WO2023280146A1 - 传输方法、装置、通信设备及存储介质 - Google Patents

传输方法、装置、通信设备及存储介质 Download PDF

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Publication number
WO2023280146A1
WO2023280146A1 PCT/CN2022/103828 CN2022103828W WO2023280146A1 WO 2023280146 A1 WO2023280146 A1 WO 2023280146A1 CN 2022103828 W CN2022103828 W CN 2022103828W WO 2023280146 A1 WO2023280146 A1 WO 2023280146A1
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communication
signal
target
length
index
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French (fr)
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袁璞
姜大洁
姚健
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Vivo Mobile Communication Co Ltd
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Vivo Mobile Communication Co Ltd
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Priority to EP22836897.3A priority Critical patent/EP4369820A4/en
Publication of WO2023280146A1 publication Critical patent/WO2023280146A1/zh
Priority to US18/406,295 priority patent/US20250004119A1/en
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W72/00—Local resource management
    • H04W72/04—Wireless resource allocation
    • H04W72/044—Wireless resource allocation based on the type of the allocated resource
    • H04W72/0446—Resources in time domain, e.g. slots or frames
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/003—Transmission of data between radar, sonar or lidar systems and remote stations
    • G01S7/006—Transmission of data between radar, sonar or lidar systems and remote stations using shared front-end circuitry, e.g. antennas
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06—Systems determining position data of a target
    • G01S13/08—Systems for measuring distance only
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0232—Avoidance by frequency multiplex
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/003—Arrangements for allocating sub-channels of the transmission path
    • H04L5/0048—Allocation of pilot signals, i.e. of signals known to the receiver
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L5/00—Arrangements affording multiple use of the transmission path
    • H04L5/14—Two-way operation using the same type of signal, i.e. duplex
    • H04L5/16—Half-duplex systems; Simplex/duplex switching; Transmission of break signals non-automatically inverting the direction of transmission
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/023—Interference mitigation, e.g. reducing or avoiding non-intentional interference with other HF-transmitters, base station transmitters for mobile communication or other radar systems, e.g. using electro-magnetic interference [EMI] reduction techniques
    • G01S7/0234—Avoidance by code multiplex

Definitions

  • the present application belongs to the technical field of communication, and in particular relates to a transmission method, device, communication equipment and storage medium.
  • Future communication devices will integrate the dual functions of communication and perception through a protocol stack based on Integrated sensing and communication (ISAC) technology, and realize hardware sharing, spectrum sharing, and protocol interoperability between communication and sensing signals, thereby The integrated design of communication and perception functions has been realized.
  • IIC Integrated sensing and communication
  • Embodiments of the present application provide a transmission method, device, communication device, and storage medium, which can solve the problems of interference between communication signals and sensing signals and high resource overhead.
  • a transmission method includes:
  • the communication device determines a communication frame for transmitting a target signal, the communication frame comprising: a first part for transmitting a target signal, and a second part for receiving a sensing signal, the sensing signal being an echo of the target signal Signal;
  • the communication device transmits the target signal in the first part of the communication frame
  • the communication device receives the sensing signal during a second portion of the communication frame.
  • a transmission device comprising:
  • the first determining module is used to transmit a communication frame of the target signal, the communication frame including: a first part used to transmit the target signal, and a second part used to receive the sensing signal, the sensing signal being the target signal echo signal;
  • a first transmission module configured to transmit the target signal in the first part of the communication frame
  • the first receiving module is configured to receive the sensing signal in the second part of the communication frame.
  • a communication device in a third aspect, includes a processor, a memory, and a program or instruction stored in the memory and operable on the processor, and the program or instruction is executed by the processor When realizing the steps of the method as described in the first aspect.
  • a communication device including a processor and a communication interface, wherein the processor is used to transmit a communication frame of a target signal, and the communication frame includes: a first part used to transmit a target signal, and a communication frame used to transmit a target signal receiving a second part of the sensing signal, the sensing signal being an echo signal of the target signal; the communication interface is used to transmit the target signal in the first part of the communication frame; in the communication frame In the second part, the sensing signal is received.
  • a readable storage medium is provided, and a program or an instruction is stored on the readable storage medium, and when the program or instruction is executed by a processor, the steps of the method according to the first aspect are implemented.
  • a sixth aspect provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the method as described in the first aspect A step of.
  • a computer program/program product is provided, the computer program/program product is stored in a non-transitory storage medium, and the program/program product is executed by at least one processor to implement the program described in the first aspect The steps of the method.
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • FIG. 1 shows a structural diagram of a wireless communication system to which an embodiment of the present application is applicable
  • FIG. 2 is a schematic diagram of mutual conversion between a delay Doppler plane and a time-frequency plane provided by an embodiment of the present application;
  • FIG. 3 is a schematic diagram of channel response relationships under different planes provided by an embodiment of the present application.
  • Fig. 4 is a schematic diagram of the processing flow diagram of the transceiver end of the OTFS multi-carrier system provided by the embodiment of the present application;
  • FIG. 5 is a schematic diagram of pilot mapping in the delay Doppler domain provided by an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the mapping of multi-port reference signals in the delay Doppler domain provided by the embodiment of the present application.
  • FIG. 7 is a schematic diagram of the detection of the pilot sequence provided by the embodiment of the present application.
  • FIG. 8 is a schematic flowchart of a transmission method provided by an embodiment of the present application.
  • FIG. 9 is a schematic diagram of the influence of the MN on the received SNR of the sensing signal provided by the embodiment of the present application.
  • FIG. 10 is a schematic diagram of the influence of the MN on the target detection performance provided by the embodiment of the present application.
  • Figure 11 is a flow chart of ISAC signal processing based on OTFS modulation
  • Fig. 12 is a schematic diagram of the symbol mapping provided by the embodiment of the present application.
  • Figure 13 is one of the schematic diagrams of the location of the second part provided by the embodiment of the present application.
  • FIG. 14 is a schematic diagram of the framing form of the beam initialization stage provided by the embodiment of the present application.
  • Fig. 15 is a schematic diagram of ISB and ISB set provided by the embodiment of the present application.
  • FIG. 16 is a schematic diagram of a framing form after beam determination provided by an embodiment of the present application.
  • Figure 17 is the second schematic diagram of the position of the second part provided by the embodiment of the present application.
  • Fig. 18 is a schematic structural diagram of a transmission device provided by an embodiment of the present application.
  • FIG. 19 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • FIG. 20 is a schematic diagram of a hardware structure of a terminal implementing an embodiment of the present application.
  • FIG. 21 is a schematic diagram of a hardware structure of a network side device implementing an embodiment of the present application.
  • first, second and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific sequence or sequence. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the application are capable of operation in sequences other than those illustrated or described herein and that "first" and “second” distinguish objects. It is usually one category, and the number of objects is not limited. For example, there may be one or more first objects.
  • “and/or” in the description and claims means at least one of the connected objects, and the character “/” generally means that the related objects are an "or” relationship.
  • LTE Long Term Evolution
  • LTE-Advanced LTE-Advanced
  • LTE-A Long Term Evolution-Advanced
  • CDMA Code Division Multiple Access
  • TDMA Time Division Multiple Access
  • FDMA Frequency Division Multiple Access
  • OFDMA Orthogonal Frequency Division Multiple Access
  • SC-FDMA Single-carrier Frequency-Division Multiple Access
  • system and “network” in the embodiments of the present application are often used interchangeably, and the described technology can be used for the above-mentioned system and radio technology, and can also be used for other systems and radio technologies.
  • the following description describes the New Radio (New Radio, NR) system for example purposes, and uses NR terminology in most of the following descriptions, but these techniques can also be applied to applications other than NR system applications, such as the 6th Generation (6th Generation , 6G) communication system.
  • 6th Generation 6th Generation
  • FIG. 1 shows a structural diagram of a wireless communication system to which this embodiment of the present application is applicable.
  • the wireless communication system includes a terminal 11 and a network side device 12 .
  • the terminal 11 can also be called a terminal device or a user terminal (User Equipment, UE), and the terminal 11 can be a mobile phone, a tablet computer (Tablet Personal Computer), a laptop computer (Laptop Computer) or a notebook computer, a personal digital Assistant (Personal Digital Assistant, PDA), handheld computer, netbook, ultra-mobile personal computer (ultra-mobile personal computer, UMPC), mobile internet device (Mobile Internet Device, MID), augmented reality (augmented reality, AR)/virtual reality (virtual reality, VR) equipment, robots, wearable devices (Wearable Device), vehicle-mounted equipment (VUE), pedestrian terminal (PUE), smart home (home equipment with wireless communication functions, such as refrigerators, TVs, washing machines or furniture etc.) and other terminal-side devices, wearable devices include: smart watches, smart bracelets, smart headphones
  • the network side device 12 may be a base station or a core network, where a base station may be called a node B, an evolved node B, an access point, a base transceiver station (Base Transceiver Station, BTS), a radio base station, a radio transceiver, a basic service Basic Service Set (BSS), Extended Service Set (ESS), Node B, Evolved Node B (eNB), Home Node B, Home Evolved Node B, WLAN access point, WiFi node, transmission Receiving point (Transmitting Receiving Point, TRP) or some other suitable term in the field, as long as the same technical effect is achieved, the base station is not limited to specific technical terms. It should be noted that in the embodiment of this application, only The base station in the NR system is taken as an example, but the specific type of the base station is not limited.
  • the delay and Doppler characteristics of the channel are essentially determined by the multipath channel.
  • Signals arriving at the receiver through different paths have different arrival times due to differences in propagation distances. For example, two echoes s 1 and s 2 arrive at the receiver through distances d 1 and d 2 respectively, then the time difference between them arriving at the receiver is c is the speed of light. Due to this time difference between echoes s1 and s2 , their incoherent addition at the receiver side causes the observed signal amplitude to jitter, i.e. the fading effect. Similarly, the Doppler spread of a multipath channel is also caused by multipath effects.
  • the Doppler effect is due to the relative speed at the two ends of the transceiver, and the signals arriving at the receiver through different paths have different angles of incidence relative to the antenna normal, which causes the difference in relative speed, which in turn causes multiple signals on different paths.
  • the Puler shift is different. Assume that the original frequency of the signal is f 0 , the relative velocity of the transmitting and receiving end is ⁇ v, and the angle between the signal and the normal incidence of the antenna of the receiving end is ⁇ . Then there are: Obviously, when the two echoes s 1 and s 2 arrive at the receiving antenna via different paths and have different incident angles ⁇ 1 and ⁇ 2 , the obtained Doppler frequency shifts ⁇ f 1 and ⁇ f 2 are also different.
  • the signal seen by the receiver is the superposition of component signals with different delays and Doppler from different paths, and the whole is reflected as a received signal with fading and frequency shift relative to the original signal.
  • Delay-Doppler analysis of the channel is helpful to collect the delay-Doppler information of each path, so as to reflect the delay-Doppler response of the channel.
  • Orthogonal Time Frequency Orthogonal Time Frequency modulation
  • This technology logically maps the information in a data packet with a size of M ⁇ N, such as QAM (Quadrature Amplitude Modulation) symbols, to an M ⁇ N grid point on the two-dimensional delay Doppler plane, that is, each The pulses within the grid modulate one QAM symbol in the data packet.
  • QAM Quadrature Amplitude Modulation
  • the data set on the M ⁇ N delay-Doppler domain plane can be transformed into the N ⁇ M time-frequency domain plane, this transformation is called in mathematics Inverse Sympletic Fourier Transform (ISSFT).
  • ISSFT Inverse Sympletic Fourier Transform
  • the transformation from the time-frequency domain to the delay-Doppler domain is called the Sympletic Fourier Transform (SFFT).
  • SFFT Sympletic Fourier Transform
  • Fig. 2 is the synoptic diagram of the mutual conversion of delay Doppler plane and time-frequency plane that the embodiment of the present application provides; As shown in Fig. Invariant two-dimensional delay-Doppler domain channel, thus directly reflecting the channel delay-Doppler response characteristics caused by the geometric characteristics of the relative positions of the reflectors between the transceivers in the wireless link. This has three advantages:
  • the delay-Doppler domain analysis eliminates the difficulty of tracking the time-varying fading characteristics of the traditional time-frequency domain analysis, and instead analyzes the time-invariant delay-Doppler channel to extract all the diversity characteristics of the time-frequency domain channel. Furthermore, the time-frequency domain channel is calculated through the conversion relationship between the delay Doppler domain and the time-frequency domain. In the actual system, the delay path and Doppler frequency shift of the channel are much smaller than the time domain and frequency domain response of the channel, and the channel represented by the delay Doppler domain is relatively simple. Therefore, using OTFS technology to analyze in the delayed Doppler domain can make the packaging of the reference signal more compact and flexible, especially conducive to supporting large antenna arrays in massive MIMO systems.
  • the core of OTFS modulation is the QAM symbol defined on the delayed Doppler plane, which is transformed into the time-frequency domain for transmission, and then the receiving end returns to the delayed Doppler domain for processing. Therefore, a wireless channel response analysis method in the delay-Doppler domain can be introduced.
  • Fig. 3 is a schematic diagram of the channel response relationship under different planes provided by the embodiment of the present application. As shown in Fig. 3, it embodies the relationship between the expressions of the channel response under different planes when the signal passes through a linear time-varying wireless channel;
  • Equation (6) it can be seen that the analysis of the delay-Doppler domain in the OTFS system can be realized by relying on the communication framework established in the time-frequency domain and adding additional signal processing at the transceiver end. Moreover, the additional signal processing is only composed of Fourier transform, which can be completely implemented by existing hardware without adding new modules.
  • OTFS technology can be implemented as a pre- and post-processing module of a filtered Orthogonal frequency division multiplexing (OFDM) system, so it is compatible with existing communication technology architectures such as NR technology architectures.
  • OFDM Orthogonal frequency division multiplexing
  • the implementation of the sending end is as follows: the QAM symbols containing the information to be sent are carried by the waveform of the delayed Doppler plane, and undergo a two-dimensional Inverse Sympletic Finite Fourier Transform (ISFFT). ), converted to the waveform of the time-frequency domain plane in the traditional multi-carrier system, and then through the symbol-level one-dimensional inverse fast Fourier transform (Inverse Fast Fourier Transform, IFFT) and serial-to-parallel conversion, it becomes the time-domain sampling point transmission go out.
  • ISFFT Inverse Sympletic Finite Fourier Transform
  • FIG. 4 is a schematic diagram of the processing flow of the receiving end of the OTFS multi-carrier system provided by the embodiment of the present application.
  • Parallel conversion and symbol-level one-dimensional fast Fourier transform (Fast Fourier Transform, FFT)
  • FFT Fast Fourier Transform
  • SFFT two-dimensional sympletic finite Fourier transform
  • OTFS modulation transforms the time-varying fading channel in the time-frequency domain between transceivers into a deterministic non-fading channel in the delay-Doppler domain.
  • each symbol in a set of information symbols transmitted at a time experiences the same static channel response and SNR.
  • the OTFS system analyzes the reflectors in the physical channel through the delayed Doppler image, and uses the receive equalizer to coherently combine the energy from different reflection paths, which actually provides a static channel response without fading. Utilizing the above-mentioned static channel characteristics, the OTFS system does not need to introduce closed-loop channel adaptation to deal with fast-changing channels like the OFDM system, thus improving system robustness and reducing the complexity of system design.
  • the channel in the OTFS system can be expressed in a very compact form.
  • the channel estimation overhead of OTFS system is less and more accurate.
  • the channel estimation in the OTFS system can adopt a brand-new method.
  • the transmitter maps the pilot pulse to the delayed Doppler domain, and the receiver uses the delayed Doppler image analysis of the pilot to estimate the channel response h(v, ⁇ ) in the delayed Doppler domain, and then according to the figure
  • the relationship in 3 is used to obtain the channel response expression in the time-frequency domain, which is convenient for signal analysis and processing.
  • FIG. 5 is a schematic diagram of pilot mapping in the delayed Doppler domain provided by the embodiment of the present application; as shown in FIG. l p , k p ) single-point pilot (a small square labeled 1), surrounded by protection symbols with an area of (2l ⁇ +1)(4k ⁇ +1)-1 (no shaded part), And MN-(2l ⁇ +1)(4k ⁇ +1) data part (area other than the protection symbol).
  • there are two offset peaks (shaded part of the oblique line) in the guard band of the delayed Doppler domain grid point, which means that there are two secondary channels with different delayed Doppler in addition to the main path. path.
  • the channel delay Doppler domain expression is obtained, that is, h( ⁇ , ⁇ ).
  • the area of the guard symbols should satisfy the following conditions:
  • ⁇ max and v max are the maximum time delay and maximum Doppler frequency shift of all paths of the channel respectively.
  • Fig. 5 corresponds to a single-port scenario, that is, only one set of reference signals needs to be sent.
  • multiple antenna ports can be used to transmit multi-stream data at the same time, so as to make full use of the spatial freedom of the antennas and achieve the purpose of obtaining space diversity gain or improving system throughput.
  • Figure 6 is a schematic diagram of the mapping of multi-port reference signals in the delay-Doppler domain provided by the embodiment of the present application.
  • multiple antenna ports exist multiple pilots need to be mapped to the delay-Doppler plane, so it will result in The pilot mapping method shown in 6.
  • 24 antenna ports correspond to 24 pilot signals.
  • Each pilot signal adopts the form shown in FIG. 5 , that is, the pattern of a central point impulse signal plus guard symbols on both sides.
  • Fig. 7 is a schematic diagram of the detection of the pilot sequence provided by the embodiment of the present application.
  • the pilot in the delayed Doppler domain can also be based on a specific method
  • the generated pseudo-random (persudo noise, PN) sequence constructs the pilot sequence, and maps it on the two-dimensional resource grid on the delay Doppler plane according to specific rules, that is, the shaded part of the left figure in Figure 7.
  • the shaded part in the left figure in FIG. 7 may be referred to as a pilot resource block.
