary information.

[0217] In some embodiments, when the first device is a fixed sensing receiver, auxiliary information is not reported.

[0218] In some embodiments, when the first device is a mobile sensing receiver, auxiliary information is reported.

[0219] In some embodiments, auxiliary information is used to compensate for the first sensing measurement results.

[0220] Optionally, the auxiliary information can be described as angle deflection auxiliary information, but is not limited to this. It can also be described as angle rotation auxiliary information, or deflection angle auxiliary information, or rotation angle auxiliary information, or deflection angle information, or rotation angle information, etc.

[0221] In some embodiments, the first device may determine whether to report auxiliary information based on the second information sent by the second device.

[0222] In some embodiments, the auxiliary information includes angle information used to determine the rotation state of the first device. Optionally, the auxiliary information includes angle information used to determine the rotation state of the first device.

[0223] In some embodiments, the angle information may include one of the following:

[0224] The rotational relationship information between the local coordinate system and the global coordinate system used by the first device;

[0225] The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

[0226] In some embodiments, the rotation angle-related information may include: rotation relationship information between the local coordinate system used by the first device and the Cartesian coordinate system or the rectangular coordinate system.

[0227] In some embodiments, the rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system.

[0228] In some embodiments, α represents the offset angle of the global coordinate system rotated about the z-axis. Optionally, a first local coordinate system is obtained by rotating a Cartesian or rectangular coordinate system about the z-axis by an angle α.

[0229] In some embodiments, β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, wherein the first local coordinate system is obtained by rotating the global coordinate system about the z-axis by α. Optionally, the second local coordinate system is obtained by rotating the first local coordinate system about the y-axis by an angle β.

[0230] In some embodiments, γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, wherein the second local coordinate system is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β. Optionally, the local coordinate system used by the first device is obtained by rotating the second local coordinate system about the x-axis by an angle γ. Optionally, the local coordinate system used by the first device is obtained by rotating the second local coordinate system about the x-axis of the second local coordinate system by γ.

[0231] In some embodiments, the rotation angle-related information may include: angular offset information between the local coordinate system and the polar coordinate system used by the first device.

[0232] In some embodiments, the angle offset information includes: the horizontal angle offset θ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system and the vertical angle offset.

[0233] In some embodiments, the local coordinate system used by the first device is a third local coordinate system in which the x-axis rotates about the y-axis. The resulting system is a third local coordinate system obtained by horizontally rotating the x-axis of the global coordinate system by θ. Alternatively, the third local coordinate system can be obtained by horizontally rotating the x-axis of the polar coordinate system by θ, and then rotating the x-axis of this third local coordinate system about the y-axis. The local coordinate system used by the first device is obtained.

[0234] S213, The first device sends the first information to the second device.

[0235] In some embodiments, the first device sends first information to the second device based on the second information sent by the second device.

[0236] In some embodiments, if the first device is stationary, the second device instructs the first device not to report auxiliary information. Optionally, if the second information instructs not to report auxiliary information, the first information sent by the first device to the second device includes: a first sensing measurement result. In this case, it can be understood that the first device itself does not rotate, therefore, the sensing result is accurate, without offset or deviation.

[0237] In some embodiments, if the first device is mobile, the second device instructs the first device to report auxiliary information. Optionally, if the second information instructs the reporting of auxiliary information, the first information sent by the first device to the second device may include the first sensing measurement result and the auxiliary information. In this case, it can be understood that the first device itself will rotate, therefore, the sensing result may have an offset or deviation, and auxiliary information needs to be reported to assist the second device in compensating for the received first sensing measurement result to obtain an accurate sensing result.

[0238] In some embodiments, the first information may be sent in a manner including but not limited to: sending via higher-layer signaling, sending as higher-layer data, or transmitting using PUCCH signaling.

[0239] In some embodiments, based on the above embodiments, it may further include:

[0240] S210, The first device acquires auxiliary information.

[0241] In some embodiments, the first device may obtain auxiliary information based on measurements taken by the gyroscope of the first device.

[0242] In some embodiments, the first device can calculate auxiliary information based on the angular offset of the reference path.

[0243] In some embodiments, the reference path is one of the multipaths of the reference signal used for sensing measurements from the second device to the first device.

[0244] Optionally, the reference path can be the line-of-sight (LoS) path, or a path that passes through a large reflective surface (e.g., the ground, wall, ceiling, etc.), but is not limited to these.

[0245] In some embodiments, the direction of the reference path remains unchanged. Optionally, both the first device and the second device are in fixed positions, or the relative positions of the first device and the second device remain unchanged.

[0246] In some embodiments, the first device can obtain the angle offset or rotation offset angle based on the angle of arrival of the sensing signal measured at different times on the reference path.

[0247] It should be noted that step S210 can be executed before step S213, and there is no restriction on its execution order with steps S211 and S212. Optionally, step S210 can be executed before or after step S211, or step S210 can be executed after step S212. For example, step S210 is executed when the reporting of auxiliary information is indicated in step S212.

[0248] In some embodiments, based on the above embodiments, it may further include:

[0249] S214. The second device performs rotational offset compensation on the first sensing measurement result.

[0250] In some embodiments, the second device may perform rotational offset compensation on the first sensing result based on auxiliary information.

[0251] In some embodiments, the second device may determine a first angle of rotation of the first device relative to the global coordinate system based on auxiliary information, and then perform rotation offset compensation on the first sensing measurement result based on the first angle.

