The invention discloses a low-altitude target sensing method, a low-altitude target sensing device and a low-altitude target
sensing system based on multi-
base station cooperation. The low-altitude target sensing method comprises the following steps: performing down-conversion,
cyclic prefix removal, discrete time sampling and DFT on a received
time domain OFDM
signal to obtain a
frequency domain discrete
signal observed quantity;
smoothing the
frequency domain discrete
signal observed quantity into a plurality of sub-signal observed quantities by constructing a reconstruction
rotation matrix and a
reflection coefficient matrix; obtaining a parameter
estimation result by using a four-dimensional joint ESPRIT
algorithm; clustering the positioning
estimation result of each ISAC
base station by setting a threshold value; and based on the positioning
estimation result of each ISAC
base station, analyzing to obtain the real movement speed of the low-altitude target. Aiming at a one-transmitting-multiple-receiving multi-base-
station cooperative sensing low-altitude target scene, multiple receiving stations cooperatively fuse the
sensing data of each
station, perform cooperative positioning on a low-altitude target, analyze the real three-dimensional speed of the target, fully utilize the observation information of each base
station, and combine the good anti-interference performance and multi-carrier characteristics of OFDM signals, so that the multi-base-station cooperative sensing low-altitude target positioning method is realized. And multi-parameter joint estimation of the low-altitude target is realized.