  • the unshaded area next to the pilot resource block is a pilot guard band, consisting of blank resource elements that do not transmit any signal/data.
  • the maximum delay and maximum Doppler correlation of the selected channel of the guard band width The pilot sequences of different ports can select pilots with low correlation, superimpose and map on the same resource, and then detect the pilot sequences through a specific algorithm at the receiver end, so as to distinguish the pilots corresponding to different antenna ports. Since complete resource multiplexing is performed at the transmitting end, pilot overhead in a multi-antenna port system can be greatly reduced.
  • the example in Figure 7 presents a sequence pilot based detection approach.
  • the received pilot signal block is shifted to the shaded part of the figure in the delay Doppler as a whole (that is, the square labeled 2 and the The 8 squares adjacent to this square, and the square labeled 3 and the 8 squares adjacent to this square) the square positions.
  • the receiving end uses the known transmission pilot (the shaded part of the horizontal line in the figure, that is, the block labeled 1 and the 8 blocks adjacent to this block) to perform the sliding window detection operation in the delayed Doppler domain.
  • the sliding window detection operation result M(R,S)[ ⁇ , ⁇ ] has the following properties when N P ⁇ + ⁇ (the probability of the following formula being true approaches 1):
  • the detection opportunity calculates an energy peak, which is presented in the delayed Doppler domain
  • the ( ⁇ 0 , ⁇ 0 ) position of that is, the positions of the small squares marked 2 and 3 in the figure.
  • the receiver can obtain the correct pilot position according to the value of M(R,S), that is, obtain channel delay and Doppler information. At the same time, the amplitude value of the channel is obtained by the detection operation value is given.
  • the base sequence can adopt ZC sequence or PN sequence.
  • the PN sequence includes the following sequences: M sequence, Gold sequence, Kasami sequence, Barker sequence, etc.
  • the base sequence is modulated to generate a pilot sequence.
  • an orthogonal cover code (Orthogonal cover code, OCC) can also be used for the pilot sequence to further improve the orthogonality.
  • Future communication equipment will integrate the dual functions of communication and perception through the protocol stack based on ISAC technology, and realize hardware sharing, spectrum sharing, and protocol interoperability between communication and sensing signals, thereby realizing the integrated design of communication and sensing functions .
  • a core feature of future ISAC devices is the ability to multiplex waveforms between communication and sensing signals. Through the waveform defined by the protocol, information transmission and target detection are carried out in the spectrum specified by the protocol. Furthermore, through the shared protocol stack, the channel and spatial information acquired by the communication system and the perception system can be interoperable, so as to realize the mutual assistance between communication and perception, and further optimize the overall performance.
  • the function of the communication system is to transmit information, so the optimization goal of the communication system is to approach the Shannon channel capacity described in information theory;
  • the function of the perception system is target detection, such as a typical radar system, the optimization goal is the target parameters (distance, speed , Doppler, etc.) to estimate the optimal lower bound of the variance, that is, the Cramer-Rao bound (CRB) of the ambiguity function.
  • CRB Cramer-Rao bound
  • waveform design is the key point.
  • the key to integrated waveform design is to minimize the interference between communication signals and sensing signals, meet the requirements of communication and sensing functions, and improve spectrum efficiency while ensuring system performance.
  • the integrated waveform can be multiplexed, including time-division multiplexing, frequency-division multiplexing, and space-division multiplexing. Whether it is mainly the radar detection function or not, look for a balance point in performance.
  • Common fusion waveforms are mainly divided into single-carrier waveforms and multi-carrier waveforms: single-carrier waveform design is usually combined with spread spectrum techniques, such as Direct-Sequence Spread Spectrum (DSSS), Chirp Spread Spectrum (Chirp Spread Spectrum) , CSS); the typical multi-carrier integrated waveform is the Orthogonal Frequency Division Multiplexing (OFDM) waveform, which has certain advantages over the single-carrier spread spectrum integrated waveform, such as higher spectral efficiency, Flexible bandwidth resource allocation, no distance-Doppler coupling effect, etc., easy to integrate with communication systems such as 5G communication systems.
  • DSSS Direct-Sequence Spread Spectrum
  • CSS Chirp Spread Spectrum
  • OFDM Orthogonal Frequency Division Multiplexing
  • the traditional multi-carrier integrated waveform is mainly based on OFDM waveform, and its advantages mainly lie in simple random signal generation, full digital processing, and extremely high time-frequency processing gain.
  • OFDM radar since the high precision of OFDM radar depends on the joint detection of multiple OFDM symbols, and the cyclic prefix (Cyclic prefix, CP) of OFDM symbols does not participate in the measurement, it will cause certain overhead;
  • CP Cyclic prefix
  • the OTFS waveform as a sensing waveform overcomes the two defects of the aforementioned OFDM waveform.
  • M corresponds to the number of subcarriers
  • N corresponds to the number of symbols.
  • OTFS signals only need to add a cyclic prefix (CP) in front of N symbols to avoid inter-slot interference; while traditional OFDM signals need to add a CP in front of each symbol to avoid inter-symbol interference, and a total of N CPs are required. Therefore, the overhead of OTFS is significantly reduced, which means that more energy can be used for the perception signal itself, thereby improving the detection and tracking capabilities of targets.
  • OTFS radar due to the natural tolerance of OTFS signals to high Doppler, OTFS radar has a good detection ability for large Doppler frequency shifts in high-speed scenarios, and its performance is much better than that of OFDM radar.
  • OFDM radar has traditionally shown good performance in low Doppler scenarios.
  • OTFS signals are usually generated using random symbol sets in the delay-Doppler domain. The transmission power of each symbol in the random symbol set is equal, and the use of the random symbol set can avoid being identified and intercepted, and at the same time, since the sending end is known, it will not hinder the detection of the echo.
  • both data and pilot/reference signals are intended to convey certain information, so random symbol sets are not sent.
  • the pilot frequency is mainly used to obtain channel state information (Channel state information, CSI) and other information, and usually requires a higher received signal to interference plus noise ratio (Signal to Interference plus Noise Ratio, SINR) to ensure Measurement reliability. Therefore, in a communication system, the transmission power of each symbol in the same frame may be different. It can be seen that there are mainly the following differences in the design of radar sensing signals and communication pilot signals:
  • the radar sensing signal requires sending as many samples as possible to increase the cumulative energy of the echo signal and ensure the accuracy of detection; the communication pilot signal requires reducing the number of sent samples as much as possible on the premise of ensuring the accuracy of CSI estimation , to reduce resource overhead.
  • the sending and receiving devices of the radar sensing signal are usually the same, and there is usually no special requirement for the design of the sending symbol set; the sending and receiving devices of the communication pilot signal are different, and the sending symbol set usually needs to be specially designed to ensure that the pilot detection performance.
  • the model usually used to describe the channel is the time-domain tap-delay (delay-tap) channel model, which essentially describes the transmission signal in a mathematical language after it is reflected by different reflectors in the environment and arrives through different paths. This physical process of the receiving device. At a specific moment, or the so-called delay tap, the received signal is essentially a delayed superimposed signal at the receiving side (at a specific moment) after the reflector acts on the transmitted signal and passes through multiple physical propagation paths.
  • the mathematical expression to describe this superposition effect is a multi-path channel model.
  • the discretized time-domain tap-delay channel model intuitively describes the principle of signal superposition:
  • p represents the number of paths
  • h p represents the complex gain of the p-th path
  • ⁇ p represents the time delay of the p-th path
  • v p represents the Doppler frequency shift of the p-th path. Therefore, when these key parameters of the channel are known, the time-domain channel matrix can be reconstructed, so as to perform symbol detection on the received signal by using the time-domain channel matrix.
  • channel delay and Doppler frequency shift can be regarded as the geometric position relationship (coordinate position) between communication nodes in the physical world, and the movement trend (movement direction angle, relative speed) in the signal Domain projections.
  • the coordinates of sending and receiving nodes N 1 and N 2 are (x 1 , y 1 ) and (x 2 , y 2 ).
  • One of the non-line-of-sight (NLoS) paths is determined by a reflection node N 3 located at (x 3 , y 3 ). Therefore, the propagation time difference of the two signal propagation paths, that is, the multipath delay ⁇ , can be calculated as:
  • the angle between the relative speed of the two relative to the X axis is:
  • the signals arriving at the receiver through different paths of the signal can be calculated according to the coordinates of N 1 , N 2 and N 3 .
  • the angles between the antenna panels of N 1 and N 2 relative to the X axis are ⁇ 1 and ⁇ 2 respectively, it is easy to know from the geometric relationship that N 1 to N 2
  • the incident angle of the direct signal is:
  • Future ISAC devices provide the possibility for the above-mentioned network topology-based channel prediction.
  • the ISAC device can use its own perception module to draw: i) the network topology (geometric position relationship of nodes) at the current moment, and ii) the movement trend of the network nodes at the current moment.
  • the ISAC device can update (predict) the network topology structure at the next moment by using the information in i) and ii).
  • ISAC can use the new geometric position relationship between nodes to calculate the key parameters of CSI in the future, so as to estimate the channel response information in the future according to the specific channel model.
  • Fig. 8 is a schematic flow chart of the transmission method provided by the embodiment of the present application. As shown in Fig. 8, the method includes the following steps:
  • Step 810 the communication device determines a communication frame for transmitting the target signal, the communication frame includes: a first part for transmitting the target signal, and a second part for receiving the sensing signal, the sensing signal being the target signal the echo signal;
  • Step 820 the communication device transmits the target signal in the first part of the communication frame
  • Step 830 the communication device receives the sensing signal in the second part of the communication frame.
  • the embodiments of the present application can further realize signal multiplexing of radar and communication systems, can further reduce overhead, and realize seamless connection between the two.
  • Performance-overhead joint optimization of perceptual communication signals For example, optimize the accuracy of perception based on the minimum measurement accuracy requirements for communication; or optimize the throughput of the communication system based on the performance lower bound of perception.
  • the selection of these optimized objective equations and constraints is related to actual business requirements (including perceived distance and accuracy requirements, signal power constraints, communication delay requirements, pilot overhead constraints, and cell/network spectrum efficiency indicators, etc.) , and the channel models of different scenarios are closely related.
  • the communication and sensing signals in the ISAC system can cooperate in specific scenarios to achieve a win-win situation in which sensing/communication assist each other.
  • the embodiment of the present application can propose a new frame structure of communication and perception fusion, embedding the sensing signal into the frame structure of the communication data according to certain rules, and after uniform modulation processing by the baseband, the transmission side ISAC TX(I- TX) to realize the integration of baseband and radio frequency at the sending side.
  • the same signal needs to be processed differently for different demands of perception and communication;
  • the full-duplex ISAC system relies on a set of dedicated RX antenna arrays for receiving sensing signals, hereinafter referred to as S-RX. Its biggest advantage is that S-RX can continuously detect echoes and measure information such as delay and Doppler without considering the time uncertainty of echo arrival faced by TX frame structure design.
  • S-RX can continuously detect echoes and measure information such as delay and Doppler without considering the time uncertainty of echo arrival faced by TX frame structure design.
  • I-TX and S-RX operate independently and at the same time, in order to avoid mutual interference, the requirements for their spatial separation are extremely high, which is difficult to achieve on miniaturized devices and is prone to serious self-interference problems.
  • the R-RX system dedicated to perception requires an additional set of baseband and radio frequency units for perception, which increases hardware costs. The continuous work of the perception system will also generate additional energy overhead.
  • the two-way propagation delay of the sensing signal is twice the propagation delay of the communication signal.
  • the perception channel has a LoS path, for an object 1 km away, its two-way propagation delay is about 6.67 ⁇ s, which is much smaller than the usually defined time slot size of 0.125-1 ms.
  • ISAC systems usually expect to receive the echo within a very short time after the sensing signal is sent. In other words, if you want to use all the sensing signal samples for detection, the ISAC system needs to send the sensing frame samples before receiving the echo, so as to switch the antenna radio frequency from TX to RX in time.
  • the required sampling interval is 0.0651ns, that is, the system sampling rate is 153.6MHz; if the number of sent samples is 512, the sampling rate requirement is 76.8MHz; if the number of sent samples is 256, the sampling rate is required to be 38.4MHz; both can be implemented in the communication system.
  • FIG. 9 is a schematic diagram of the influence of the MN on the received SNR of the sensing signal provided by the embodiment of the present application
  • FIG. 10 is a schematic diagram of the influence of the MN on the target detection performance provided by the embodiment of the present application; as shown in FIG. 9 and FIG.
  • the QAM-OFDM/OTFS sensing algorithm can give acceptable performance, but the accuracy is still low; when MN>256, the QAM-OFDM/OTFS sensing algorithm achieves a chirp ( LFM, linear frequency modulation) signal performance.
  • the communication device may be a terminal; its communication peer may be a network side device or another terminal;
  • the communication device may be a network side device, such as a base station; its communication counterpart may be a terminal;
  • the communication device may also be called an ISAC device;
  • the communication device is the sending side, and the sent target signal can be used as the communication signal and the sensing signal, wherein the sending side of the communication signal and the sensing signal can adopt a unified frame structure and share a set of baseband.
  • the received signals can be processed separately.
  • the receiving side of the communication signal may be the network node of the communication peer.
  • the receiving side of the sensing signal is the communication device, which measures the echo signal (the echo of the target signal reflected by the target object).
  • the target signal when used for communication, that is, as a communication signal, it may be a data signal and/or a pilot signal, or other communication-capable signals, etc., which are not limited in this embodiment of the present application.
  • the communication signal may be a pilot signal
  • the communication peer may be a network node of the communication peer, and the network node may perform channel estimation and symbol detection on the received signal to obtain information.
  • Figure 11 is a flow chart of ISAC signal processing based on OTFS modulation, as shown in Figure 11, which is the process flow of sending and receiving communication sensing signals based on OTFS;
  • the target signal of the solution in the embodiment of the present application is used as the sensing signal, and the sensing signal may not use a random data set, but directly use the time domain samples of the sent communication signal to perform sensing detection.
  • the mapping and detection methods of pilot frequency and data include, but are not limited to, the methods shown in FIG. 5 and FIG. 7 .
  • the communication device may first determine the communication frame used to transmit the target signal, and then transmit the target signal in the first part of the communication frame; after the communication peer receives the target signal, it may complete the communication process based on the target signal , such as performing communication processes such as channel estimation, the communication device can also receive the echo signal after the target signal is reflected by the target object, and then realize the perception of the target object.
  • I-RX perception receiving side
  • all samples in the current communication frame may be used for perception detection. Since the symbols in the delayed Doppler domain are transformed into the TF domain by ISFFT, they occupy all RE resources in a time unit (such as a frame). The time-domain signals generated by the symbol samples on these RBs can all be utilized for perceptual signal detection.
  • FIG. 12 is a schematic diagram of symbol mapping provided by the embodiment of the present application.
  • the embodiment of the present application can use an existing OTFS data frame as an ISAC signal.
  • the pilot signal as an example when the target signal is used as a communication signal
  • the target signal arrives at the C-RX it can be processed according to the upper half of the receiving side in Figure 11, and the pilot signal contained in it can be used in the delayed Doppler domain Channel estimation is performed followed by symbol detection.
  • the echo signal of the target signal arrives at the I-RX, it can be processed according to the lower part of the receiving side in Figure 11, and all echo signal time-domain samples are used for perception measurement. Therefore, for the ISAC target signal in the embodiment of the present application, it can actually be considered as all the time-domain samples in FIG. 12 or a subset thereof.
  • the embodiment of the present application proposes a frame structure that utilizes communication signals for perception. While completing conventional communication functions, it realizes the perception of target objects and saves the overhead of perception signals. At the same time, the effect of communication performance is taken into consideration.
  • An embodiment of the present application designs an ISAC system based on multi-carrier communication signals, which is especially suitable for an OTFS system.
  • communication and perception share the protocol stack, radio frequency, and spectrum, and work in half-duplex mode.
  • the target signal sent by the sending side is used by the perception system as a target detection and environment perception, and by the communication system as a signal to complete communication, such as a downlink channel measurement reference signal.
  • the communication system Through multiplexing of frame structure and pilot frequency, a compact ISAC frame structure is realized, which saves communication overhead.
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • the I-TX and the communication equipment need to immediately switch to the I-RX for echo detection.
  • the second part may be reserved as the interval Gap for listening to the echo signal.
  • the measurement interval can be determined when determining the communication frame used to transmit the target signal.
  • the second part is located behind the first part, and the sum of the lengths of the first part and the second part is a fixed value.
  • the length of the time unit composed of the first part and the second part may be a fixed value, for example, it may be fixed at 14 symbols or fixed at 24 symbols, which is not limited in this embodiment of the present application, and the time unit may be It is a fixed time unit, such as a subframe, which is not limited in this embodiment of the present application.
  • the fixed time unit may be called an ISAC signal subframe, an ISAC frame, or an ISAC subframe.
  • FIG. 13 is one of the schematic diagrams of the location of the second part provided by the embodiment of the present application. As shown in FIG. Parts are located in a fixed time unit, and the second part is used for near-field perception;
  • C in the figure can be regarded as a fixed time unit.
  • a fixed time unit length is 14 symbols
  • the first 10 symbols are the first part
  • the last 4 symbols are the second part, that is, the length corresponding to the Gap.
  • a fixed time unit The length of the first part and the length of the second part are examples, and are not intended to limit the embodiment of the present application.
  • the second part occupies part of the time domain resources of the ISAC frame, and the number of samples used for ISAC signal detection is limited by the length of the second part.
  • the length of the second part is the length of the minimum perception distance.
  • the length of the second part actually determines the number of samples of the received sensing signal, that is, determines the sensing performance: accuracy and sensing range.
  • sensing signal detection based on multi-carrier communication signals (such as OFDM and OTFS)
  • it is essentially to perform matched filtering on known echo signals, so in theory, only a section of known echo signals can be intercepted to detect this part, at the expense of Performance trades off for less resource usage.