[0252] In some embodiments, if the auxiliary information includes rotational relationship information between the local coordinate system and the Cartesian coordinate system used by the first device, the second device can determine a first angle of rotation of the first device relative to the Cartesian coordinate system based on the rotational relationship information, and then perform rotational offset compensation on the first sensing measurement result.

[0253] In some embodiments, if the auxiliary information includes the angle offset information of the local coordinate system used by the first device relative to the polar coordinate system, the second device can determine the first angle of rotation of the first device relative to the polar coordinate system based on the angle offset information, and then perform rotation offset compensation on the first sensing measurement result.

[0254] The method involved in the embodiments of this disclosure may include at least one of steps S210 to S214. For example, step S213 may be implemented as an independent embodiment, steps S211 and S213 may be implemented as independent embodiments, steps S211, S212, and S213 may be implemented as independent embodiments, steps S211, S212, S213, and S214 may be implemented as independent embodiments, and steps S211, S210, S212, and S213 may be implemented as independent embodiments, but are not limited thereto.

[0255] In some embodiments, step S210 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0256] In some embodiments, step S212 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0257] In some embodiments, step S214 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0258] Figure 3a is a flowchart illustrating a communication method according to an embodiment of the present disclosure. As shown in Figure 3a, the communication method can be executed by a first device, and the method includes:

[0259] S301. Preprocess the first sensing measurement result to obtain the second sensing measurement result.

[0260] In some embodiments, if the first device rotates during movement, rotation offset compensation can be applied to the first sensing measurement result to obtain the second sensing measurement result.

[0261] The optional implementation of step S301 can be found in the optional implementation of step S201 in Figure 2a and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0262] S302, Send first information including the second sensing measurement result.

[0263] In some embodiments, first information including second sensing measurement results is sent to a second device.

[0264] The optional implementation of step S302 can be found in the optional implementation of step S202 in Figure 2a and other related parts in the embodiment involved in Figure 2a, which will not be repeated here.

[0265] In some embodiments, the first device sends the first information by means including but not limited to the following: sending via higher-layer signaling, sending as higher-layer data, or transmitting using PUCCH signaling.

[0266] Figure 3b is a flowchart illustrating a communication method according to an embodiment of the present disclosure. As shown in Figure 3b, the communication method can be executed by a first device, and the method includes:

[0267] S311, Send capability information.

[0268] In some embodiments, the first device sends its capability information to the second device.

[0269] In some embodiments, the capability information of the first device is used to indicate that the first device has the capability to measure a first angle.

[0270] The optional implementation of step S311 can be found in the optional implementation of step S211 in Figure 2b and other related parts in the embodiment involved in Figure 2b, which will not be repeated here.

[0271] S312, Receive the second information.

[0272] In some embodiments, the first device receives second information sent by the second device.

[0273] In some embodiments, the second information is used to indicate whether the first device should report auxiliary information.

[0274] The optional implementation of step S312 can be found in the optional implementation of step S212 in Figure 2b and other related parts in the embodiment involved in Figure 2b, which will not be repeated here.

[0275] S313, Send the first message.

[0276] In some embodiments, the first device sends first information related to sensing measurements to the second device.

[0277] In some embodiments, the first information may include a first sensing measurement result; optionally, the first information may also include auxiliary information.

[0278] In some embodiments, the first device sends first information to the second device based on the second information sent by the second device.

[0279] In some embodiments, if the first device is fixed, the second information sent by the second device to the first device instructs the first device not to report auxiliary information. In this case, the first information sent by the first device to the second device includes: the first sensing measurement result.

[0280] In some embodiments, if the first device is mobile, a second message sent by the second device to the first device instructs the first device to report auxiliary information. In this case, the first message sent by the first device to the second device may include a first sensing measurement result and auxiliary information.

[0281] The optional implementation of step S313 can be found in the optional implementation of step S213 in Figure 2b and other related parts in the embodiment involved in Figure 2b, which will not be repeated here.

[0282] The method involved in the embodiments of this disclosure may include at least one of steps S311 to S313. For example, step S313 may be implemented as a standalone embodiment, but is not limited thereto.

[0283] In some embodiments, step S311 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0284] In some embodiments, step S312 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0285] Figure 3c is a flowchart illustrating a communication method according to an embodiment of the present disclosure. As shown in Figure 3c, the communication method can be executed by a first device, and the method includes:

[0286] S321, Send the first message.

[0287] The optional implementations of step S321 can be found in the optional implementations of step S201 in Figure 2a, step S213 in Figure 2b, step S301 in Figure 3a, step S313 in Figure 3b, and other related parts in the embodiments involved in Figures 2a, 2b, 3a, and 3b, which will not be repeated here.

[0288] In some embodiments, the first device sends first information related to sensing measurements to the second device.

[0289] In some embodiments, the first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate the first sensing measurement result; or, the first information includes a second sensing measurement result, wherein the second sensing measurement result is obtained after preprocessing the first sensing measurement result.

[0290] In some embodiments, the above method may further include:

[0291] The capability information of the first device is sent to the second device, the capability information indicating that the first device has the capability to measure a first angle. Optionally, the first angle is the angle of rotation of the first device relative to the global coordinate system.

[0292] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S211 in Figure 2b, and other related parts in the embodiments involved in Figure 2b, which will not be repeated here.

[0293] In some embodiments, the above method may further include:

[0294] The first device receives second information sent by the second device, the second information being used to indicate whether the first device should report the auxiliary information.

[0295] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S212 in Figure 2b, and other related parts in the embodiments involved in Figure 2b, which will not be repeated here.