  • it can be applied to the OTFS system, because the OTFS system design requires large resources for each frame, so even if only some samples are taken for sensory measurement, it is still sufficient to meet the sensory accuracy.
  • the fixed time unit ISAC subframe length is T f , wherein the time length of the first part I is T i , and the time length of the second part G used for echo reception is T g .
  • T f the time length of the first part I
  • T g the time length of the second part G used for echo reception
  • T f T i +T g ;
  • the ISAC device can set appropriate T g and T i through the known t 2d of the sensing target.
  • I-RX when When , I-RX can use all target signal samples for perception measurement, when When , I-RX can use some target signal samples to perform perception measurement.
  • the receiving side needs to know the position information of the communication frame and the length of the second part, so as to utilize the information contained in the communication data in the communication frame. Demodulate the part of the sample points (abandon the sample points of the second part of the interval).
  • T g t 2d
  • beams used in multiple consecutive communication frames are not all the same or not all the same.
  • a plurality of consecutive communication frames may be used to detect the first position of the target object.
  • the communication frame used to transmit the target signal when determining the communication frame used to transmit the target signal, if the sum of the lengths of the first part and the second part is a fixed value, it can be combined with the beamforming Beamforming scheme, wherein beamforming can be assumed
  • the propagation path of the transmitted signal Tx beamformed signal is the same as that of the reflected signal Reflected signal, and the direction is opposite.
  • beam initialization can be performed first; in the beam initialization phase, since the communication device needs to search for the target through a larger range of beam scanning because it does not perceive the position information of the target object, it can first use multiple adjacent communication frames Perform beam scanning based perception.
  • the beam resolution when the beam resolution is appropriate, if the echo is detected in the xth communication frame where the beam Beam x is located, it can indicate that there is a target object in the direction corresponding to the beam (which can be called a sensing target or a sensing target object ).
  • Figure 14 is a schematic diagram of the framing form of the beam initialization stage provided by the embodiment of the present application. As shown in Figure 14, multiple communication frames are sent sequentially, which can form a framing similar to I-subframe-burst (ISB)
  • ISB I-subframe-burst
  • the beam used by each communication frame in an ISB can be different, so as to achieve the purpose of traversing all the directions to be measured in one or several ISBs.
  • Figure 15 is a schematic diagram of the ISB and ISB set provided by the embodiment of the present application. As shown in Figure 15, several I-subframe-burst combinations can be used, that is, an ISB set can be further formed, and an ISB set in an ISB set The beam set can cover a sector range, and the entire ISB set covers a 360-degree spherical range.
  • the embodiment of the present application utilizes the ISAC subframe burst set.
  • the local maximum/exceeding the preset threshold matching filter peak is found in a certain ISB, it can be considered that the sensing target is located in the current ISB without detecting other ISBs.
  • the method also includes:
  • the communication device may use a directional beam to target the target object due to the position information of the perceived target object
  • the object is further tracked, and the directional beam is corrected at a certain interval according to the movement trend information of the target object obtained from the perception measurement.
  • Figure 16 is a schematic diagram of the framing form after the beam is determined provided by the embodiment of the present application.
  • the beam used in the tth communication frame is Beam(t), assuming that the displacement of the object changes in a short time is not large, and it is still within the coverage of Beam(t), then Beam(t) can be used for several subsequent communication frames.
  • Beam(t +1) the directional beam used for correction is Beam(t +1).
  • C in the figure can be regarded as a fixed time unit.
  • the second part is located behind the first part, and the length of the first part is a fixed value.
  • the length of the first part may be a fixed value, such as 14 symbols or 24 symbols, which is not limited in this embodiment of the present application.
  • the time unit may be a fixed time unit, such as One subframe, which is not limited in this embodiment of the present application.
  • the fixed time unit may be called an ISAC signal subframe, an ISAC frame, or an ISAC subframe.
  • FIG. 17 is the second schematic diagram of the location of the second part provided by the embodiment of the present application.
  • the location of the second part may be located in the subframe after the subframe of the target signal, that is, the ISAC signal, for far-field perception;
  • C in the figure can be regarded as a fixed time unit.
  • the target signal samples may utilize time domain resources in all frames to maximize perceptual performance.
  • the communication frame after the target signal needs to be additionally designed, and the frame format may need to be indicated.
  • the length of the second part is the length of the maximum sensing distance.
  • the length T i T f of the first part used to send the target signal. And at a common perception distance, T f >>t 2d , so the maximum number of samples that can be received is t 2d .
  • T f the length of a fixed time unit
  • T s the time length of a sample point
  • the communication device When the communication device has completed the initial measurement, there is prior information about the geometric position information of the sensing target, that is, the first position, that is, t 2d .
  • the communication device in the process of updating the network topology, can set appropriate T g and T i through the known t 2d of the sensing target.
  • the I-RX can only use part of the target signal samples to perform perception measurement.
  • the method also includes at least one of the following:
  • the communication device indicates the position of the communication frame to the communication peer
  • the communication device indicates the length of the second part to the communication peer.
  • the receiving side that is, the communication peer, needs to know the position information of the communication frame and the length of the second part, so as to use the part of the sample points that contain communication data in the communication frame for demodulation (discarding the second part of the interval). sample point).
  • the indicating the position of the communication frame to the communication peer includes at least one of:
  • the position of the communication frame is indicated based on the first index, the first index corresponds to the position of the communication frame in the position index table, and the position index table includes at least one second index, and different indexes correspond to different position, the first index is one of the at least one second index.
  • the indicating the position of the communication frame to the communication peer includes at least one of:
  • the location of the fixed time unit is indicated based on a first index corresponding to the location of the fixed time unit in a location index table, the location index table including at least one second index, different The indices correspond to different positions, and the first index is one of the at least one second index.
  • it may further indicate that the sum of the lengths of the first part and the second part of the communication peer is a fixed value or indicate that the length of the first part of the communication peer is a fixed value;
  • the starting position of a communication frame or a fixed time unit may be indicated based on the first cycle
  • the start position of the communication frame or the fixed time unit may be indicated based on the first cycle
  • the first period may be preset or stipulated by a protocol or be a fixed value.
  • the position of the communication frame or the fixed time unit may be indicated based on the first signal, such as indicating/refreshing the position of the communication frame or the fixed time unit through physical resource control (Radio resource control, RRC), such as indicating the bitmap bitmap to realize the Complete indication of communication frames or fixed time units;
  • RRC Radio resource control
  • Semi-persistent indication that is, the position of the communication frame or the fixed time unit may be updated based on the first signal when the position of the communication frame or the fixed time unit changes.
  • c. Indicating the position of a communication frame or a fixed time unit based on a first index corresponding to the position of the communication frame or a fixed time unit in a position index table, the position index table comprising at least one A second index, where different indexes correspond to different positions, and the first index is one of the at least one second index;
  • a group of position index tables of communication frames can be configured, triggered by an indication signal and indicating the first index corresponding to the communication frame;
  • the positions in the position index table may be in the form of a bitmap, or may be the starting position and/or the ending position of the communication frame.
  • the indicating the length of the second part to the communication peer includes at least one of the following:
  • the time length index table including at least one fourth index, different The fourth index corresponds to a different length, and the third index is one of the at least one fourth index;
  • the following indication schemes may be available:
  • the communication frame can also be regarded as a time domain sample contained in a mini slot, the length of the mini slot is fixedly configured as 7 symbols, and the indication method can also be included in the downlink control information (DCI) Instructions.
  • DCI downlink control information
  • the determining the communication frame used to transmit the target signal further includes:
  • the sensing signal detection in this embodiment of the present application may adopt a matched filtering method.
  • I-RX can only use part of the ISAC signal for detection; and due to the uncertainty of t 2d , it is difficult for I-RX to judge the specific interception position of the local detection signal, so it can only use the form of enumeration Perform hypothesis testing (hypothesis test), which greatly increases the complexity of detection.
  • a minimum sensing distance t min can be determined according to the lower bound of the distance of the target object, and the target signal transmission time in the communication frame can be adjusted accordingly, so that T i ⁇ t min is always present, which can give priority to avoiding the detection of some target signals that need to be intercepted complexity problem.
  • the method also includes:
  • the subsequence comprises at least two consecutive data samples in the echo signal
  • a target subsequence in the at least one subsequence is detected.
  • T i >t 2d it may be considered to reduce complexity by using at least one subsequence of the echo signal as a local detection signal for matched filtering.
  • the so-called subsequence may refer to a subset of the echo signal samples of the target signal samples, and the target signal samples are all the time-domain samples sent within T i , that is, some samples in the target signal samples A subset of points is used for radar sensing.
  • sample point of the echo signal is the sample point received after the sample point of the target signal is reflected
  • sample point of the echo signal and the sample point of the target signal can be expressed in the same way in the embodiment of the present application ;
  • a set ⁇ S K ⁇ containing M candidate subsequences can be designed, The maximum number of enumerations during I-RX detection has been reduced from N to M.
  • an appropriate i can be found such that It achieves better detection performance under the premise of minimizing overhead.
  • the appropriate i can mean that the value of f(.) is greater than the value of f(.) when taking i-1 and the value of f(.) when taking i+1, indicating that the maximum value of f(.) must be in (i- 1, i+1).
  • search full sequence for all possible starting position values of sample points in this interval, that is, the delay value with the highest precision can be obtained.
  • the detecting the target subsequence in the at least one subsequence includes:
  • the target subsequence is determined.
  • the signal sent by the UE has 4 samples [s1, s2, s3, s4], and the time interval of the samples is 1 time unit t.
  • the detection of the target subsequence in the at least one subsequence includes at least one of the following:
  • a detection threshold is determined, and the target subsequence is determined based on the detection threshold.
  • the number of enumerations may be further reduced by reasonably selecting the sequence of subsequences used for detection and the threshold for perceptual signal detection. Therefore, the target subsequence in the at least one subsequence can be detected, reducing the number of enumerations.
  • the detection order of the target subsequence can be determined
  • a detection threshold may be determined, and the target subsequence is determined based on the detection threshold
  • the speed of subsequence search can be improved based on at least one of the following:
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • the execution subject may be a transmission device, or a control module in the transmission device for executing the transmission method.
  • the transmission device provided in the embodiment of the present application is described by taking the transmission device executing the transmission method as an example.
  • Fig. 18 is a schematic structural diagram of a transmission device provided by an embodiment of the present application. As shown in Fig. 18, the device includes: a first determination module 1810, a first transmission module 1820, and a first receiving module 1830; wherein:
  • the first determination module 1810 is used to transmit a communication frame of the target signal, the communication frame includes: a first part used to transmit the target signal, and a second part used to receive the sensing signal, the sensing signal being the target signal echo signal;
  • the first transmission module 1820 is configured to transmit the target signal in the first part of the communication frame
  • the first receiving module 1830 is configured to receive the sensing signal in the second part of the communication frame.
  • the transmission device may transmit a communication frame of the target signal through the first determination module 1810, the communication frame including: a first part for transmitting the target signal, and a second part for receiving the sensing signal, the sensing signal is the echo signal of the target signal; then in the first part of the communication frame, transmit the target signal through the first transmission module 1820; in the second part of the communication frame, through the first receiving Module 1830 receives the sensing signal.
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • the second part is located behind the first part, and the sum of the lengths of the first part and the second part is a fixed value.
  • the length of the second part is the length of the minimum perception distance.
  • beams used in multiple consecutive communication frames are not all the same or not all the same.
  • the device also includes:
  • the second transmission module is configured to, after determining the first position of the target object, transmit target signals in multiple consecutive communication frames based on the same directional beam until it is determined that the target object changes from the first position to After the second position, the directional beam is updated.
  • the second part is located behind the first part, and the length of the first part is a fixed value.
  • the length of the second part is the length of the maximum sensing distance.
  • the device also includes at least one of the following:
  • a first indication module configured to indicate the position of the communication frame to the communication peer
  • a second indicating module configured to indicate the length of the second part to the communication peer.
  • the first indication module is also used for at least one of:
  • the position of the communication frame is indicated based on the first index, the first index corresponds to the position of the communication frame in the position index table, and the position index table includes at least one second index, and different indexes correspond to different position, the first index is one of the at least one second index.
  • the second indication module is also used for at least one of the following:
  • the time length index table including at least one fourth index, different The fourth index corresponds to a different length, and the third index is one of the at least one fourth index;
  • the first determination module is also used for:
  • the device also includes:
  • a fourth determining module configured to determine at least one subsequence of the echo signal, wherein the subsequence includes at least two consecutive data samples in the echo signal;
  • a detection module configured to detect a target subsequence in the at least one subsequence.
  • the detection module is also used for:
  • the target subsequence is determined.
  • the detection module is also used for:
  • a detection threshold is determined, and the target subsequence is determined based on the detection threshold.
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • the transmission device in the embodiment of the present application may be a device, a device with an operating system or an electronic device, or may be a component, an integrated circuit, or a chip in a terminal.
  • the apparatus or electronic equipment may be a mobile terminal or a non-mobile terminal.
  • the mobile terminal may include but not limited to the types of terminals 11 listed above, and the non-mobile terminal may be a server, a network attached storage (Network Attached Storage, NAS), a personal computer (personal computer, PC), a television ( television, TV), teller machines or self-service machines, etc., are not specifically limited in this embodiment of the present application.
  • the transmission device provided by the embodiment of the present application can realize the various processes realized by the method embodiments in Fig. 2 to Fig. 17, and achieve the same technical effect. In order to avoid repetition, details are not repeated here.
  • FIG. 19 is a schematic structural diagram of a communication device provided by an embodiment of the present application.
  • a program or instruction stored in the memory 1902 and operable on the processor 1901 for example, when the communication device 1900 is a terminal, the program or instruction is executed by the processor 1901 to implement the various processes of the above transmission method embodiment , and can achieve the same technical effect.
  • the communication device 1900 is a network-side device, when the program or instruction is executed by the processor 1901, each process of the above transmission method embodiment can be achieved, and the same technical effect can be achieved. To avoid repetition, details are not repeated here.
  • the communication device may be a terminal; its communication peer may be a network side device or another terminal;
  • the communication device may be a network side device, such as a base station; its communication counterpart may be a terminal;
  • the embodiment of the present application also provides a terminal, including a processor and a communication interface, the processor is used to transmit a communication frame of the target signal, and the communication frame includes: a first part used to transmit the target signal, and a first part used to receive the sensing signal The second part of the sensing signal is the echo signal of the target signal; the communication interface is used to transmit the target signal in the first part of the communication frame; the second part of the communication frame In the second part, the sensing signal is received.
  • This terminal embodiment corresponds to the above-mentioned terminal-side method embodiment, and each implementation process and implementation mode of the above-mentioned method embodiment can be applied to this terminal embodiment, and can achieve the same technical effect.
  • FIG. 20 is a schematic diagram of a hardware structure of a terminal implementing an embodiment of the present application.
  • the terminal 2000 includes, but is not limited to: a radio frequency unit 2001, a network module 2002, an audio output unit 2003, an input unit 2004, a sensor 2005, a display unit 2006, a user input unit 2007, an interface unit 2008, a memory 2009, and a processor 2010, etc. at least some of the components.
  • the terminal 2000 can also include a power supply (such as a battery) for supplying power to various components, and the power supply can be logically connected to the processor 2010 through the power management system, so as to manage charging, discharging, and power consumption through the power management system. Management and other functions.
  • the terminal structure shown in FIG. 20 does not constitute a limitation on the terminal.
  • the terminal may include more or fewer components than shown in the figure, or combine some components, or arrange different components, which will not be repeated here.
  • the input unit 2004 may include a graphics processor (Graphics Processing Unit, GPU) 20041 and a microphone 20042, and the graphics processor 20041 is used for the image capture device (such as the image data of the still picture or video obtained by the camera) for processing.
  • the display unit 2006 may include a display panel 20061, and the display panel 20061 may be configured in the form of a liquid crystal display, an organic light emitting diode, or the like.
  • the user input unit 2007 includes a touch panel 20071 and other input devices 20072 . Touch panel 20071, also called touch screen.
  • the touch panel 20071 may include two parts, a touch detection device and a touch controller.
  • Other input devices 20072 may include, but are not limited to, physical keyboards, function keys (such as volume control buttons, switch buttons, etc.), trackballs, mice, and joysticks, which will not be repeated here.
  • the radio frequency unit 2001 receives the downlink data from the network side device, and processes it to the processor 2010; in addition, sends the uplink data to the network side device.
  • the radio frequency unit 2001 includes, but is not limited to, an antenna, at least one amplifier, a transceiver, a coupler, a low noise amplifier, a duplexer, and the like.
  • the memory 2009 can be used to store software programs or instructions and various data.
  • the memory 2009 may mainly include a program or instruction storage area and a data storage area, wherein the program or instruction storage area may store an operating system, an application program or instructions required by at least one function (such as a sound playback function, an image playback function, etc.) and the like.
  • the memory 2009 may include a high-speed random access memory, and may also include a nonvolatile memory, wherein the nonvolatile memory may be a read-only memory (Read-Only Memory, ROM), a programmable read-only memory (Programmable ROM) , PROM), erasable programmable read-only memory (Erasable PROM, EPROM), electrically erasable programmable read-only memory (Electrically EPROM, EEPROM) or flash memory.
  • ROM Read-Only Memory
  • PROM programmable read-only memory
  • PROM erasable programmable read-only memory
  • Erasable PROM Erasable PROM
  • EPROM electrically erasable programmable read-only memory
  • EEPROM electrically erasable programmable read-only memory
  • flash memory for example at least one magnetic disk storage device, flash memory device, or other non-volatile solid-state storage device.
  • the processor 2010 may include one or more processing units; optionally, the processor 2010 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface and application programs or instructions, etc., Modem processors mainly handle wireless communications, such as baseband processors. It can be understood that the foregoing modem processor may not be integrated into the processor 2010 .
  • the processor 2010 is used for:
  • the communication device determines a communication frame for transmitting a target signal, the communication frame comprising: a first part for transmitting a target signal, and a second part for receiving a sensing signal, the sensing signal being an echo of the target signal Signal;
  • the communication device transmits the target signal in the first part of the communication frame
  • the communication device receives the sensing signal during a second portion of the communication frame.
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • the second part is located behind the first part, and the sum of the lengths of the first part and the second part is a fixed value.
  • the length of the second part is the length of the minimum perception distance.
  • beams used in multiple consecutive communication frames are not all the same or not all the same.
  • processor 2010 is also used for:
  • the second part is located behind the first part, and the length of the first part is a fixed value.
  • the length of the second part is the length of the maximum sensing distance.
  • the processor 2010 is also used for at least one of the following:
  • the communication device indicates the position of the communication frame to the communication peer
  • the communication device indicates the length of the second part to the communication peer.
  • the processor 2010 is also used for at least one of the following:
  • the position of the communication frame is indicated based on the first index, the first index corresponds to the position of the communication frame in the position index table, and the position index table includes at least one second index, and different indexes correspond to different position, the first index is one of the at least one second index.
  • the processor 2010 is also used for at least one of the following:
  • the time length index table including at least one fourth index, different The fourth index corresponds to a different length, and the third index is one of the at least one fourth index;
  • processor 2010 is also used for:
  • processor 2010 is also used for:
  • the subsequence comprises at least two consecutive data samples in the echo signal
  • a target subsequence in the at least one subsequence is detected.
  • processor 2010 is also used for:
  • the target subsequence is determined.
  • the processor 2010 is also used for at least one of the following:
  • a detection threshold is determined, and the target subsequence is determined based on the detection threshold.
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • the embodiment of the present application also provides a network side device, including a processor and a communication interface, the processor is used to transmit a communication frame of a target signal, and the communication frame includes: a first part used to transmit a target signal, and a The second part of the sensing signal, the sensing signal is an echo signal of the target signal; the communication interface is used to transmit the target signal in the first part of the communication frame; in the communication frame In the second part of , the sensing signal is received.
  • the network-side device embodiment corresponds to the above-mentioned network-side device method embodiment, and each implementation process and implementation mode of the above-mentioned method embodiment can be applied to this network-side device embodiment, and can achieve the same technical effect.
  • FIG. 21 is a schematic diagram of a hardware structure of a network side device implementing an embodiment of the present application.
  • the network device 2100 includes: an antenna 2101 , a radio frequency device 2102 , and a baseband device 2103 .
  • the antenna 2101 is connected to the radio frequency device 2102 .
  • the radio frequency device 2102 receives information through the antenna 2101, and sends the received information to the baseband device 2103 for processing.
  • the baseband device 2103 processes the information to be sent and sends it to the radio frequency device 2102
  • the radio frequency device 2102 processes the received information and sends it out through the antenna 2101 .
  • the foregoing frequency band processing device may be located in the baseband device 2103 , and the method performed by the network side device in the above embodiments may be implemented in the baseband device 2103 , and the baseband device 2103 includes a processor 2104 and a memory 2105 .
  • the baseband device 2103 may include, for example, at least one baseband board, on which a plurality of chips are arranged, as shown in FIG.
  • the baseband device 2103 may also include a network interface 2106 for exchanging information with the radio frequency device 2102, such as a common public radio interface (common public radio interface, CPRI for short).
  • a network interface 2106 for exchanging information with the radio frequency device 2102, such as a common public radio interface (common public radio interface, CPRI for short).
  • CPRI common public radio interface
  • the network-side device in the embodiment of the present invention also includes: instructions or programs stored in the memory 2105 and executable on the processor 2104, and the processor 2104 calls the instructions or programs in the memory 2105 to execute the modules shown in FIG. 18 To avoid duplication, the method of implementation and to achieve the same technical effect will not be repeated here.
  • processor 2104 is used for:
  • the communication device determines a communication frame for transmitting a target signal, the communication frame comprising: a first part for transmitting a target signal, and a second part for receiving a sensing signal, the sensing signal being an echo of the target signal Signal;
  • the communication device transmits the target signal in the first part of the communication frame
  • the communication device receives the sensing signal during a second portion of the communication frame.
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • the second part is located behind the first part, and the sum of the lengths of the first part and the second part is a fixed value.
  • the length of the second part is the length of the minimum perception distance.
  • beams used in multiple consecutive communication frames are not all the same or not all the same.
  • processor 2104 is also used for:
  • the second part is located behind the first part, and the length of the first part is a fixed value.
  • the length of the second part is the length of the maximum sensing distance.
  • processor 2104 is also used for at least one of the following:
  • the communication device indicates the position of the communication frame to the communication peer
  • the communication device indicates the length of the second part to the communication peer.
  • processor 2104 is also used for at least one of the following:
  • the position of the communication frame is indicated based on the first index, the first index corresponds to the position of the communication frame in the position index table, and the position index table includes at least one second index, and different indexes correspond to different position, the first index is one of the at least one second index.
  • processor 2104 is also used for at least one of the following:
  • the time length index table including at least one fourth index, different The fourth index corresponds to a different length, and the third index is one of the at least one fourth index;
  • processor 2104 is also used for:
  • processor 2104 is also used for:
  • the subsequence comprises at least two consecutive data samples in the echo signal
  • a target subsequence in the at least one subsequence is detected.
  • processor 2104 is also used for:
  • the target subsequence is determined.
  • processor 2104 is also used for at least one of the following:
  • a detection threshold is determined, and the target subsequence is determined based on the detection threshold.
  • the communication and sensing share the protocol stack, radio frequency, and spectrum, with half Working in duplex mode avoids interference between communication signals and sensing signals, and at the same time realizes a compact ISAC frame structure, which saves communication overhead and resources.
  • the embodiment of the present application also provides a readable storage medium.
  • the readable storage medium stores programs or instructions.
  • the program or instructions are executed by the processor, the various processes of the above-mentioned transmission method embodiments can be achieved, and the same Technical effects, in order to avoid repetition, will not be repeated here.
  • the processor is the processor in the terminal described in the foregoing embodiments.
  • the readable storage medium includes computer readable storage medium, such as computer read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk, etc.
  • the embodiment of the present application further provides a chip, the chip includes a processor and a communication interface, the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement each of the above transmission method embodiments process, and can achieve the same technical effect, in order to avoid repetition, it will not be repeated here.