[0296] In some embodiments, the above method may further include: acquiring the auxiliary information.

[0297] In some embodiments, obtaining the auxiliary information may include:

[0298] The auxiliary information is obtained based on measurements taken by the gyroscope of the first device; or...

[0299] The auxiliary information is calculated based on the angular offset of the reference path, which is one of the multipaths of the reference signal used for sensing measurement from the second device to the first device.

[0300] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S210 in Figure 2b, and other related parts in the embodiments involved in Figure 2b, which will not be repeated here.

[0301] In some embodiments, the auxiliary information includes angle information, which is used to determine the rotation state of the first device.

[0302] In some embodiments, the angle information includes one of the following:

[0303] The rotational relationship information between the local coordinate system and the global coordinate system used by the first device;

[0304] The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

[0305] In some embodiments, the rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system;

[0306] Wherein, α represents the offset angle of the global coordinate system about the z-axis;

[0307] β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, which is obtained by rotating the global coordinate system about the z-axis by α.

[0308] γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, which is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β.

[0309] The local coordinate system is obtained by rotating the second local coordinate system by γ around its x-axis.

[0310] In some embodiments, the angle offset information includes: the horizontal angle offset θ and the vertical angle offset φ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system;

[0311] The local coordinate system is obtained by rotating the x-axis of the third local coordinate system by φ around the y-axis of the third local coordinate system;

[0312] The third local coordinate system is obtained by horizontally rotating the x-axis of the global coordinate system by θ.

[0313] In some embodiments, the above method may further include:

[0314] Based on the first angle, the first sensing measurement result is compensated for rotational offset to obtain the second sensing measurement result.

[0315] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S201 in Figure 2a, and other related parts in the embodiments involved in Figure 2a, which will not be repeated here.

[0316] Figure 4a is a flowchart illustrating a communication method according to an embodiment of the present disclosure. As shown in Figure 4a, the method involved in this embodiment is executed by a second device, and the method includes:

[0317] S401, Obtain first information.

[0318] In some embodiments, the second device acquiring the first information may include receiving the first information sent by the first device.

[0319] The optional implementation of step S401 can be found in the optional implementation of step S201 in Figure 2a, the optional implementation of step S213 in Figure 2b, and other related parts in the embodiments involved in Figures 2a and 2b, which will not be repeated here.

[0320] In some embodiments, the first information includes a second sensing measurement result. Optionally, the second sensing measurement result is obtained by the first device performing rotational offset compensation on the first sensing measurement result based on a first angle.

[0321] In some embodiments, the first angle is the angle by which the first device rotates relative to the global coordinate system.

[0322] In some embodiments, the first information includes: first sensing measurement results and auxiliary information.

[0323] In some embodiments, the first information includes the result of a first sensing measurement.

[0324] Based on the above embodiments, it may also include:

[0325] S402, Perform rotation offset compensation on the first sensing measurement result.

[0326] In some embodiments, if the first information includes auxiliary information and a first sensing measurement result, the second device performs rotational offset compensation on the first sensing measurement result based on the auxiliary information.

[0327] The optional implementation of step S402 can be found in the optional implementation of step S214 in Figure 2b, and other related parts in the embodiment involved in Figure 2b, which will not be repeated here.

[0328] In some embodiments, prior to step S401, the following may also be included:

[0329] Receive capability information from the first device;

[0330] Send the second message to the first device.

[0331] In some embodiments, the capability information of the first device is used to indicate that the first device has the capability to measure a first angle.

[0332] In some embodiments, the first angle is the angle by which the first device rotates relative to the global coordinate system.

[0333] In some embodiments, the second information is used to indicate whether the first device should report auxiliary information.

[0334] The above optional implementation methods can be found in the optional implementation methods of steps S211 and S212 in Figure 2b, as well as other related parts in the embodiments involved in Figure 2b, which will not be repeated here.

[0335] In some embodiments, whether the first information includes auxiliary information is determined by the first device based on an indication of the second information.

[0336] The method involved in the embodiments of this disclosure may include at least one of steps S401 to S402. For example, step S402 may be implemented as a standalone embodiment, but is not limited thereto.

[0337] In some embodiments, step S402 is optional, and one or more of these steps may be omitted or substituted in different embodiments.

[0338] Figure 4b is a flowchart illustrating a communication method according to an embodiment of the present disclosure. As shown in Figure 4b, the method involved in this embodiment is executed by a second device, and the method includes:

[0339] S411, Obtain first information.

[0340] The optional implementations of step S401 can be found in the optional implementations of step S201 in Figure 2a, the optional implementations of step S213 in Figure 2b, the optional implementations of step S401 in Figure 4a, and other related parts in the embodiments involved in Figures 2a, 2b, and 4a, which will not be repeated here.

[0341] In some embodiments, the second device acquires first information related to sensing measurements sent by the first device.

[0342] In some embodiments, the first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate the first sensing measurement result; or, the first information includes a second sensing measurement result, wherein the second sensing measurement result is obtained after preprocessing the first sensing measurement result.

[0343] In some embodiments, the above method may further include:

[0344] The system receives capability information from the first device, which indicates that the first device has the capability to measure a first angle. Optionally, the first angle is the angle of rotation of the first device relative to a global coordinate system.

[0345] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S211 in Figure 2b, and other related parts in the embodiments involved in Figure 2b, which will not be repeated here.

[0346] In some embodiments, the above method may further include:

[0347] Send a second message to the first device, the second message being used to instruct the first device whether to report the auxiliary information.