  • the chip mentioned in the embodiment of the present application may also be called a system-on-chip, a system-on-chip, a system-on-a-chip, or a system-on-a-chip.
  • the term “comprising”, “comprising” or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, It also includes other elements not expressly listed, or elements inherent in the process, method, article, or device. Without further limitations, an element defined by the phrase “comprising a " does not preclude the presence of additional identical elements in the process, method, article, or apparatus comprising that element.
  • the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved. Functions are performed, for example, the described methods may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

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Abstract

本申请公开了一种传输方法、装置、通信设备及存储介质，属于通信技术领域，本申请实施例的传输方法包括：通信设备确定用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；所述通信设备在所述通信帧中的第一部分内，传输所述目标信号；所述通信设备在所述通信帧中的第二部分内，接收所述感知信号。

Description

传输方法、装置、通信设备及存储介质
相关申请的交叉引用
本申请要求于2021年07月09日提交的申请号为202110779270.7，发明名称为“传输方法、装置、通信设备及存储介质”的中国专利申请的优先权，其通过引用方式全部并入本申请。
技术领域
本申请属于通信技术领域，具体涉及一种传输方法、装置、通信设备及存储介质。
背景技术
未来的通信设备通过基于集成感知通信(Integrated sensing and communication，ISAC)技术的协议栈，将集成通信和感知的双重功能，在通信和感知信号之间实现了硬件共用，频谱共享，协议互通，从而实现了通信和感知功能的一体化设计。
目前ISAC的系统设计多数仍倾向于让雷达感知信号和通信参考信号各自独立工作，同时具备通感能力的硬件，在通信和感知两方面的功能仍然是相互独立的设计，通信信号与感知信号间之间存在干扰，且资源开销大。
发明内容
本申请实施例提供一种传输方法、装置、通信设备及存储介质，能够解决通信信号与感知信号间之间存在干扰，资源开销大的问题。
第一方面，提供了一种传输方法，该方法包括：
通信设备确定用于传输目标信号的通信帧，所述通信帧包括：用于传 输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；
所述通信设备在所述通信帧中的第一部分内，传输所述目标信号；
所述通信设备在所述通信帧中的第二部分内，接收所述感知信号。
第二方面，提供了一种传输装置，该装置包括：
第一确定模块，用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；
第一传输模块，用于在所述通信帧中的第一部分内，传输所述目标信号；
第一接收模块，用于在所述通信帧中的第二部分内，接收所述感知信号。
第三方面，提供了一种通信设备，该终端包括处理器、存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如第一方面所述的方法的步骤。
第四方面，提供了一种通信设备，包括处理器及通信接口，其中，所述处理器用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；所述通信接口用于在所述通信帧中的第一部分内，传输所述目标信号；在所述通信帧中的第二部分内，接收所述感知信号。
第五方面，提供了一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如第一方面所述的方法的步骤。
第六方面，提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现如第一方面所述的方法的步骤。
第七方面，提供了一种计算机程序/程序产品，所述计算机程序/程序 产品被存储在非瞬态的存储介质中，所述程序/程序产品被至少一个处理器执行以实现如第一方面所述的方法的步骤。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
附图说明
图1示出本申请实施例可应用的一种无线通信系统的结构图；
图2是本申请实施例提供的延迟多普勒平面和时间频率平面的相互转换的示意图；
图3是本申请实施例提供的不同平面下的信道响应关系的示意图；
图4是本申请实施例提供的OTFS多载波系统的收发端处理流程示意图；
图5是本申请实施例提供的延迟多普勒域的导频映射示意图；
图6是本申请实施例提供的多端口参考信号在延迟多普勒域的映射示意图；
图7是本申请实施例提供的导频序列的检测的示意图；
图8是本申请实施例提供的传输方法的流程示意图；
图9是本申请实施例提供的MN对感知信号接收SNR的影响的示意图；
图10是本申请实施例提供的MN对目标检测性能的影响的示意图；
图11是基于OTFS调制的ISAC信号处理流程图；
图12是本申请实施例提供的符号映射的示意图；
图13是本申请实施例提供的第二部分的位置示意图之一；
图14是本申请实施例提供的波束初始化阶段的组帧形式的示意图；
图15是本申请实施例提供的ISB与ISB set的示意图；
图16是本申请实施例提供的波束确定后的组帧形式的示意图；
图17是本申请实施例提供的第二部分的位置示意图之二；
图18是本申请实施例提供的传输装置的结构示意图；
图19是本申请实施例提供的通信设备的结构示意图；
图20为实现本申请实施例的一种终端的硬件结构示意图；
图21为实现本申请实施例的一种网络侧设备的硬件结构示意图。
具体实施方式
下面将结合本申请实施例中的附图，对本申请实施例中的技术方案进行清楚描述，显然，所描述的实施例是本申请一部分实施例，而不是全部的实施例。基于本申请中的实施例，本领域普通技术人员所获得的所有其他实施例，都属于本申请保护的范围。
本申请的说明书和权利要求书中的术语“第一”、“第二”等是用于区别类似的对象，而不用于描述特定的顺序或先后次序。应该理解这样使用的术语在适当情况下可以互换，以便本申请的实施例能够以除了在这里图示或描述的那些以外的顺序实施，且“第一”、“第二”所区别的对象通常为一类，并不限定对象的个数，例如第一对象可以是一个，也可以是多个。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”一般表示前后关联对象是一种“或”的关系。
值得指出的是，本申请实施例所描述的技术不限于长期演进型(Long Term Evolution，LTE)/LTE的演进(LTE-Advanced，LTE-A)系统，还可用于其他无线通信系统，诸如码分多址(Code Division Multiple Access，CDMA)、时分多址(Time Division Multiple Access，TDMA)、频分多址(Frequency Division Multiple Access，FDMA)、正交频分多址(Orthogonal Frequency Division Multiple Access，OFDMA)、单载波频分多址 (Single-carrier Frequency-Division Multiple Access，SC-FDMA)和其他系统。本申请实施例中的术语“系统”和“网络”常被可互换地使用，所描述的技术既可用于以上提及的系统和无线电技术，也可用于其他系统和无线电技术。以下描述出于示例目的描述了新空口(New Radio，NR)系统，并且在以下大部分描述中使用NR术语，但是这些技术也可应用于NR系统应用以外的应用，如第6代(6th Generation，6G)通信系统。
图1示出本申请实施例可应用的一种无线通信系统的结构图。无线通信系统包括终端11和网络侧设备12。其中，终端11也可以称作终端设备或者用户终端(User Equipment，UE)，终端11可以是手机、平板电脑(Tablet Personal Computer)、膝上型电脑(Laptop Computer)或称为笔记本电脑、个人数字助理(Personal Digital Assistant，PDA)、掌上电脑、上网本、超级移动个人计算机(ultra-mobile personal computer，UMPC)、移动上网装置(Mobile Internet Device，MID)、增强现实(augmented reality，AR)/虚拟现实(virtual reality，VR)设备、机器人、可穿戴式设备(Wearable Device)、车载设备(VUE)、行人终端(PUE)、智能家居(具有无线通信功能的家居设备，如冰箱、电视、洗衣机或者家具等)等终端侧设备，可穿戴式设备包括：智能手表、智能手环、智能耳机、智能眼镜、智能首饰(智能手镯、智能手链、智能戒指、智能项链、智能脚镯、智能脚链等)、智能腕带、智能服装、游戏机等。需要说明的是，在本申请实施例并不限定终端11的具体类型。网络侧设备12可以是基站或核心网，其中，基站可被称为节点B、演进节点B、接入点、基收发机站(Base Transceiver Station，BTS)、无线电基站、无线电收发机、基本服务集(Basic Service Set，BSS)、扩展服务集(Extended Service Set，ESS)、B节点、演进型B节点(eNB)、家用B节点、家用演进型B节点、WLAN接入点、WiFi节点、发送接收点(Transmitting Receiving Point，TRP)或所述领域中其他某个合适的术语，只要达到相同的技术效果，所述基站不限于特定技术词汇，需要说明的是，在本申请实施例中仅以NR系统中的基站为例，但是并不限定基站 的具体类型。
首先对以下内容进行介绍：
1、OTFS通信技术；
信道的延迟和多普勒的特性本质上由多径信道决定。通过不同路径到达接收机的信号，因为传播路程存在差异，因此到达时间也不同。例如两个回波s 1和s 2各自经历距离d 1和d 2到达接收机，则他们抵达接收机的时间差为为
Figure PCTCN2022103828-appb-000001
c为光速。由于回波s 1和s 2之间存在这种时间差，它们在接收机侧的非相干叠加造成了观测到的信号幅度抖动，即衰落效应。类似的，多径信道的多普勒扩散也是由于多径效应造成。
多普勒效应是由于收发两端存在相对速度，历经不同路径到达接收机的信号，其相对于天线法线的入射角度存在差异，因此造成了相对速度的差异，进而造成了不同路径信号的多普勒频移不同。假设信号的原始频率为f 0，收发端的相对速度为Δv，信号与接收端天线的法线入射夹角为θ。则有：
Figure PCTCN2022103828-appb-000002
显然，当两个回波s 1和s 2历经不同路径到达接收端天线而具有不同的入射角θ 1和θ 2时，所得到的多普勒频移Δf 1和Δf 2也不同。
综上所述，接收机端看到的信号是来自不同路径的具有不同时延和多普勒的分量信号的叠加，整体体现为一个相对原信号具有衰落和频移的接收信号。而对信道进行延迟多普勒分析，则有助于收集每个路径的延迟多普勒信息，从而反映信道的延迟多普勒响应。
OTFS调制技术的全称是正交时频空域(Orthogonal Time Frequency)调制。该技术把一个大小为M×N的数据包中的信息，例如QAM(Quadrature Amplitude Modulation)符号，在逻辑上映射到二维延迟多普勒平面上的一个M×N格点中，即每个格点内的脉冲调制了数据包中的一个QAM符号。
进一步的，可以通过设计一组正交二维基函数，将M×N的延迟多普勒域平面上的数据集变换到N×M的时频域平面上，这种变换在数学上被称为逆辛傅里叶变换(Inverse Sympletic Fourier Transform，ISSFT)。
对应的，从时频域到延迟多普勒域的变换被称为辛傅里叶变换(Sympletic Fourier Transform，SFFT)。其背后的物理意义是，信号的延迟和多普勒效应，实际上是一种信号通过多经信道后的一系列具有不同时间和频率偏移的回波的线性叠加效应。即，延迟多普勒分析和时频域分析可以通过所述的ISSFT和SSFT相互转换得到。
图2是本申请实施例提供的延迟多普勒平面和时间频率平面的相互转换的示意图；如图2所示，OTFS技术可以把时变多径信道变换为一个(一定持续时间内的)时不变二维延迟多普勒域信道，从而直接体现了无线链路中由于收发机之间的反射体相对位置的几何特性造成的信道延迟多普勒响应特性。这样的好处有如下三点：
(a)信道耦合状态的不变性。由于信号的延迟和多普勒反应了物理信道中反射体的直接作用，只取决于反射体的相对速度和位置，因此在无线帧的时间尺度上，信号的延迟和多普勒相应可以看作是不变的。
(b)信道耦合状态的可分离性。延迟多普勒域的信道频率响应中，所有的分集路径均体现为一个单独的冲击响应，完全可分离。而QAM符号遍历这所有的分级路径。
(c)信道耦合状态的正交性。由于延迟多普勒域的信道冲击响应限定在一个延迟多普勒域资源元素上，因此在接收端理论上不存在延迟维度和多普勒维度的IDIs(inter delay/Doppler interference)。
由于上述特点，延迟多普勒域分析消除了传统时频域分析跟踪时变衰落特性的难点，转而通过分析时不变的延迟多普勒信道，抽取出时频域信道的所有分集特性，进而通过延迟多普勒域和时频域的转换关系计算出时频域信道。实际系统中，信道的延迟径和多普勒频移的数量远远小于信道的时域和频域响应数量，用延迟多普勒域表征的信道较为简洁。所以利用OTFS技术在延迟多普勒域进行分析，可以使参考信号的封装更加紧密和灵活，尤其有利于支持大规模MIMO系统中的大型天线阵列。
OTFS调制的核心是定义在延迟多普勒平面上的QAM符号，变换到时 频域进行发送，然后接收端回到延迟多普勒域处理。因而可以引入延迟多普勒域上的无线信道响应分析方法。
图3是本申请实施例提供的不同平面下的信道响应关系的示意图，如图3所示，体现了信号通过线性时变无线信道时，其信道响应在不同平面下的表达之间的关系；
在图3中，SFFT变换公式为：
h(τ,ν)＝∫∫H(t,f)e -j2π(νt-fτ)dτdν；             (1)
对应的，ISSFT的变换公式为：
H(t,f)＝∫∫h(τ,ν)e j2π(νt-fτ)dτdν；          (2)
信号通过线性时变信道时，令时域接收信号为r(t)，其对应的频域接收信号为R(f)，且有
Figure PCTCN2022103828-appb-000003
r(t)可以表示为如下形式：
r(t)＝s(t)*h(t)＝∫g(t,τ)s(t-τ)dτ；          (3)
由图3关系可知，
g(t,τ)＝∫h(ν,τ)e j2πνtdν；         (4)
把(4)代入(3)可得：
r(t)＝∫∫h(ν,τ)s(t-τ)e j2πνtdτdν；          (5)
由图3所示关系，经典傅里叶变换理论，以及公式(5)可知：
Figure PCTCN2022103828-appb-000004
基于等式(6)可知，在OTFS系统进行延迟多普勒域的分析，可以依托建立在时频域上的通信框架，在收发端加上额外的信号处理过程来实现。并且，所述额外的信号处理仅由傅里叶变换组成，可以完全通过现有的硬件实现，无需新增模块。
实际系统中，OTFS技术可以被实现为一个滤波正交频分复用(Orthogonal frequency division multiplexing，OFDM)系统的前置和后置处理模块，因此与现有的通信技术架构比如NR技术架构下的多载波系统 有着很好的兼容性。
OTFS与多载波系统结合时，发送端的实现方式如下：含有需要发送信息的QAM符号由延迟多普勒平面的波形承载，经过一个二维的逆辛傅里叶变换(Inverse Sympletic Finite Fourier Transform，ISFFT)，转换为传统多载波系统中的时频域平面的波形，再经过符号级的一维逆快速傅里叶变换(Inverse Fast Fourier Transform，IFFT)和串并转换，变成时域采样点发送出去。
图4是本申请实施例提供的OTFS多载波系统的收发端处理流程示意图，如图4所示，OTFS系统的接收端大致是一个发送端的逆过程：时域采样点经接收机接收后，经过并传转换和符号级的一维快速傅里叶变换(Fast Fourier Transform，FFT)，先变换到时频域平面上的波形，然后经过二维辛傅里叶变换(Sympletic Finite Fourier Transform，SFFT)，转换为延迟多普勒域平面的波形，然后对由延迟多普勒域波形承载的QAM符号进行接收机的处理：包括信道估计和均衡，解调和译码等。
OTFS调制的优越性主要体现在以下方面：
(a)OTFS调制把收发机之间的时频域中的时变衰落信道转化为延迟多普勒域中的确定性的无衰落信道。在延迟多普勒域中，一次发送的一组信息符号中的每个符号都经历相同的静态信道响应和SNR。
(b)OTFS系统通过延迟多普勒图像解析出物理信道中的反射体，并用接收均衡器对来自不同反射路径的能量进行相干合并，实际上提供了一个无衰落的静态信道响应。利用上述静态信道特性，OTFS系统无需像OFDM系统一样引入闭环信道自适应来应对快变的信道，因而提升了系统健壮性并降低了系统设计的复杂度。
由于延迟多普勒域中的延迟-多普勒的状态数量远小于时频域的时间-频率状态数量，因而OTFS系统中的信道可以表达为非常紧凑的形式。OTFS系统的信道估计开销更少，更加精确。
OTFS的另一个优越性体现应对极致多普勒信道上。可以通过适当信 号处理参数下对延迟多普勒图像的分析，信道的多普勒特性会被完整呈现，因而有利于多普勒敏感场景(例如高速移动和毫米波)下的信号分析和处理。
因此，OTFS系统中的信道估计可以采用全新的方法。发射机将导频脉冲映射在延迟多普勒域上，接收机利用对导频的延迟多普勒图像分析，估计出延迟多普勒域的信道响应h(v，τ)，进而可以根据图3中的关系得到时频域的信道响应表达式，方便进行信号分析和处理。
图5是本申请实施例提供的延迟多普勒域的导频映射示意图；如图5所示，是延迟多普勒域上的导频映射可以采取的方式，图5中发送信号由位于(l p，k p)的单点导频(标号为1的小方块)，环绕在其周围的面积为(2l τ+1)(4k ν+1)-1的保护符号(无阴影部分)，以及MN-(2l τ+1)(4k ν+1)的数据部分(保护符号以外的区域)组成。而在接收端，在延迟多普勒域格点的保护带中出现了两个偏移峰(斜线阴影部分)，意味着信道除了主径外存在两个具有不同延迟多普勒的次要路径。对所有的次要路径的幅度，延迟，多普勒参数进行测量，就得到了信道的延迟多普勒域表达式，即h(ν,τ)。
特别的，为了防止接收信号格点上数据对导频符号的污染，导致不准确的信道估计，保护符号的面积应该满足如下条件：
l τ≥τ maxMΔf，k ν≥ν maxNΔT；           (7)
其中τ max和v max分别是信道所有路径的最大时延和最大多普勒频移。
图5中的实例，对应于单端口的场景，即只有一组参考信号需要发送。现代多天线系统中，可以利用多个天线端口同时发送多流数据，从而充分利用天线的空间自由度，达成获取空间分集增益或者提升系统吞吐量的目的。
图6是本申请实施例提供的多端口参考信号在延迟多普勒域的映射示意图，当多个天线端口存在时，多个导频需要映射再延迟多普勒平面中，因此会导致如图6所示的导频映射方式。
在图6中，24个天线端口对应了24个导频信号。其中每个导频信号 采用图5中的形式，即中心点冲激信号加两侧保护符号的模式。其中单个导频占用的延迟多普勒域RE(资源元素)个数为(2l τ+1)(4k v+1)。如果有P个天线端口，考虑到相邻天线端口的保护带可以复用，假设导频放置采用在延迟维度为P 1，在多普勒维度为P 2，且满足P＝P 1P 2，则导频的总资源开销为[P 1(l τ+1)+l τ][P 2(2k v+1)+2k v]。
图7是本申请实施例提供的导频序列的检测的示意图，如图7所示，除了上述的单点脉冲导频之外，延迟多普勒域的导频还可以是一个基于由特定方式生成的伪随机(persudo noise，PN)序列构造出的导频序列，并按照特定规则映射在延迟多普勒平面上的二维资源格上，即图7中的左图的阴影部分。
本申请各实施例中可以将图7中的左图的阴影部分(即导频序列所占据的资源位置)，称为导频资源块。导频资源块旁边的无阴影部分区域为导频保护带，由未发送任何信号/数据的空白资源元素组成。保护带宽度的选择信道的最大延迟和最大多普勒相关。不同端口的导频序列可以选取低相关度的导频，在同一块资源上叠加映射，然后在接收机端通过特定算法进行导频序列的检测，从而区分出不同天线端口对应的导频。由于在发送端进行了完全的资源复用，多天线端口系统下的导频开销可以得到大大减轻。