[0348] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S212 in Figure 2b, and other related parts in the embodiments involved in Figure 2b, which will not be repeated here.

[0349] In some embodiments, the method of obtaining the auxiliary information includes:

[0350] The first device measures based on its gyroscope; or...

[0351] The first device calculates the reference path based on the angular offset of the reference path, which is one of the multipaths from the second device to the first device used for sensing and measurement.

[0352] In some embodiments, the auxiliary information includes angle information, which is used to determine the rotation state of the first device.

[0353] In some embodiments, the angle information includes one of the following:

[0354] The rotational relationship information between the local coordinate system and the global coordinate system used by the first device;

[0355] The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

[0356] In some embodiments, the rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system;

[0357] Wherein, α represents the offset angle of the global coordinate system about the z-axis;

[0358] β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, which is obtained by rotating the global coordinate system about the z-axis by α.

[0359] γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, which is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β.

[0360] The local coordinate system is obtained by rotating the second local coordinate system by γ around its x-axis.

[0361] In some embodiments, the angle offset information includes: the horizontal angle offset θ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system and the vertical angle offset.

[0362] The local coordinate system is a third local coordinate system whose x-axis is rotated about the y-axis of that third local coordinate system. Received;

[0363] The third local coordinate system is obtained by horizontally rotating the x-axis of the global coordinate system by θ.

[0364] In some embodiments, the above method may further include:

[0365] Based on the auxiliary information, the first angle is determined;

[0366] Based on the first angle, rotational offset compensation is applied to the first sensing measurement result.

[0367] The above-mentioned optional implementation methods can be found in the optional implementation methods of step S214 in Figure 2b, and other related parts in the embodiments involved in Figure 2b, which will not be repeated here.

[0368] This disclosure also provides an optional implementation scheme in which the sensing receiver reports its own rotational offset information to the sensing transmitter or sensing function (SF), and compensates for the phase offset caused by rotation / offset to obtain a true target sensing result. Alternatively, before reporting the sensing measurement information, the sensing result is preprocessed at the sensing receiver to compensate for the angular deviation caused by the rotation of the sensing receiver itself.

[0369] In sensing operations, the sensing measurements include time delay, Doppler frequency, and angle. To measure the angle value, it is necessary to define the reference angle directions for the sensing transmitter and the sensing receiver.

[0370] In some embodiments, the reference angle direction can be global, i.e., a global coordinate system. This could include a global zero-degree horizontal angle direction and a global zero-degree vertical angle direction. For each sensing transmitter and sensing receiver, the measured angle of the sensed target is defined based on this global reference angle direction.

[0371] In some embodiments, the reference angular direction can be local for each sensing transmitter and sensing receiver. That is, each sensing transmitter and sensing receiver can have its own local coordinate system. The measured value of the angle at which the sensing target is located is defined based on its respective local reference angular direction.

[0372] In some embodiments, when a sensing entity processes the sensing measurement results of one or more sensing receivers, it needs to transform the measurement values ​​based on the local coordinate system, for example, to the global coordinate system, so that multiple sensing results can be processed jointly. The reference angle direction can also be hierarchical.

[0373] Optionally, a global coordinate system can be defined; a set of common local coordinate systems for sensing transmitters and receivers can be defined, and the angle deflection of the common local coordinate system relative to the global coordinate system can be pre-configured or configured using higher-layer signaling.

[0374] Optionally, the angular deflection of each sensing transmitter or receiver relative to a common local coordinate system can be further pre-configured or configured to obtain the local coordinate system of each sensing transmitter or receiver.

[0375] In some embodiments, when the sensing receiver reports sensing measurements using preliminary sensing data (e.g., angle spectrum) or raw sensing data, the reported measurement information may be sensing data affected by the rotation of the sensing receiver. The angle information obtained using this measurement data includes the angle deviation caused by the rotational offset of the sensing receiver itself. To assist the SF or sensing transmitter in processing the sensing measurement information and obtaining the angle information of the sensing target relative to the sensing receiver, the sensing receiver needs to report some auxiliary information. This auxiliary information can be used to determine the angle of the sensing target relative to the sensing receiver.

[0376] In some embodiments, the measurement of angular deflection by the UE (which may correspond to the first device mentioned above) can be a UE capability, referred to as the first function (or first capability). That is, it is necessary to determine whether the terminal can measure the aforementioned angle, and the first capability is the ability to measure the rotation angle of the sensing receiver relative to the global coordinate system.

[0377] In some embodiments, the sensing transmitter (which may correspond to the second device mentioned above) may, according to the first function described above, instruct the sensing receiver (which may correspond to the first device mentioned above) whether to report angle deflection assistance information.

[0378] Optionally, when the sensing receiver is a fixed terminal, this information does not need to be reported.

[0379] Optionally, when the sensing receiver is a mobile terminal, this information is reported.

[0380] In some embodiments, before reporting the aforementioned auxiliary information, auxiliary information is obtained based on the aforementioned first function, namely, the angular rotation offset at the sensing receiver.

[0381] Optionally, methods for obtaining auxiliary information include:

[0382] Option 1: The rotation angle is measured by the gyroscope of the sensing receiver.

[0383] Option 2: The rotation angle is calculated by the sensing receiver based on the reference diameter angle offset, for example, as shown in Figure 5.

[0384] In some embodiments, for a sensing transmitter, the reference path is either a direct path of the sensing reference signal, or a path reflected from a fixed object in the environment to the sensing receiver, such as a wall, ceiling, or floor. The direction of the reference path remains constant. For example, the sensing transmitter and receiver are both in fixed positions, or their relative positions remain constant. At the first moment, the angle of arrival of the k-th reference path at the sensing receiver, measured based on the sensing reference signal, is denoted as . (Global or local coordinate system), k = 0, 1, ..., K-1. K is the number of reference paths, K ≥ 1. At the second time point, let the angle of arrival obtained by the sensing receiver from the actual measurement of this reference path be: Angle of arrival of K reference paths and The sensing receiver can process its own angular rotation. For a given receiver, the sensing functional entity can configure parameters for K reference paths. These parameters include, for example, configuration information for the sensing reference signals of the reference paths, and configuration information for the time delay, Doppler, and angle of the reference paths.

[0385] In some embodiments, the angle deflection auxiliary information includes angle information, based on which the rotation state of the sensing receiver can be determined.

[0386] In some embodiments, the angle information may include any of the following:

[0387] 1. Coordinate system rotation relationship {α,β,γ}

[0388] In some embodiments, in addition to reporting sensing measurement information, the sensing receiver also needs to report the rotation angle {α,β,γ} between the local coordinate system and the global coordinate system. The definition of the rotation angle is described above in conjunction with Figure 2c.

[0389] In some embodiments, according to the above definition {α,β,γ}∈[0,360°], the three angles are quantized respectively to obtain their corresponding angle quantization index {α}. i,k ,β i,k ,γ i,k}, where i represents the index corresponding to the current measurement cycle, and k represents the angle index corresponding to the rotation angle of the sensing receiver.

[0390] Optional, {α i,k ,β i,k ,γ i,k Reports can be submitted individually or jointly.

[0391] 2. Angular deviation

[0392] In some embodiments, in addition to reporting sensing measurement information, the sensing receiver also needs to report the horizontal angular offset θ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system and the vertical angular offset. in, It can be obtained by measuring the local gyroscope at the sensing receiver or by other measurement methods.

[0393] In some embodiments, based on the above definition θ∈[0,360], Quantize the three angles separately to obtain the corresponding angle quantization indexes. Where i represents the index corresponding to the current measurement cycle, and k represents the angle index corresponding to the rotation angle of the sensing receiver.

[0394] Optional, Reports can be submitted individually or jointly.

[0395] In some embodiments, the reported angle deflection auxiliary information can be reported to the sensing functional entity along with other sensing measurements, such as time delay, Doppler frequency, angle, etc.

[0396] In some embodiments, the above report may be transmitted to the sensing function entity as high-level data or signaling, or it may be transmitted using PUCCH signaling.

[0397] In some embodiments, the information measured and reported by the sensing receiver may include the angle of the target relative to the sensing receiver. For a moving sensing receiver, the angle information of the target measured at the sensing receiver may change even if the target is stationary due to factors such as the sensing receiver's own rotation. Assuming that the sensing receiver can obtain the angle change caused by its own motion (refer to the sensing receiver rotation angle acquisition method described above), the sensing receiver can perform rotation offset compensation on the sensing measurement results locally and then report the sensing information as the measurement result. The sensing information includes information such as the target's distance, velocity, and angle.

[0398] In some embodiments, as shown in Figure 2c above, {α,β,γ} represents the rotational offset of the local coordinate system relative to the global coordinate system. This represents the horizontal angle and zenith angle obtained from sensing measurements in a local coordinate system. This represents the horizontal and vertical angles of the perceived target relative to the sensing receiver in the global coordinate system. The reported measurement angle domain information is as follows: in:

[0399] in:

[0400] This represents the unit vector corresponding to the direction of arrival of the wave, estimated by the sensing receiver in the local coordinate system.

[0401] This disclosure also provides an apparatus for implementing any of the above methods. For example, an apparatus is provided that includes units or modules for implementing the steps performed by the terminal in any of the above methods. Alternatively, another apparatus is provided that includes units or modules for implementing the steps performed by a network device (e.g., an access network device, a core network functional node, a core network device, etc.) in any of the above methods.

[0402] It should be understood that the division of units or modules in the above device is only a logical functional division. In actual implementation, they can be fully or partially integrated into a single physical entity, or they can be physically separated. Furthermore, the units or modules in the device can be implemented by a processor calling software: for example, the device includes a processor connected to a memory containing instructions. The processor calls the instructions stored in the memory to implement any of the above methods or to implement the functions of the units or modules in the above device. The processor can be, for example, a general-purpose processor, such as a Central Processing Unit (CPU) or a microprocessor, and the memory can be internal or external to the device. Alternatively, the units or modules in the device can be implemented in the form of hardware circuits. The functions of some or all of the units or modules can be achieved through the design of the hardware circuits. The aforementioned hardware circuits can be understood as one or more processors. For example, in one implementation, the aforementioned hardware circuit is an application-specific integrated circuit (ASIC). The functions of some or all of the aforementioned units or modules are achieved through the design of the logical relationships between the components within the circuit. As another example, in another implementation, the aforementioned hardware circuit can be implemented through a programmable logic device (PLD). Taking a field-programmable gate array (FPGA) as an example, it can include a large number of logic gates. The connection relationships between the logic gates are configured through configuration files, thereby achieving the functions of some or all of the aforementioned units or modules.