图7中的示例呈现了基于序列导频的检测方式。在接收端，由于信道的两条路径的不同延迟和多普勒频移，接收的导频信号块在延迟多普勒整体偏移到了图中斜线阴影部分(即标号为2的方块以及与该方块相邻的8个方块，以及，标号为3的方块以及与该方块相邻的8个方块)的方块位置。此时在接收端利用已知发送导频(图中横线阴影部分，即标号为1的方块以及与该方块相邻的8个方块)，在延迟多普勒域进行滑窗检测运算。已知滑窗检测运算结果M(R,S)[δ,ω]在N P→+∞时，具有如下性质(以下公式成立的概率趋近于1)：
Figure PCTCN2022103828-appb-000005
其中
Figure PCTCN2022103828-appb-000006
C＞0为某个常数，且与信号SINR增大而减小。公式中(δ,ω)和(δ 0,ω 0)分别为滑动窗当前(中心点)所在位置，和接收信号中导频信号块(中心点)偏移到的位置。由公式可以看出，只有当(δ,ω)＝(δ 0,ω 0)时，才能得到一个位于1附近的值，反之，滑窗检测运算结果是一个较小的值。因此，当滑动窗(图中横线阴影部分，即标号为1的方块以及与该方块相邻的8个方块)正好与偏移的导频信号块(图中斜线阴影部分，即标号为2的方块以及与该方块相邻的8个方块，以及，标号为3的方块以及与该方块相邻的8个方块)重合时，检测机会运算出一个能量峰值，呈现在延迟多普勒域的(δ 0,ω 0)位置，即图中的标号为2和标号为3的小方块的位置。
因此，只要保证N P具有足够的长度，接收机就可以根据M(R,S)的值获取正确的导频位置，即获取信道的延迟和多普勒信息。同时，信道的幅度值由检测运算得到的
Figure PCTCN2022103828-appb-000007
值给出。
延迟多普勒域中，构造导频(或参考信号)序列的一般方法如下：
首先，生成基序列。基序列可以采用ZC序列或者PN序列。其中PN序列包括以下序列：M序列，Gold序列，Kasami序列，Barker序列等。
然后，对基序列进行调制生成导频序列。
可选的，还可以对导频序列使用正交覆盖码(Orthogonal cover code，OCC)进一步提升正交性。
2、ISAC技术；
未来的通信设备通过基于ISAC技术的协议栈，将集成通信和感知的双重功能，在通信和感知信号之间实现了硬件共用，频谱共享，协议互通，从而实现了通信和感知功能的一体化设计。未来ISAC设备的核心特征是实现了通信和感知信号间的波形复用。通过协议定义的波形，在协议规定 频谱中进行信息传递和目标检测。进一步的，通过共用的协议栈，使得通信系统和感知系统各自获取的信道和空间信息可以互通，从而实现通信和感知间的相互辅助，实现整体性能的进一步优化。
通信系统的功能是传递信息，因此通信系统的优化目标是逼近信息论中所阐述的香农信道容量；感知系统的功能是目标检测，例如典型的雷达系统，其优化目标则是目标参数(距离，速度，多普勒等)估计方差的最优下界，即模糊函数的克拉美-罗界(Cramer-Rao Bound，CRB)。这种功能侧重的不同，使得ISAC系统设计上很难同时最优化通信和感知的性能，只能根据需求在二者间取得折衷。
在雷达通信一体化设计中，波形设计是重点，一体化波形设计的关键在于尽量减小通信信号与感知信号间的干扰，满足通信、感知功能需求，在保证系统性能的前提下提高频谱效率。一体化波形可以采取复用的方式，包括时分复用、频分复用、空分复用，也可以采取共用的方式，即设计新的融合波形，设计时需要考虑一体化波形要以通信功能为主还是雷达探测功能为主，寻找性能上的平衡点。常见的融合波形主要分为单载波波形与多载波波形：单载波波形设计通常与扩频技术相结合，例如直接序列扩频(Direct-Sequence Spread Spectrum，DSSS)、啁啾扩频(Chirp Spread Spectrum，CSS)；多载波一体化波形较典型的是正交频分复用(Orthogonal Frequency Division Multiplexing，OFDM)波形，其相对于单载波扩频一体化波形存在一定优势，例如更高的频谱效率、灵活的带宽资源分配、无距离-多普勒耦合效应等，与通信系统比如5G通信系统易融合。
3、OTFS雷达技术
传统的多载波一体化波形主要是基于OFDM波形，其优势主要在于简单的随机信号生成，全数字化处理，极高的时频处理增益。然而，由于OFDM雷达的高精度依赖于多个OFDM符号的联合检测，而OFDM符号的循环前缀(Cyclic prefix，CP)并不参与测量，因此将造成一定的开销；同时，OFDM波形对高多普勒场景适应性较差，只能检测最多达10％子载波间隔 的多普勒频移，在应用场景上具有局限性。
OTFS波形作为感知波形则克服了前述OFDM波形的这两个缺陷。首先，对于一块相同大小的MN资源格来说，假设M对应子载波数，N对应符号数。OTFS信号只需要在N个符号前面加一个循环前缀(CP)避免时隙间干扰；而传统的OFDM信号需要在每个符号前面都加一个CP以避免符号间干扰，总共需要N个CP。因此OTFS的开销显著降低，这意味着其可将更多的能量用于感知信号本身，从而提升目标的检测和跟踪能力。其次，由于OTFS信号对高多普勒的天然耐受性，使得OTFS雷达对于高速场景下较大的多普勒频移具有良好的检测能力，表现大大优于OFDM雷达。
同时具备通感能力的硬件在通信和感知两方面的功能仍然是相互独立的设计。在硬件，频谱，协议栈方面都没有很好的融合。同时对于基于延迟多普勒变换域通信系统的通感融合技术没有成体系的研究，尤其缺乏具体的协议栈设计。
4、ISAC信号的设计；
目前，在ISAC的研究中，已经初步实现了雷达和通信波形的一体化。例如OFDM雷达已经在低多普勒场景表现出了良好的性能传统。在雷达设计中，OTFS信号通常利用延时多普勒域(delay-Doppler)上的随机的符号集生成。随机符号集中的每个符号的发送功率相等，使用随机符号集可以避免被识别和侦听，同时由于对发端已知，也不会妨碍回波的检测。
在通信系统中，无论是数据还是导频/参考信号，都是为了传递确定的信息，因此不会发送随机的符号集。其次，在通信系统中，导频主要用于获取信道状态信息(Channel state information，CSI)等信息，通常需要更高的接收信号与干扰加噪声比(Signal to Interference plus Noise Ratio，SINR)以确保测量的可靠性。因此在通信系统中，同一帧内各符号的发送功率可能并不相同。由此可知，雷达感知信号和通信导频信号在设计上主要存在以下几点区别：
(a)雷达感知信号要求发送尽可能多的样点以提升回波信号的累积能 量，保证检测的准确性；通信导频信号要求在保证CSI估计精度的前提下，尽可能的减少发送样点数，以减少资源开销。
(b)雷达感知信号的发送和接收设备通常是同一个，对发送符号集的设计通常无特殊需求；通信导频信号的发送和接收设备不同，发送符号集通常需要经过特殊设计以保证导频的检测性能。
(c)仅考虑LoS路径情况下，雷达感知信号从TX到RX的传播距离比通信导频信号增加了一倍，因此二者对覆盖的要求存在差异。
由于上述设计差异的存在，雷达的感知信号和通信系统中的导频难以实现功能上的统一。
5、基于网络拓扑的信道预测；
通常用于描述信道的模型为时域的抽头延时(delay-tap)信道模型，本质上是用数学语言描述了发送信号被环境中的不同反射体(reflector)反射后，通过不同的路径抵达接收设备的这一物理过程。在特定时刻，或所谓延时抽头，所接收到的信号，本质上发送信号是经反射体作用后，历经多个物理传播路径后在(特定时刻)在接收侧的延迟叠加信号。而描述这种叠加效应的数学表达，即多径(multi-path)信道模型。离散化的时域抽头延时信道模型直观的描述了信号叠加的原理：
Figure PCTCN2022103828-appb-000008
上式中，p表示路径数，h p表示第p条路径的复增益，τ p表示第p条路径的时延，v p表示第p条路径的多普勒频移。因此，当确知了信道的这几个关键参数时，就能够重构出时域信道矩阵，从而利用所述时域信道矩阵对接收信号进行符号检测。
正如背景技术中所阐述的，信道的延迟和多普勒频移可以看作是物理世界中各通信节点间的几何位置关系(坐标位置)，以及运动趋势(运动方向角，相对速度)在信号域的投射。例如，在一个笛卡尔坐标系(Cartesian coordinates)中，一个存在两条信号传播路径的网络，发送和接收节点N 1和 N 2的坐标分别为(x 1，y 1)和(x 2，y 2)。其中的一条非视距(Non Line of Sight，NLoS)径由一个位于(x 3，y 3)的反射节点N 3确定。因此，两条信号传播路径的传播时间差即多径延时τ可以计算为：
Figure PCTCN2022103828-appb-000009
再比如，假设N i速度表示为(v i，γ i)，其中v i为运动速度标量值，γ i为运动方向相对于笛卡尔坐标系X轴的夹角。则N 1和N 2的相对速度标量可以计算为：
Figure PCTCN2022103828-appb-000010
二者的相对速度相对于X轴的夹角则为:
Figure PCTCN2022103828-appb-000011
同样可以根据N 1，N 2和N 3的坐标计算信号的历经不同路径到达接收机的信号。以视距(line of sight，LoS)径为例，假设N 1和N 2的天线面板相对于X轴的夹角分别为β 1和β 2，则根据几何关系易知，N 1到N 2的直射信号的入射角(与天线面板法线的夹角)为：
Figure PCTCN2022103828-appb-000012
类似的，对于NLoS径，可以仅需要考虑最后一个反射节点N 3，即，
Figure PCTCN2022103828-appb-000013
根据多普勒频移的计算公式，则可以得到，两条径的多普勒分别为：
Figure PCTCN2022103828-appb-000014
Figure PCTCN2022103828-appb-000015
值得注意的是，在传统的信道测量和估计理论中，这种基于网络拓扑，或称节点位置关系的信道构建方法并不适用。这是由于在传统通信系统中，精确的网络节点几何位置信息和运动趋势信息几乎无法获得，因而只能通过经典的导频或参考信号的信道估计方法来获得所需的CSI。
未来的ISAC设备为上述的基于网络拓扑的信道预测提供了可能性。首先，ISAC设备可以利用自身的感知模块绘制出：i)当前时刻的网络拓扑结构(节点几何位置关系)，ii)当前时刻的网络节点运动趋势。其次，假定ii)的信息短时间内不会改变，利用i)和ii)的信息，ISAC设备就可以更新(预测)出下一时刻的网络拓扑结构。进一步的，ISAC根据预测到的未来时刻的网络拓扑结构，就可以利用新的节点间的几何位置关系来计算未来时刻的CSI关键参数，从而按照特定信道模型估计出未来时刻的信道响应信息。
下面结合附图，通过一些实施例及其应用场景对本申请实施例提供的传输方法和装置进行详细地说明。
图8是本申请实施例提供的传输方法的流程示意图，如图8所示，该方法包括如下步骤：
步骤810，通信设备确定用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；
步骤820，所述通信设备在所述通信帧中的第一部分内，传输所述目标信号；
步骤830，所述通信设备在所述通信帧中的第二部分内，接收所述感知信号。
目前ISAC的系统设计多数仍倾向于让雷达感知信号和通信参考信号各自独立工作，而利用共同的协议栈实现雷达和通信系统的测量信息之间的交互和共享，从而达到雷达通信相互辅助的作用。
在此基础上，本申请实施例可以进一步实现雷达和通信系统在信号方面的复用，可以进一步减少开销，实现二者的无缝衔接。
为了要实现感知和通信信号的复用，在波形复用的基础上，还需要考虑如下的设计和优化：
(a)基于已知序列的感知和通信信号设计。通过利用具有较优检测性能的长序列生成感知导频信号，发送侧通过回波检测获得感知信息；接收侧通过参考信号测量获得信道信息。
(b)感知通信信号的性能-开销联合优化。例如，基于通信的最低测量精度需求，优化感知的精度；或者基于感知的性能下界，优化通信系统的吞吐量等。这些优化的目标方程和限制条件的选择，与实际业务需求(包括感知的距离和精度需求，信号的功率限制，通信的时延要求，导频开销限制，和单体/网络频谱效率指标等)，以及不同场景的信道模型都有着密切的关系。
(c)感知通信测量估计量的融合算法。例如，利用一组感知导频信号，利用已知信号测量技术，至少可以获取如下三类信息：
1)发送侧通过回波测量获取的感知双向传播信道CSI；
2)发送侧通过感知估计的节点集合位置信息和运动趋势信息预测出的信道CSI；
3)接收侧通过感知导频信号测量获取的下行信道CSI。
ISAC系统中的通信和感知信号可以在特定的场景下协作，实现感知/通信相互辅助的双赢局面。本申请实施例可以提出一种通信和感知融合的新型帧结构，将感知信号按一定规则嵌入通信数据的帧结构中，由基带统一进行调制处理后，通过通信设备的发送侧ISAC TX(I-TX)发送出去，从而实现发送侧基带和射频的融合。
其中，在RX侧(包括通信RX，即C-RX，以及感知RX，即S-RX)，需要针对感知和通信的不同诉求对同样的信号进行不同的处理；
全双工的ISAC系统依赖于一套专属的RX天线阵列用于接收感知信号，以下简称为S-RX。其最大优势是S-RX可以持续不间断检测回波，进行延迟、多普勒等信息的测量，而无需考虑TX帧结构设计面临的回波抵达的时间不确定性问题。然而，由于I-TX和S–RX各自独立同时运作，为避免相互干扰，对它们的空间分离度要求极高，在小型化设备上难以实现，容易产生较严重的自干扰问题。同时，感知专用的R-RX系统需要一套额外的用于感知的基带和射频单元，提高了硬件成本。而感知系统持续不断的工作，也会产生额外的能量开销。
为了克服全双工ISAC系统面临的上述缺陷，可以在小型化的设备上可能需要考虑ISAC硬件的完全融合，即C-TX/RX与S–RX的共用。此时，ISAC的感知和通信功能需要以TDD的方式来实现，因此称之为半双工ISAC。通感联合的帧结构成为优化其性能的关键设计之一。
在ISAC系统中，假设通信目标节点和感知目标节点是同一个，则可以大致认为感知信号的双向传播时延为通信信号传播时延的2倍。在感知信道具有LoS径的情况下，对于1km远的物体，其双向传播时延为约为6.67μs，远小于通常定义的0.125～1ms的时隙大小。
因此，ISAC系统通常期望在感知信号发送后极短时间内接收到回波。换言之，如果想利用所有的感知信号样点进行检测，则ISAC系统需要在收到回波前将感知帧的样点发送完毕，以将天线射频及时由TX切换为RX。
例如，假设双向传播时延为约为6.67μs，发送样点数为1024个，则需要的采样间隔为0.0651ns，即系统采样速率为153.6MHz；如果发送样点数为512个，则采样速率要求为76.8MHz；如果发送样点数为256个，则采样速率要求为38.4MHz；均可实现于通信系统。
此外，基多载波于通信系统的QAM-OFDM/OTFS信号样点的感知性能，受到OFDM/OTFS栅格的维度MN(又称为时宽积)影响较大。图9 是本申请实施例提供的MN对感知信号接收SNR的影响的示意图，图10是本申请实施例提供的MN对目标检测性能的影响的示意图；如图9和图10所示，当MN>64时，QAM-OFDM/OTFS感知算法才能给出可接受的性能，但仍然准确度较低；当MN>256时，QAM-OFDM/OTFS感知算法达到了接近于传统雷达专用的线性调频(LFM，linear frequency modulation)信号的性能。
可选地，通信设备可以是终端；其通信对端可以是网络侧设备或另一终端；
可选地，通信设备可以是网络侧设备，比如基站；其通信对端可以是终端；
可选地，通信设备还可以称为ISAC设备；
本申请实施例中，通信设备即为发送侧，所发送的目标信号可以作为通信信号和感知信号，其中，通信信号与感知信号的发射侧可以采用统一帧结构，共用一套基带。通信和感知的接收侧，可以分别对接收信号进行处理。其中通信信号的接收侧可以为通信对端的网络节点。感知信号的接收侧即为通信设备，对回波信号(目标信号经目标物体反射后的回波)进行测量。
可选地，目标信号在用于通信时，即作为通信信号时，可以是数据信号和/或导频信号，还可以是其他可实现通信的信号等，本申请实施例对此不作限定。
例如，通信信号可以是导频信号，通信对端可以是通信对端的网络节点，该网络节点可以对接收信号进行信道估计和符号检测以获取信息。
图11是基于OTFS调制的ISAC信号处理流程图，如图11所示，即为基于OTFS的通信感知信号的发送和接收处理流程；
本申请实施例中的方案的目标信号作为感知信号，感知信号可以不采用随机数据集，而是直接利用所发送的通信信号的时域样点进行感知检测。 导频和数据的映射及检测方式，包括但不限于利用图5和图7所示的方式进行。
可选地，通信设备可以首先确定用于传输目标信号的通信帧，然后在所述通信帧中的第一部分传输所述目标信号；通信对端接收到目标信号后，可基于目标信号完成通信流程，比如执行信道估计等通信流程，通信设备还可以接收到目标信号经过目标物体反射后的回波信号，进而实现对目标物体的感知。
在通信设备的感知接收侧(I-RX)，为了尽可能的提高信号检测性能，可以利用当前通信帧内所有的样点进行感知检测。由于延迟多普勒域的符号经ISFFT变换到TF域后，占据了一个时间单元(比如一帧)内的所有RE资源。这些资源格上的符号样点所生成的时域信号可以均被利用于感知信号检测。
图12是本申请实施例提供的符号映射的示意图，如图12所示，本申请实施例可以将现有的OTFS数据帧用作ISAC信号。以目标信号作为通信信号时是导频信号为例，目标信号抵达C-RX处时，可以按照图11接收侧上半部分的方式进行处理，利用其中包含的导频信号在延迟多普勒域进行信道估计，然后进行符号检测。而目标信号的回波信号抵达I-RX时，可以按照图11接收侧下半部分的方式进行处理，利用所有的回波信号时域样点进行感知测量。因此，对于本申请实施例中的ISAC目标信号，实际上可以认为是图12中的所有时域样点或他们的子集。
本申请实施例针对半双工的ISAC设备技术特点，提出一种利用通信信号进行感知的帧结构，在完成了常规通信功能的同时，实现了对目标物体的感知，达到了节省感知信号开销的同时兼顾通信性能的效果。
本申请实施例设计了一种基于多载波通信信号的ISAC系统，尤其适用于OTFS系统。其中通信和感知共用协议栈，射频，和频谱，以半双工方式工作。发送侧所发送的目标信号，被感知系统利用作为目标检测和环境感知，被通信系统利用作为完成通信的信号，比如下行信道测量参考信 号。通过帧结构及导频的复用，实现了一种紧凑的ISAC帧结构，节约了通信开销。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
可选地，本申请实施例中，当ISAC信号发出后，I-TX及通信设备需要立刻转换为I-RX进行回波侦听。此时为了避免通信信号的干扰，可以预留第二部分作为间隔Gap用于侦听回波信号。
因此，可以在确定用于传输目标信号的通信帧时，确定该测量间隔。
可选地，所述第二部分位于所述第一部分之后，且所述第一部分和第二部分的长度之和为固定值。
可选地，第一部分和第二部分所组成的时间单元的长度可以是一个固定值，比如可以固定为14个符号或固定为24个符号，本申请实施例对此不作限定，该时间单元可以是一个固定的时间单元，比如可以是一个子帧，本申请实施例对此不作限定。
可选地，可以称该固定的时间单元为ISAC信号子帧或ISAC帧或ISAC子帧。
可选地，图13是本申请实施例提供的第二部分的位置示意图之一，如图13所示，第二部分的位置可以位于目标信号即ISAC信号子帧内，即第一部分和第二部分均位于一个固定的时间单元内，第二部分用于近场感知；
可选地，图中的C可以看做是一个固定的时间单元。
例如，若一个固定的时间单元长度为14个符号，可以确定前10个符号为第一部分，后4个符号为第二部分，即Gap对应的长度，需要说明的是，一个固定的时间单元，第一部分长度及第二部分长度均为示例，不作为对本申请实施例的限定。
本申请实施例中，可以不引入其他的通信帧结构，无需额外指示。
本申请实施例中，第二部分占用了ISAC帧的部分时域资源，用于ISAC信号检测的样点数受限于第二部分的长度。
可选地，所述第二部分的长度为最小感知距离的长度。
可选地，第二部分的长度实际上决定了接收感知信号的样点数，即决定了感知的性能：准确度和感知范围。对于基于多载波通信信号(例如OFDM和OTFS)的感知信号检测实质上是对已知回波信号做匹配滤波，所以理论上可以只截取一段已知回波信号，对该部分进行检测，以牺牲性能换取较少的资源占用。例如可以适用于OTFS系统，因为OTFS的系统设计要求每一帧的资源较大，因此即使只取部分样点进行感知测量，仍然足以满足感知的精度。
以图13为例，固定的时间单元ISAC子帧长度为T f，其中第一部分I时间长度为T i，用于回波接收的第二部分G时间长度为T g。假设t 2d表示感知信号经感知目标物体反射后回到I-RX的双向传播时延，T s为样点时间长度。
T f＝T i+T g；
由于所感知目标物体的距离不同，即t 2d不同，在T f确定的情况下，有以下几种可能性存在：
Case 1.T i≥t 2d；
目标信号尚未传输完毕，既有一部分回波信号已经返回。由于半双工天线尚在发送目标信号，并没有从I-TX切换为I-RX，则较早发送的一部分时间长度为T i-t 2d的目标信号样点无法被接受参与感知检测，最多可以接收到的目标信号样点数为T i-(T i-t 2d)＝t 2d个。
当通信设备已经完成初始测量时，对感知目标物体的几何位置信息(可以为第一位置)，即t 2d已有先验信息。例如在申请实施例的场景中，ISAC设备在对网络拓扑进行更新的过程中，即可以通过已知的感知目标的t 2d，设定合适的T g和T i。
Case 2.T i<t 2d
ISAC信号传输完毕后，需要等待t 2d-T i的时间才能收到回波。完全收到回波的条件为，T g-(t 2d-T i)≥T i，即T g≥t 2d，依据开销最小化的原则，只需要T g＝t 2d即可。此时固定的时间单元中仍有T f-T g＝T f-t 2d的时间可供发送通信信号，因此，Case 2完全可以退化到Case 1以最大化通信吞吐。
因此，可以通过灵活调整第二部分的长度大小，实现通信性能和感知性能的较优的权衡，以适应不同场景的需求。
本申请实施例中，当
Figure PCTCN2022103828-appb-000016
时，I-RX可以利用所有目标信号样点进行感知测量，当
Figure PCTCN2022103828-appb-000017
时，I-RX可以利用部分目标信号样点进行感知测量。
可选地，由于通信帧内既存在通信用的导频和数据，也存在第二部分Gap，接收侧需要知道通信帧的位置信息，以及第二部分的长度，以便利用通信帧中包含通信数据的那部分样点进行解调(舍弃第二部分区间的样点)。
可选地，为了最大化感知性能，第二部分长度可以大到可以收到全部的回波样点，而从开销角度考虑需要尽可能小的第二部分，因而最优的选择可以为：第二部分长度T g＝t 2d。
因此可以选取T g＝t 2d，T i＝T f-t 2d。
可选地，实际场景中的初始测量时，由于并不知道感知目标的确切位置，也无从确定t 2d。
因此，可以系统设计的最小感知距离对应的t dmin确定初始的资源分配，即T g＝t dmin，T i＝T f-t dmin。
可选地，多个连续的通信帧所用的波束不全部相同或者全部不相同。
可选地，多个连续的通信帧可以用于检测目标物体的第一位置。
可选地，在确定用于传输目标信号的通信帧时，在第一部分和第二部分的长度之和为固定值的情况下，可以与波束成形Beamforming的方案相 结合，其中，可以假设波束成形传输信号Tx beamformed signal与反射信号Reflected signal的传播路径相同，方向相反。
可选地，可以首先进行波束初始化；在波束初始化阶段，由于没有感知目标物体的位置信息，通信设备需要通过较大范围的波束扫描对目标进行搜索，因此可以首先利用多个相邻的通信帧进行基于波束扫描的感知。
通常来说，当波束分辨率适当时，在波束Beam x所在的第x个通信帧检测到了回波，则可以说明在这个波束对应的方向上存在目标物体(可以称为感知目标或感知目标物体)。
图14是本申请实施例提供的波束初始化阶段的组帧形式的示意图，如图14所示，多个通信帧顺次发送，可以形成一种类似于I-subframe-burst(ISB)的组帧形式，一个ISB中的每个通信帧所用的波束可以不同，从而达到在一个或几个ISB中遍历所有欲测量方向的目的。
图15是本申请实施例提供的ISB与ISB set的示意图，如图15所示，可以采用数个I-subframe-burst组合，即可以进一步的形成ISB set，一个ISB set的中某个ISB的波束集可以覆盖一个扇形范围，整个ISB set则覆盖了360度的球形范围。
本申请实施例利用ISAC subframe burst set，当搜索在某一个ISB已经找到本地最大/超过预设阈值的的匹配滤波峰值，即可以认为感知目标位于当前ISB中，而无需检测其他ISB。
可选地，所述方法还包括：
在确定所述目标物体的第一位置后，基于相同的定向波束传输多个连续的通信帧中的目标信号，直至确定所述目标物体从所述第一位置变化为第二位置后，更新所述定向波束。
可选地，在基于所述一个或多个相邻的通信帧中的目标信号确定所述目标物体的第一位置后，由于已有感知目标物体的位置信息，通信设备可以使用定向波束对目标物体进行进一步跟踪，并根据感知测量得到的目标物体的运动趋势信息，间隔一定时间对定向波束进行修正。
图16是本申请实施例提供的波束确定后的组帧形式的示意图，如图16所示，在第t个通信帧所使用的波束为Beam(t)，假设物体在短时间内的位移变化不大，仍在Beam(t)的覆盖范围之内，则Beam(t)可以为其后的数个通信帧所沿用。待到第t+1个通信帧时，基于之前的通信帧确定目标物体从第一位置离开后，在第t+1个通信帧根据测量和预测获取的消息，修正所用定向波束为Beam(t+1)。
可选地，图中的C可以看做是一个固定的时间单元。
可选地，所述第二部分位于所述第一部分之后，且所述第一部分的长度为固定值。
可选地，第一部分可以属于一个固定的时间单元，且所述第二部分在所述固定的时间单元之后，即T i＝T f。
可选地，第一部分长度可以是一个固定值，比如可以固定为14个符号或固定为24个符号，本申请实施例对此不作限定，该时间单元可以是一个固定的时间单元，比如可以是一个子帧，本申请实施例对此不作限定。
可选地，可以称该固定的时间单元为ISAC信号子帧或ISAC帧或ISAC子帧。
可选地，图17是本申请实施例提供的第二部分的位置示意图之二，如图17所示，第二部分的位置可以位于目标信号即ISAC信号子帧的后一个子帧，用于远场感知；
可选地，图中的C可以看做是一个固定的时间单元。
可选地，本申请实施例中，目标信号样点可以利用全部帧内的时域资源，最大化感知性能。
可选地，本申请实施例中，目标信号之后的通信帧需要进行额外设计，对帧格式可能需要进行指示。
可选地，所述第二部分的长度为最大感知距离的长度。
可选地，本申请实施例中，用于发送目标信号第一部分的长度T i＝T f。并且在通常的感知距离下，T f＞＞t 2d，因此最多可接收样点为t 2d个。
例如用于接收回波信号的第二部分长度T g＝t 2d时，则感知性能最大化。此时可以利用
Figure PCTCN2022103828-appb-000018
个样点进行感知检测。其中T f为固定的时间单元的长度，T s为样点时间长度。
实际场景中的初始测量时，由于并不知道感知目标的确切位置，也无从确定t 2d。因此，可以根据系统设计的最大感知距离对应的t dmax确定初始的资源分配，即T g＝t dmax，T i＝T f。
当通信设备已经完成初始测量时，对感知目标的几何位置信息即第一位置，即t 2d已有先验信息。例如在本申请实施例中，通信设备在对网络拓扑进行更新的过程中，即可以通过已知的感知目标的t 2d，设定合适的T g和T i。
可选地，考虑到感知性能的提升随样点数增加边际效应递减的特性，可以通过灵活调整第二部分的大小，实现通信性能和感知性能的较优的权衡，以适应不同场景的需求。
本申请实施例中，由于T f＞＞t 2d，当T i＝T f时，I-RX始终只能利用部分目标信号样点进行感知测量。
可选地，所述方法还包括以下至少一项：
通信设备向所述通信对端指示所述通信帧的位置；
通信设备向所述通信对端指示所述第二部分的长度。
可选地，不论是在第一部分和第二部分的长度之和为固定值的情况下还是在第一部分的长度为固定值的情况下，由于既存在通信用的导频和/或数据，也存在第二部分Gap，接收侧即通信对端需要知道通信帧的位置信息，以及第二部分的长度，以便利用通信帧中包含通信数据的那部分样点进行解调(舍弃第二部分区间的样点)。
可选地，所述向所述通信对端指示所述通信帧的位置，包括至少一项：
基于第一周期指示所述通信帧的起始位置；
基于第一信号指示所述通信帧的位置；
基于第一信号更新所述通信帧的位置；
基于第一索引指示所述通信帧的位置，所述第一索引在位置索引表中与所述通信帧的位置相对应，所述位置索引表包括至少一个第二索引，不同的索引对应不同的位置，所述第一索引为所述至少一个第二索引的其中一个。
可选地，所述向所述通信对端指示所述通信帧的位置，包括至少一项：
基于第一周期指示所述固定的时间单元的起始位置；
基于第一信号指示所述固定的时间单元的位置；
基于第一信号更新所述固定的时间单元的位置；
基于第一索引指示所述固定的时间单元的位置，所述第一索引在位置索引表中与所述固定的时间单元的位置相对应，所述位置索引表包括至少一个第二索引，不同的索引对应不同的位置，所述第一索引为所述至少一个第二索引的其中一个。
可选地，在此种指示方案下，可以进一步指示通信对端第一部分和第二部分的长度之和为固定值或指示通信对端第一部分的长度为固定值；
可选地，对于通信帧的位置，可以有如下指示方案：
(1)周期性指示。
即，可以基于第一周期指示通信帧或固定的时间单元的起始位置；
即可以基于第一周期指示所述通信帧或固定的时间单元的起始位置；
可选地，第一周期可以是预设的或者协议规定的或者为一个固定值。
(2)非周期性指示。
a.可以基于第一信号指示通信帧或固定的时间单元的位置，例如通过物理资源控制(Radio resource control，RRC)指示/刷新通信帧或固定的时间单元的位置，比如指示位图bitmap实现对通信帧或固定的时间单元的完整指示；
b.半持续性指示，即可以在通信帧或固定的时间单元的位置变化时，基于第一信号更新所述通信帧或固定的时间单元的位置。
c.基于第一索引指示通信帧或固定的时间单元的位置，所述第一索引 在位置索引表中与所述通信帧或固定的时间单元的位置相对应，所述位置索引表包括至少一个第二索引，不同的索引对应不同的位置，所述第一索引为所述至少一个第二索引的其中一个；
即可以配置一组通信帧的位置索引表，由指示信号触发并指示通信帧对应的第一索引；
位置索引表中的位置可以是bitmap形式，或者是通信帧可能的起始位置和/或结束位置。
可选地，所述向所述通信对端指示所述第二部分的长度，包括以下至少一项：
直接指示所述第二部分的长度；
基于第三索引指示所述第二部分的长度，所述第三索引在时间长度索引表中与所述第二部分的长度相对应，所述时间长度索引表包括至少一个第四索引，不同的第四索引对应不同的长度，所述第三索引为所述至少一个第四索引的其中一个；
直接指示目标信号的数据部分的样点数。
可选地，在指示第二部分的长度时，可以有如下指示方案：
(1)直接指示所述第二部分的时间长度，比如可以指示具体的Gap时间长度；
(2)基于第三索引指示所述第二部分的长度，所述第三索引在时间长度索引表中与所述第二部分的长度相对应，所述时间长度索引表包括至少一个第四索引，不同的第四索引对应不同的长度，所述第三索引为所述至少一个第四索引的其中一个；比如可以首先广播一组第二部分的时间长度索引表。在控制信道中指示对应通信帧中所含第二部分长度的第三索引值；
(3)直接指示目标信号的数据部分的样点数。
可选地，通信帧也可以看作是一个mini slot所包含的时域样点，该mini slot的长度固定配置为7个符号，指示方式也可以包括在下行控制消息(Downlink control information，DCI)中指示。
可选地，所述确定用于传输目标信号的通信帧，还包括：
确定所述通信设备的最小感知距离；
基于最小感知距离，调整所述目标信号的传输时间，以使所述第一部分的长度小于或等于所述最小感知距离。
可选地，本申请实施例中的感知信号检测可以采用匹配滤波的方法。
如果T i>t 2d，则I-RX只能使用部分ISAC信号进行检测；且由于t 2d的不确定性，使得I-RX难以判断具体的本地检测信号截取位置，只能采用枚举的形式进行假设检测(hypothesis test)，极大提高了检测复杂度。
因此，可以根据感知目标物体的距离的下界，确定一个最小感知距离t min，据此调整通信帧中的目标信号发送时间，使得始终有T i≤t min，可以优先规避需要截取部分目标信号检测的复杂度问题。
可选地，所述方法还包括：
确定所述回波信号的至少一个子序列，其中，所述子序列包括所述回波信号中至少两个连续的数据样点；
检测所述至少一个子序列中的目标子序列。
可选地，在T i>t 2d的情况下，可以考虑使用回波信号的至少一个子序列作为匹配滤波的本地检测信号降低复杂度。
可选地，所谓子序列可以指目标信号样点的回波信号样点的子集，所述目标信号样点即T i内发送的所有时域样点，即目标信号样点中的部分样点组成的子集用于雷达感知。
可选地，由于回波信号样点即为目标信号样点被反射后接收的样点，为了方便描述，本申请实施例中可以将回波信号样点表示与目标信号样点作相同的表示；
可选地，假设目标信号样点为S N＝[s 1，s 2，…，s N]，假设s N为最先发送出去的样点(同时意味着最先被反射回来)。可以设计一组含有M个候选子序列的集合{S K}，
Figure PCTCN2022103828-appb-000019
I-RX检测时的最大枚举数量由N减少到了M。并且，选取适当的M值，可以找到合 适的i使得
Figure PCTCN2022103828-appb-000020
在最小化开销的前提下达到较优的检测性能。
可选地，在检测所述至少一个子序列中的目标子序列时，可以仅检测子序列。i表示遍历取值，例如i＝0.1，2…，取不同的i得到不同长度的子序列。
其中，合适的i可以指f(.)值大于取i-1时f(.)的值和取i+1时f(.)的值，说明f(.)的最大值肯定在(i-1，i+1)之间。此时对此区间内的所有可能样点起始位置取值进行搜索(全序列)，即可以得到精度最高的延时值。
可选地，所述检测所述至少一个子序列中的目标子序列，包括：
对所述至少一个子序列进行匹配滤波计算；
基于所述匹配滤波计算的结果，确定所述目标子序列。
可选地，为了进一步提升精度，则可以在进一步搜索。假设f(x，y)表示对两个序列x和y进行归一化的匹配滤波计算。当找到i使得
Figure PCTCN2022103828-appb-000021
满足：
Figure PCTCN2022103828-appb-000022
且
Figure PCTCN2022103828-appb-000023
Figure PCTCN2022103828-appb-000024
时，可以断定最佳相关序列
Figure PCTCN2022103828-appb-000025
满足
Figure PCTCN2022103828-appb-000026
Figure PCTCN2022103828-appb-000027
因而可以对
Figure PCTCN2022103828-appb-000028
进行遍历搜索，直到找到使f(S j，Y j)最大的j，因而可以得到精度为符号时间级别的双向时延，即t 2d＝jt s。
假设UE发送信号有4个样点[s1，s2，s3，s4]，样点时间间隔为1个时间单位t。
则UE发送目标信号所需时间是4t。由于是半双工，等UE发送完毕后才能切换为感知接收状态。如果假设双向传播时延t 2d＝2t，则当UE发送完毕后，只能收到最后2t时间内的回波信号样点[s3’，s4’]，此时最佳的匹配滤波序列则是[s3s4]。但由于UE并不会知道t 2d＝2t，所以它需要遍历检测，即使用[s1，s2，s3，s4]，[s2，s3，s4]，[s3，s4]都进行匹配滤波尝试，最后将结果值最大的那个作为正确的序列。
所以当样点数多的时候，需要遍历的子序列过多，所以本申请实施例 可以减少假设检测次数。
例如，对[s1，s2，…，s10]的样点，N＝10，取M＝4，则floor([(M-1]/M]*10)＝7，floor([(M-2]/M]*10)＝5，floor([(M-3]/M]*10)＝2，即可以先用子序列S10＝[s1，s2，s3，s4，s5，s6，s7，s8，s9，s10]，S7＝[s4，s5，s6，s7，s8，s9，s10]，S5＝[s6，s7，s8，s9，s10]，S2＝[s9，s10]做匹配滤波检测。如果使用S5获得的结果最佳，则可以认为最佳匹配结果在S7和S2之间且不包含它们，此时再遍历S6，S4，S3，并与S5的结果比较，取最佳匹配结果。
可选地，所述检测所述至少一个子序列中的目标子序列，包括以下至少一项：
确定所述目标子序列的检测顺序；
确定检测阈值，基于所述检测阈值确定所述目标子序列。
可选地，可以通过合理选取检测时所用子序列的顺序，以及感知信号检测的阈值，可能可以进一步减少枚举数量。因此可以检测所述至少一个子序列中的目标子序列，减少枚举数量。
可选地，在检测至少一个子序列中的目标子序列时，可以确定目标子序列的检测顺序；
可选地，在检测至少一个子序列中的目标子序列时，可以确定检测阈值，基于所述检测阈值确定所述目标子序列；
可选地，检测所述至少一个子序列中的目标子序列时，可以基于以下至少一项改善子序列搜索的速度：
Random pick。
依序列长度倒序/正序选取；
Bi-section search。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号 间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
需要说明的是，本申请实施例提供的传输方法，执行主体可以为传输装置，或者，该传输装置中的用于执行传输方法的控制模块。本申请实施例中以传输装置执行传输方法为例，说明本申请实施例提供的传输装置。
图18是本申请实施例提供的传输装置的结构示意图，如图18所示，所述装置包括：第一确定模块1810，和第一传输模块1820，和第一接收模块1830；其中：
第一确定模块1810用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；
第一传输模块1820用于在所述通信帧中的第一部分内，传输所述目标信号；
第一接收模块1830用于在所述通信帧中的第二部分内，接收所述感知信号。
可选地，传输装置可以通过第一确定模块1810传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；然后在所述通信帧中的第一部分内，通过第一传输模块1820传输所述目标信号；在所述通信帧中的第二部分内，通过第一接收模块1830接收所述感知信号。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
可选地，所述第二部分位于所述第一部分之后，且所述第一部分和第二部分的长度之和为固定值。
可选地，所述第二部分的长度为最小感知距离的长度。
可选地，多个连续的通信帧所用的波束不全部相同或者全部不相同。
可选地，所述装置还包括：
第二传输模块，用于在确定所述目标物体的第一位置后，基于相同的定向波束传输多个连续的通信帧中的目标信号，直至确定所述目标物体从所述第一位置变化为第二位置后，更新所述定向波束。
可选地，所述第二部分位于所述第一部分之后，且所述第一部分的长度为固定值。
可选地，所述第二部分的长度为最大感知距离的长度。
可选地，所述装置还包括以下至少一项：
第一指示模块，用于向所述通信对端指示所述通信帧的位置；
第二指示模块，用于向所述通信对端指示所述第二部分的长度。
可选地，所述第一指示模块还用于至少一项：
基于第一周期指示所述通信帧的起始位置；
基于第一信号指示所述通信帧的位置；
基于第一信号更新所述通信帧的位置；
基于第一索引指示所述通信帧的位置，所述第一索引在位置索引表中与所述通信帧的位置相对应，所述位置索引表包括至少一个第二索引，不同的索引对应不同的位置，所述第一索引为所述至少一个第二索引的其中一个。
可选地，所述第二指示模块还用于以下至少一项：
直接指示所述第二部分的长度；
基于第三索引指示所述第二部分的长度，所述第三索引在时间长度索引表中与所述第二部分的长度相对应，所述时间长度索引表包括至少一个第四索引，不同的第四索引对应不同的长度，所述第三索引为所述至少一个第四索引的其中一个；
直接指示目标信号的数据部分的样点数。
可选地，所述第一确定模块还用于：
确定所述通信设备的最小感知距离；
基于最小感知距离，调整所述目标信号的传输时间，以使所述第一部分的长度小于或等于所述最小感知距离。
可选地，所述装置还包括：
第四确定模块，用于确定所述回波信号的至少一个子序列，其中，所述子序列包括所述回波信号中至少两个连续的数据样点；
检测模块，用于检测所述至少一个子序列中的目标子序列。
可选地，所述检测模块还用于：
对所述至少一个子序列进行匹配滤波计算；
基于所述匹配滤波计算的结果，确定所述目标子序列。
可选地，所述检测模块还用于：
确定所述目标子序列的检测顺序；
确定检测阈值，基于所述检测阈值确定所述目标子序列。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
本申请实施例中的传输装置可以是装置，具有操作系统的装置或电子设备，也可以是终端中的部件、集成电路、或芯片。该装置或电子设备可以是移动终端，也可以为非移动终端。示例性的，移动终端可以包括但不限于上述所列举的终端11的类型，非移动终端可以为服务器、网络附属存储器(Network Attached Storage，NAS)、个人计算机(personal computer，PC)、电视机(television，TV)、柜员机或者自助机等，本申请实施例不作具体限定。
本申请实施例提供的传输装置能够实现图2至图17的方法实施例实现 的各个过程，并达到相同的技术效果，为避免重复，这里不再赘述。
可选的，图19是本申请实施例提供的通信设备的结构示意图，如图19所示，如图19所示，本申请实施例还提供一种通信设备1900，包括处理器1901，存储器1902，存储在存储器1902上并可在所述处理器1901上运行的程序或指令，例如，该通信设备1900为终端时，该程序或指令被处理器1901执行时实现上述传输方法实施例的各个过程，且能达到相同的技术效果。该通信设备1900为网络侧设备时，该程序或指令被处理器1901执行时实现上述传输方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
可选地，通信设备可以是终端；其通信对端可以是网络侧设备或另一终端；
可选地，通信设备可以是网络侧设备，比如基站；其通信对端可以是终端；
本申请实施例还提供一种终端，包括处理器和通信接口，所述处理器用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；所述通信接口用于在所述通信帧中的第一部分内，传输所述目标信号；在所述通信帧中的第二部分内，接收所述感知信号。该终端实施例是与上述终端侧方法实施例对应的，上述方法实施例的各个实施过程和实现方式均可适用于该终端实施例中，且能达到相同的技术效果。具体地，图20为实现本申请实施例的一种终端的硬件结构示意图。