[0403] All units or modules of the above devices can be implemented entirely through processor-invoked software, entirely through hardware circuits, or partially through processor-invoked software with the remainder implemented through hardware circuits. In this embodiment, the processor is a circuit with signal processing capabilities. In one implementation, the processor can be a circuit with instruction read and execute capabilities, such as a Central Processing Unit (CPU), a microprocessor, a graphics processing unit (GPU) (which can be understood as a microprocessor), or a digital signal processor (DSP). In another implementation, the processor can implement certain functions through the logical relationships of hardware circuits. These logical relationships are fixed or reconfigurable. For example, the processor may be a hardware circuit implemented using an application-specific integrated circuit (ASIC) or a programmable logic device (PLD), such as an FPGA. In a reconfigurable hardware circuit, the process of the processor loading a configuration document and configuring the hardware circuit can be understood as the process of the processor loading instructions to implement the functions of some or all of the above units or modules. In addition, it can also be hardware circuits designed for artificial intelligence, which can be understood as ASICs, such as Neural Network Processing Units (NPUs), Tensor Processing Units (TPUs), and Deep Learning Processing Units (DPUs).

[0404] Figure 6a is a schematic diagram of the structure of the first device proposed in an embodiment of this disclosure. As shown in Figure 6a, the first device may include at least one of a first transceiver module 611, a first processing module 612, etc.

[0405] In some embodiments, the first transceiver module 611 is used to send first information related to sensing measurement to the second device;

[0406] The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate the first sensing measurement result; or, the first information includes a second sensing measurement result, wherein the second sensing measurement result is obtained after preprocessing the first sensing measurement result.

[0407] In some alternative embodiments, the first transceiver module 611 is further configured to: send capability information of the first device to the second device, the capability information being used to indicate that the first device has the capability to measure a first angle, the first angle being the angle of rotation of the first device relative to the global coordinate system.

[0408] In some optional embodiments, the first transceiver module 611 is further configured to: receive second information sent by the second device, the second information being used to indicate whether the first device should report the auxiliary information.

[0409] In some alternative embodiments, the first processing module 612 is used to acquire the auxiliary information.

[0410] In some alternative embodiments, the first processing module 612 is specifically used to: obtain the auxiliary information based on the gyroscope measurement of the first device; or to calculate the auxiliary information based on the angular offset of a reference path, wherein the reference path is one of the multipaths of the reference signal used for sensing measurement from the second device to the first device.

[0411] In some alternative embodiments, the auxiliary information includes angle information used to determine the rotation state of the first device.

[0412] In some alternative embodiments, the angle information includes one of the following:

[0413] The rotational relationship information between the local coordinate system and the global coordinate system used by the first device;

[0414] The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

[0415] In some optional embodiments, the rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system;

[0416] Wherein, α represents the offset angle of the global coordinate system about the z-axis;

[0417] β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, which is obtained by rotating the global coordinate system about the z-axis by α.

[0418] γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, which is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β.

[0419] The local coordinate system is obtained by rotating the second local coordinate system by γ around its x-axis.

[0420] In some optional embodiments, the angle offset information includes: the horizontal angle offset θ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system and the vertical angle offset.

[0421] The local coordinate system is a third local coordinate system whose x-axis is rotated about the y-axis of that third local coordinate system. Received;

[0422] The third local coordinate system is obtained by horizontally rotating the x-axis of the global coordinate system by θ.

[0423] In some optional embodiments, the first processing module 612 is further configured to: perform rotational offset compensation on the first sensing measurement result based on the first angle to obtain the second sensing measurement result.

[0424] Figure 6b is a schematic diagram of the structure of the second device proposed in an embodiment of this disclosure. As shown in Figure 6b, the second device includes at least one of a second transceiver module 621, a second processing module 622, etc.

[0425] In some embodiments, the second transceiver module 621 is used to receive first information related to sensing measurement sent by the first device; the first information includes: a first sensing measurement result and auxiliary information, the auxiliary information being used to compensate the first sensing measurement result; or, the first information includes a second sensing measurement result, the second sensing measurement result being obtained after preprocessing the first sensing measurement result.

[0426] In some optional embodiments, the second transceiver module 621 is further configured to: receive capability information of the first device sent by the first device, the capability information being used to indicate that the first device has the capability to measure a first angle, the first angle being the angle of rotation of the first device relative to the global coordinate system.

[0427] In some alternative embodiments, the second transceiver module 621 is further configured to: send second information to the first device, the second information being used to indicate whether the first device should report the auxiliary information.

[0428] In some optional embodiments, the method of obtaining the auxiliary information includes:

[0429] The first device measures based on its gyroscope; or...

[0430] The first device calculates the reference path based on the angular offset of the reference path, which is one of the multipaths from the second device to the first device used for sensing and measurement.

[0431] In some alternative embodiments, the auxiliary information includes angle information used to determine the rotation state of the first device.

[0432] In some alternative embodiments, the angle information includes one of the following:

[0433] The rotational relationship information between the local coordinate system and the global coordinate system used by the first device;

[0434] The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

[0435] In some optional embodiments, the rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system;

[0436] Wherein, α represents the offset angle of the global coordinate system about the z-axis;

[0437] β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, which is obtained by rotating the global coordinate system about the z-axis by α.

[0438] γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, which is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β.

[0439] The local coordinate system is obtained by rotating the second local coordinate system by γ around its x-axis.

[0440] In some optional embodiments, the angle offset information includes: the horizontal angle offset θ and the vertical angle offset φ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system;

[0441] The local coordinate system is obtained by rotating the x-axis of the third local coordinate system by φ around the y-axis of the third local coordinate system;

[0442] The third local coordinate system is obtained by horizontally rotating the x-axis of the global coordinate system by θ.

[0443] In some alternative embodiments, the second processing module 622 is configured to: determine the first angle based on the auxiliary information; and perform rotational offset compensation on the first sensing measurement result based on the first angle.

[0444] Figure 7a is a schematic diagram of the structure of the communication device 7100 proposed in an embodiment of this disclosure. The communication device 7100 can be a network device (e.g., access network device, core network device, etc.), a terminal (e.g., user equipment, etc.), a chip, chip system, or processor that supports the network device in implementing any of the above methods, or a chip, chip system, or processor that supports the terminal in implementing any of the above methods. The communication device 7100 can be used to implement the methods described in the above method embodiments; for details, please refer to the descriptions in the above method embodiments.

[0445] As shown in Figure 7a, the communication device 7100 includes one or more processors 7101. The processor 7101 can be a general-purpose processor or a dedicated processor, such as a baseband processor or a central processing unit (CPU). The baseband processor can be used to process communication protocols and communication data, while the CPU can be used to control communication devices (e.g., base stations, baseband chips, terminal devices, terminal device chips, DUs or CUs, etc.), execute programs, and process program data. The processor 7101 is used to invoke instructions to cause the communication device 7100 to execute any of the above methods.

[0446] In some embodiments, the communication device 7100 further includes one or more transceivers 7103. When the communication device 7100 includes one or more transceivers 7103, the transceiver 7103 performs at least one of the communication steps such as sending and / or receiving in the above method (e.g., at least one of step S202 shown in FIG. 2a, steps S211, S212, and S213 shown in FIG. 2b, but not limited thereto), and the processor 7101 performs at least one of other steps (e.g., at least one of step S201 shown in FIG. 2a, steps S210 and S214 shown in FIG. 2b, but not limited thereto). In optional embodiments, the transceiver may include a receiver and / or a transmitter, which may be separate or integrated together. Optionally, the terms transceiver, transceiver unit, transceiver, transceiver circuit, interface circuit, interface, etc., can be used interchangeably; the terms transmitter, transmitting unit, transmitter, transmitting circuit, etc., can be used interchangeably; and the terms receiver, receiving unit, receiver, receiving circuit, etc., can be used interchangeably.

[0447] In some embodiments, the communication device 7100 further includes one or more memories 7102 for storing instructions. Optionally, all or part of the memories 7102 may be located outside the communication device 7100.

[0448] In some embodiments, a transceiver may include a receiver and a transmitter, which may be separate or integrated. Optionally, the terms transceiver, transceiver unit, transceiver, transceiver circuit, etc., may be used interchangeably; the terms transmitter, transmitting unit, transmitter, transmitting circuit, etc., may be used interchangeably; and the terms receiver, receiving unit, receiver, receiving circuit, etc., may be used interchangeably.

[0449] Optionally, the communication device 7100 further includes one or more interface circuits 7104, which are connected to the memory 7102. The interface circuits 7104 can be used to receive signals from the memory 7102 or other devices, and can be used to send signals to the memory 7102 or other devices. For example, the interface circuits 7104 can read instructions stored in the memory 7102 and send the instructions to the processor 7101.

[0450] The communication device 7100 described in the above embodiments may be a network device or a terminal, but the scope of the communication device 7100 described in this disclosure is not limited thereto, and the structure of the communication device 7100 may not be limited by FIG. 7a. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be: (1) an independent integrated circuit IC, or chip, or chip system or subsystem; (2) a collection of one or more ICs, optionally, the IC collection may also include storage components for storing data and programs; (3) an ASIC, such as a modem; (4) a module that can be embedded in other devices; (5) a receiver, terminal device, smart terminal device, cellular phone, wireless device, handheld device, mobile unit, vehicle device, network device, cloud device, artificial intelligence device, etc.; (6) others, etc.

[0451] Figure 7b is a schematic diagram of the structure of the chip 7200 proposed in an embodiment of this disclosure. For cases where the communication device 7100 can be a chip or a chip system, please refer to the schematic diagram of the chip 7200 shown in Figure 7b, but it is not limited thereto.

[0452] Chip 7200 includes one or more processors 7201. Chip 7200 is used to perform any of the above methods.

[0453] In some embodiments, chip 7200 further includes one or more interface circuits 7202. Optionally, terms such as interface circuit, interface, and transceiver pin can be used interchangeably. In some embodiments, chip 7200 further includes one or more memories 7203 for storing data. Optionally, all or part of the memories 7203 may be located outside of chip 7200. Optionally, interface circuit 7202 is connected to memory 7203, and interface circuit 7202 can be used to receive data from memory 7203 or other devices, and interface circuit 7202 can be used to send data to memory 7203 or other devices. For example, interface circuit 7202 can read data stored in memory 7203 and send the data to processor 7201.

[0454] In some embodiments, the interface circuit 7202 performs at least one of the communication steps such as sending and / or receiving in the above-described method (e.g., at least one of step S202 shown in FIG. 2a, and steps S211, S212, and S213 shown in FIG. 2b, but not limited thereto). The interface circuit 7202 performing the communication steps such as sending and / or receiving in the above-described method refers, for example, to the interface circuit 7202 performing data interaction between the processor 7201, the chip 7200, the memory 7203, or the transceiver device. In some embodiments, the processor 7201 performs at least one of other steps (e.g., at least one of step S201 shown in FIG. 2a, and steps S210 and S214 shown in FIG. 2b, but not limited thereto).