该终端2000包括但不限于：射频单元2001、网络模块2002、音频输出单元2003、输入单元2004、传感器2005、显示单元2006、用户输入单元2007、接口单元2008、存储器2009、以及处理器2010等中的至少部分部件。
本领域技术人员可以理解，终端2000还可以包括给各个部件供电的电源(比如电池)，电源可以通过电源管理系统与处理器2010逻辑相连，从 而通过电源管理系统实现管理充电、放电、以及功耗管理等功能。图20中示出的终端结构并不构成对终端的限定，终端可以包括比图示更多或更少的部件，或者组合某些部件，或者不同的部件布置，在此不再赘述。
应理解的是，本申请实施例中，输入单元2004可以包括图形处理器(Graphics Processing Unit，GPU)20041和麦克风20042，图形处理器20041对在视频捕获模式或图像捕获模式中由图像捕获装置(如摄像头)获得的静态图片或视频的图像数据进行处理。显示单元2006可包括显示面板20061，可以采用液晶显示器、有机发光二极管等形式来配置显示面板20061。用户输入单元2007包括触控面板20071以及其他输入设备20072。触控面板20071，也称为触摸屏。触控面板20071可包括触摸检测装置和触摸控制器两个部分。其他输入设备20072可以包括但不限于物理键盘、功能键(比如音量控制按键、开关按键等)、轨迹球、鼠标、操作杆，在此不再赘述。
本申请实施例中，射频单元2001将来自网络侧设备的下行数据接收后，给处理器2010处理；另外，将上行的数据发送给网络侧设备。通常，射频单元2001包括但不限于天线、至少一个放大器、收发信机、耦合器、低噪声放大器、双工器等。
存储器2009可用于存储软件程序或指令以及各种数据。存储器2009可主要包括存储程序或指令区和存储数据区，其中，存储程序或指令区可存储操作系统、至少一个功能所需的应用程序或指令(比如声音播放功能、图像播放功能等)等。此外，存储器2009可以包括高速随机存取存储器，还可以包括非易失性存储器，其中，非易失性存储器可以是只读存储器(Read-Only Memory，ROM)、可编程只读存储器(Programmable ROM，PROM)、可擦除可编程只读存储器(Erasable PROM，EPROM)、电可擦除可编程只读存储器(Electrically EPROM，EEPROM)或闪存。例如至少一个磁盘存储器件、闪存器件、或其他非易失性固态存储器件。
处理器2010可包括一个或多个处理单元；可选的，处理器2010可集 成应用处理器和调制解调处理器，其中，应用处理器主要处理操作系统、用户界面和应用程序或指令等，调制解调处理器主要处理无线通信，如基带处理器。可以理解的是，上述调制解调处理器也可以不集成到处理器2010中。
其中，处理器2010，用于：
通信设备确定用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；
所述通信设备在所述通信帧中的第一部分内，传输所述目标信号；
所述通信设备在所述通信帧中的第二部分内，接收所述感知信号。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
可选地，所述第二部分位于所述第一部分之后，且所述第一部分和第二部分的长度之和为固定值。
可选地，所述第二部分的长度为最小感知距离的长度。
可选地，多个连续的通信帧所用的波束不全部相同或者全部不相同。
可选地，处理器2010还用于：
在确定所述目标物体的第一位置后，基于相同的定向波束传输多个连续的通信帧中的目标信号，直至确定所述目标物体从所述第一位置变化为第二位置后，更新所述定向波束。
可选地，所述第二部分位于所述第一部分之后，且所述第一部分的长度为固定值。
可选地，所述第二部分的长度为最大感知距离的长度。
可选地，处理器2010还用于以下至少一项：
通信设备向所述通信对端指示所述通信帧的位置；
通信设备向所述通信对端指示所述第二部分的长度。
可选地，处理器2010还用于以下至少一项：
基于第一周期指示所述通信帧的起始位置；
基于第一信号指示所述通信帧的位置；
基于第一信号更新所述通信帧的位置；
基于第一索引指示所述通信帧的位置，所述第一索引在位置索引表中与所述通信帧的位置相对应，所述位置索引表包括至少一个第二索引，不同的索引对应不同的位置，所述第一索引为所述至少一个第二索引的其中一个。
可选地，处理器2010还用于以下至少一项：
直接指示所述第二部分的长度；
基于第三索引指示所述第二部分的长度，所述第三索引在时间长度索引表中与所述第二部分的长度相对应，所述时间长度索引表包括至少一个第四索引，不同的第四索引对应不同的长度，所述第三索引为所述至少一个第四索引的其中一个；
直接指示目标信号的数据部分的样点数。
可选地，处理器2010还用于：
确定所述通信设备的最小感知距离；
基于最小感知距离，调整所述目标信号的传输时间，以使所述第一部分的长度小于或等于所述最小感知距离。
可选地，处理器2010还用于：
确定所述回波信号的至少一个子序列，其中，所述子序列包括所述回波信号中至少两个连续的数据样点；
检测所述至少一个子序列中的目标子序列。
可选地，处理器2010还用于：
对所述至少一个子序列进行匹配滤波计算；
基于所述匹配滤波计算的结果，确定所述目标子序列。
可选地，处理器2010还用于以下至少一项：
确定所述目标子序列的检测顺序；
确定检测阈值，基于所述检测阈值确定所述目标子序列。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
本申请实施例还提供一种网络侧设备，包括处理器和通信接口，所述处理器用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；所述通信接口用于在所述通信帧中的第一部分内，传输所述目标信号；在所述通信帧中的第二部分内，接收所述感知信号。该网络侧设备实施例是与上述网络侧设备方法实施例对应的，上述方法实施例的各个实施过程和实现方式均可适用于该网络侧设备实施例中，且能达到相同的技术效果。
具体地，本申请实施例还提供了一种网络侧设备。图21为实现本申请实施例的一种网络侧设备的硬件结构示意图。如图21所示，该网络设备2100包括：天线2101、射频装置2102、基带装置2103。天线2101与射频装置2102连接。在上行方向上，射频装置2102通过天线2101接收信息，将接收的信息发送给基带装置2103进行处理。在下行方向上，基带装置2103对要发送的信息进行处理，并发送给射频装置2102，射频装置2102对收到的信息进行处理后经过天线2101发送出去。
上述频带处理装置可以位于基带装置2103中，以上实施例中网络侧设备执行的方法可以在基带装置2103中实现，该基带装置2103包括处理器2104和存储器2105。
基带装置2103例如可以包括至少一个基带板，该基带板上设置有多个芯片，如图21所示，其中一个芯片例如为处理器2104，与存储器2105连接，以调用存储器2105中的程序，执行以上方法实施例中所示的网络设备操作。
该基带装置2103还可以包括网络接口2106，用于与射频装置2102交互信息，该接口例如为通用公共无线接口(common public radio interface，简称CPRI)。
具体地，本发明实施例的网络侧设备还包括：存储在存储器2105上并可在处理器2104上运行的指令或程序，处理器2104调用存储器2105中的指令或程序执行图18所示各模块执行的方法，并达到相同的技术效果，为避免重复，故不在此赘述。
其中，处理器2104用于：
通信设备确定用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；
所述通信设备在所述通信帧中的第一部分内，传输所述目标信号；
所述通信设备在所述通信帧中的第二部分内，接收所述感知信号。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
可选地，所述第二部分位于所述第一部分之后，且所述第一部分和第二部分的长度之和为固定值。
可选地，所述第二部分的长度为最小感知距离的长度。
可选地，多个连续的通信帧所用的波束不全部相同或者全部不相同。
可选地，处理器2104还用于：
在确定所述目标物体的第一位置后，基于相同的定向波束传输多个连续的通信帧中的目标信号，直至确定所述目标物体从所述第一位置变化为第二位置后，更新所述定向波束。
可选地，所述第二部分位于所述第一部分之后，且所述第一部分的长度为固定值。
可选地，所述第二部分的长度为最大感知距离的长度。
可选地，处理器2104还用于以下至少一项：
通信设备向所述通信对端指示所述通信帧的位置；
通信设备向所述通信对端指示所述第二部分的长度。
可选地，处理器2104还用于以下至少一项：
基于第一周期指示所述通信帧的起始位置；
基于第一信号指示所述通信帧的位置；
基于第一信号更新所述通信帧的位置；
基于第一索引指示所述通信帧的位置，所述第一索引在位置索引表中与所述通信帧的位置相对应，所述位置索引表包括至少一个第二索引，不同的索引对应不同的位置，所述第一索引为所述至少一个第二索引的其中一个。
可选地，处理器2104还用于以下至少一项：
直接指示所述第二部分的长度；
基于第三索引指示所述第二部分的长度，所述第三索引在时间长度索引表中与所述第二部分的长度相对应，所述时间长度索引表包括至少一个第四索引，不同的第四索引对应不同的长度，所述第三索引为所述至少一个第四索引的其中一个；
直接指示目标信号的数据部分的样点数。
可选地，处理器2104还用于：
确定所述通信设备的最小感知距离；
基于最小感知距离，调整所述目标信号的传输时间，以使所述第一部 分的长度小于或等于所述最小感知距离。
可选地，处理器2104还用于：
确定所述回波信号的至少一个子序列，其中，所述子序列包括所述回波信号中至少两个连续的数据样点；
检测所述至少一个子序列中的目标子序列。
可选地，处理器2104还用于：
对所述至少一个子序列进行匹配滤波计算；
基于所述匹配滤波计算的结果，确定所述目标子序列。
可选地，处理器2104还用于以下至少一项：
确定所述目标子序列的检测顺序；
确定检测阈值，基于所述检测阈值确定所述目标子序列。
在本申请实施例中，通过将通信传输的目标信号同时作为通信信号和感知信息，并为目标信号的传输定义新的通信帧结构，实现通信和感知共用协议栈，射频，和频谱，以半双工方式工作，避免通信信号与感知信号间出现干扰，同时实现了一种紧凑的ISAC帧结构，节约了通信开销，节省资源。
本申请实施例还提供一种可读存储介质，所述可读存储介质上存储有程序或指令，该程序或指令被处理器执行时实现上述传输方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
其中，所述处理器为上述实施例中所述的终端中的处理器。所述可读存储介质，包括计算机可读存储介质，如计算机只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等。
本申请实施例另提供了一种芯片，所述芯片包括处理器和通信接口，所述通信接口和所述处理器耦合，所述处理器用于运行程序或指令，实现上述传输方法实施例的各个过程，且能达到相同的技术效果，为避免重复，这里不再赘述。
应理解，本申请实施例提到的芯片还可以称为系统级芯片，系统芯片，芯片系统或片上系统芯片等。
需要说明的是，在本文中，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者装置不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者装置所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括该要素的过程、方法、物品或者装置中还存在另外的相同要素。此外，需要指出的是，本申请实施方式中的方法和装置的范围不限按示出或讨论的顺序来执行功能，还可包括根据所涉及的功能按基本同时的方式或按相反的顺序来执行功能，例如，可以按不同于所描述的次序来执行所描述的方法，并且还可以添加、省去、或组合各种步骤。另外，参照某些示例所描述的特征可在其他示例中被组合。
通过以上的实施方式的描述，本领域的技术人员可以清楚地了解到上述实施例方法可借助软件加必需的通用硬件平台的方式来实现，当然也可以通过硬件，但很多情况下前者是更佳的实施方式。基于这样的理解，本申请的技术方案本质上或者说对现有技术做出贡献的部分可以以计算机软件产品的形式体现出来，该计算机软件产品存储在一个存储介质(如ROM/RAM、磁碟、光盘)中，包括若干指令用以使得一台终端(可以是手机，计算机，服务器，或者网络设备等)执行本申请各个实施例所述的方法。
上面结合附图对本申请的实施例进行了描述，但是本申请并不局限于上述的具体实施方式，上述的具体实施方式仅仅是示意性的，而不是限制性的，本领域的普通技术人员在本申请的启示下，在不脱离本申请宗旨和权利要求所保护的范围情况下，还可做出很多形式，均属于本申请的保护之内。

Claims (30)

  1. 一种传输方法，包括：
    通信设备确定用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；
    所述通信设备在所述通信帧中的第一部分内，传输所述目标信号；
    所述通信设备在所述通信帧中的第二部分内，接收所述感知信号。
  2. 根据权利要求1所述的传输方法，其中，所述第二部分位于所述第一部分之后，且所述第一部分和第二部分的长度之和为固定值。
  3. 根据权利要求2所述的传输方法，其中，所述第二部分的长度为最小感知距离的长度。
  4. 根据权利要求2所述的传输方法，其中，多个连续的通信帧所用的波束不全部相同或者全部不相同。
  5. 根据权利要求4所述的传输方法，其中，所述方法还包括：
    在确定所述目标物体的第一位置后，基于相同的定向波束传输多个连续的通信帧中的目标信号，直至确定所述目标物体从所述第一位置变化为第二位置后，更新所述定向波束。
  6. 根据权利要求1所述的传输方法，其中，所述第二部分位于所述第一部分之后，且所述第一部分的长度为固定值。
  7. 根据权利要求6所述的传输方法，其中，所述第二部分的长度为最大感知距离的长度。
  8. 根据权利要求2-7任一项所述的传输方法，其中，所述方法还包括以下至少一项：
    通信设备向所述通信对端指示所述通信帧的位置；
    通信设备向所述通信对端指示所述第二部分的长度。
  9. 根据权利要求8所述的传输方法，其中，所述向所述通信对端指示 所述通信帧的位置，包括至少一项：
    基于第一周期指示所述通信帧的起始位置；
    基于第一信号指示所述通信帧的位置；
    基于第一信号更新所述通信帧的位置；
    基于第一索引指示所述通信帧的位置，所述第一索引在位置索引表中与所述通信帧的位置相对应，所述位置索引表包括至少一个第二索引，不同的索引对应不同的位置，所述第一索引为所述至少一个第二索引的其中一个。
  10. 根据权利要求8所述的传输方法，其中，所述向所述通信对端指示所述第二部分的长度，包括以下至少一项：
    直接指示所述第二部分的长度；
    基于第三索引指示所述第二部分的长度，所述第三索引在时间长度索引表中与所述第二部分的长度相对应，所述时间长度索引表包括至少一个第四索引，不同的第四索引对应不同的长度，所述第三索引为所述至少一个第四索引的其中一个；
    直接指示目标信号的数据部分的样点数。
  11. 根据权利要求1-7任一项或9或10所述的传输方法，其中，所述确定用于传输目标信号的通信帧，还包括：
    确定所述通信设备的最小感知距离；
    基于最小感知距离，调整所述目标信号的传输时间，以使所述第一部分的长度小于或等于所述最小感知距离。
  12. 根据权利要求1-7任一项或9或10所述的传输方法，其中，所述方法还包括：
    确定所述回波信号的至少一个子序列，其中，所述子序列包括所述回波信号中至少两个连续的数据样点；
    检测所述至少一个子序列中的目标子序列。
  13. 根据权利要求12所述的传输方法，其中，所述检测所述至少一个 子序列中的目标子序列，包括：
    对所述至少一个子序列进行匹配滤波计算；
    基于所述匹配滤波计算的结果，确定所述目标子序列。
  14. 根据权利要求12所述的传输方法，其中，所述检测所述至少一个子序列中的目标子序列，包括以下至少一项：
    确定所述目标子序列的检测顺序；
    确定检测阈值，基于所述检测阈值确定所述目标子序列。
  15. 一种传输装置，包括：
    第一确定模块，用于传输目标信号的通信帧，所述通信帧包括：用于传输目标信号的第一部分，以及用于接收感知信号的第二部分，所述感知信号为所述目标信号的回波信号；
    第一传输模块，用于在所述通信帧中的第一部分内，传输所述目标信号；
    第一接收模块，用于在所述通信帧中的第二部分内，接收所述感知信号。
  16. 根据权利要求15所述的传输装置，其中，所述第二部分位于所述第一部分之后，且所述第一部分和第二部分的长度之和为固定值。
  17. 根据权利要求16所述的传输装置，其中，所述第二部分的长度为最小感知距离的长度。
  18. 根据权利要求16所述的传输装置，其中，多个连续的通信帧所用的波束不全部相同或者全部不相同。
  19. 根据权利要求18所述的传输装置，其中，所述装置还包括：
    第二传输模块，用于在确定所述目标物体的第一位置后，基于相同的定向波束传输多个连续的通信帧中的目标信号，直至确定所述目标物体从所述第一位置变化为第二位置后，更新所述定向波束。
  20. 根据权利要求15所述的传输装置，其中，所述第二部分位于所述第一部分之后，且所述第一部分的长度为固定值。
  21. 根据权利要求20所述的传输装置，其中，所述第二部分的长度为最大感知距离的长度。
  22. 根据权利要求16-21任一项所述的传输装置，其中，所述装置还包括以下至少一项：
    第一指示模块，用于向所述通信对端指示所述通信帧的位置；
    第二指示模块，用于向所述通信对端指示所述第二部分的长度。
  23. 根据权利要求22所述的传输装置，其中，所述第一指示模块还用于至少一项：
    基于第一周期指示所述通信帧的起始位置；
    基于第一信号指示所述通信帧的位置；
    基于第一信号更新所述通信帧的位置；
    基于第一索引指示所述通信帧的位置，所述第一索引在位置索引表中与所述通信帧的位置相对应，所述位置索引表包括至少一个第二索引，不同的索引对应不同的位置，所述第一索引为所述至少一个第二索引的其中一个。
  24. 根据权利要求22所述的传输装置，其中，所述第二指示模块还用于以下至少一项：
    直接指示所述第二部分的长度；
    基于第三索引指示所述第二部分的长度，所述第三索引在时间长度索引表中与所述第二部分的长度相对应，所述时间长度索引表包括至少一个第四索引，不同的第四索引对应不同的长度，所述第三索引为所述至少一个第四索引的其中一个；
    直接指示目标信号的数据部分的样点数。
  25. 根据权利要求15-21任一项或23或24所述的传输装置，其中，所述第一确定模块还用于：
    确定所述通信设备的最小感知距离；
    基于最小感知距离，调整所述目标信号的传输时间，以使所述第一部 分的长度小于或等于所述最小感知距离。
  26. 根据权利要求15-21任一项或23或24所述的传输装置，其中，所述装置还包括：
    第四确定模块，用于确定所述回波信号的至少一个子序列，其中，所述子序列包括所述回波信号中至少两个连续的数据样点；
    检测模块，用于检测所述至少一个子序列中的目标子序列。
  27. 根据权利要求26所述的传输装置，其中，所述检测模块还用于：
    对所述至少一个子序列进行匹配滤波计算；
    基于所述匹配滤波计算的结果，确定所述目标子序列。
  28. 根据权利要求26所述的传输装置，其中，所述检测模块还用于：
    确定所述目标子序列的检测顺序；
    确定检测阈值，基于所述检测阈值确定所述目标子序列。
  29. 一种通信设备，包括处理器，存储器及存储在所述存储器上并可在所述处理器上运行的程序或指令，所述程序或指令被所述处理器执行时实现如权利要求1至14任一项所述的传输方法的步骤。
  30. 一种可读存储介质，所述可读存储介质上存储程序或指令，所述程序或指令被处理器执行时实现如权利要求1至14任一项所述的传输方法的步骤。
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WO2025097315A1 (zh) * 2023-11-07 2025-05-15 Oppo广东移动通信有限公司 信号传输方法、装置、设备、介质和程序产品
WO2025227275A1 (en) * 2024-04-28 2025-11-06 Qualcomm Incorporated Integration of orthogonal time frequency space (otfs) based sensing reference signals in orthogonal frequency division multiplexed (ofdm) waveforms
WO2025228067A1 (zh) * 2024-04-30 2025-11-06 华为技术有限公司 一种信息传输方法及装置
WO2025246935A1 (zh) * 2024-05-27 2025-12-04 华为技术有限公司 一种信道信息的确定方法及装置
WO2026007106A1 (en) * 2024-07-05 2026-01-08 Huawei Technologies Co., Ltd. Methods and systems for communications in isac systems using data-embedded sequences

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