[0455] This disclosure also provides a program product that, when executed by the communication device 7100, causes the communication device 7100 to perform any of the above methods. Optionally, the program product is a computer program product.

[0456] This disclosure also proposes a computer program that, when run on a computer, causes the computer to perform any of the above methods.

[0457] The technical solutions described in the embodiments of this disclosure can be combined arbitrarily without conflict.

[0458] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0459] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A communication method, characterized in that, The method is performed by a first device, and the method includes: Send first information related to sensing and measurement to the second device; The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or, The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

2. The method according to claim 1, characterized in that, The method further includes: The capability information of the first device is sent to the second device. The capability information is used to indicate that the first device has the ability to measure a first angle, which is the angle of rotation of the first device relative to the global coordinate system.

3. The method according to claim 2, characterized in that, The method further includes: The first device receives second information sent by the second device, the second information being used to indicate whether the first device should report the auxiliary information.

4. The method according to any one of claims 1-3, characterized in that, The method further includes: Obtain the auxiliary information.

5. The method according to claim 4, characterized in that, The acquisition of the auxiliary information includes: The auxiliary information is obtained based on measurements taken by the gyroscope of the first device; or... The auxiliary information is calculated based on the angular offset of the reference path, which is one of the multipaths of the reference signal used for sensing measurement from the second device to the first device.

6. The method according to any one of claims 1-5, characterized in that, The auxiliary information includes angle information, which is used to determine the rotation state of the first device.

7. The method according to claim 6, characterized in that, The angle information includes one of the following: The rotational relationship information between the local coordinate system and the global coordinate system used by the first device; The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

8. The method according to claim 7, characterized in that, The rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system; Wherein, α represents the offset angle of the global coordinate system about the z-axis; β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, which is obtained by rotating the global coordinate system about the z-axis by α. γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, which is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β. The local coordinate system is obtained by rotating the second local coordinate system by γ around its x-axis.

9. The method according to claim 7, characterized in that, The angle offset information includes: the horizontal angle offset θ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system, and the vertical angle offset. The local coordinate system is a third local coordinate system whose x-axis is rotated about the y-axis of that third local coordinate system. Received; The third local coordinate system is obtained by horizontally rotating the x-axis of the global coordinate system by θ.

10. The method according to claim 2, characterized in that, The method further includes: Based on the first angle, the first sensing measurement result is compensated for rotational offset to obtain the second sensing measurement result.

11. A communication method, characterized in that, The method is performed by a second device, and the method includes: Receive first information related to sensing and measurement sent by the first device; The first information includes: a first sensing measurement result and auxiliary information, wherein the auxiliary information is used to compensate for the first sensing measurement result; or, The first information includes the second perception measurement result, which is obtained after preprocessing the first perception measurement result.

12. The method according to claim 11, characterized in that, The method further includes: The system receives capability information from the first device, which indicates that the first device has the capability to measure a first angle, where the first angle is the angle at which the first device rotates relative to the global coordinate system.

13. The method according to claim 12, characterized in that, The method further includes: Send a second message to the first device, the second message being used to instruct the first device whether to report the auxiliary information.

14. The method according to any one of claims 11-13, characterized in that, The auxiliary information includes angle information, which is used to determine the rotation state of the first device.

15. The method according to claim 14, characterized in that, The angle information includes one of the following: The rotational relationship information between the local coordinate system and the global coordinate system used by the first device; The first device uses the angular offset information of the local coordinate system relative to the global coordinate system.

16. The method according to claim 15, characterized in that, The rotation relationship information includes: the rotation offset angle {α,β,γ} of the local coordinate system relative to the global coordinate system; Wherein, α represents the offset angle of the global coordinate system about the z-axis; β represents the offset angle of the first local coordinate system rotated about the y-axis of the first local coordinate system, which is obtained by rotating the global coordinate system about the z-axis by α. γ represents the offset angle of the second local coordinate system rotated about the x-axis of the second local coordinate system, which is obtained by rotating the first local coordinate system about the y-axis of the first local coordinate system by β. The local coordinate system is obtained by rotating the second local coordinate system by γ around its x-axis.

17. The method according to claim 15, characterized in that, The angle offset information includes: the horizontal angle offset θ of the x-axis in the local coordinate system relative to the x-axis in the global coordinate system, and the vertical angle offset. The local coordinate system is a third local coordinate system whose x-axis is rotated about the y-axis of that third local coordinate system. Received; The third local coordinate system is obtained by horizontally rotating the x-axis of the global coordinate system by θ.

18. The method according to any one of claims 12-17, characterized in that, The method further includes: Based on the auxiliary information, the first angle is determined; Based on the first angle, rotational offset compensation is applied to the first sensing measurement result.

19. The method according to claim 12, characterized in that, The second sensing measurement result is obtained by the first device performing rotational offset compensation on the first sensing measurement result based on the first angle.

20. A communication device, characterized in that, The communication device is used to perform the communication method according to any one of claims 1-10, or any one of claims 11-19.

21. A communication system, characterized in that, include: A terminal and a network device, wherein the terminal is used to implement the method of any one of claims 1 to 10, and the network device is used to implement the method of any one of claims 11 to 19.

22. A computer storage medium, characterized in that, The computer-readable storage medium stores executable instructions that are loaded and executed by a processor to implement the method as claimed in any one of claims 1 to 10, or any one of claims 11 to 19.

23. A program product comprising at least one of a program and instructions, characterized in that, When at least one of the programs or instructions is executed by the communication device, it implements the steps of the method according to any one of claims 1-10 or 11-19.

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