Angle measurement method, angle measurement device and computer readable storage medium

Abstract

The invention relates to the field of terminal control, in particular to an angle measurement method and device and a storage medium. The angle measurement method provided by the invention is applied to first reference equipment, and comprises the following steps: based on communication connection between target equipment and second reference equipment, determining a plurality of phase measurement values of signal interaction between the target equipment and each reference equipment under a plurality of signal frequencies; based on the plurality of phase measurement values, respectively determining a signal phase change estimation value corresponding to each signal frequency, and obtaining a plurality of signal phase change estimation values; determining a distance difference between the target device and the two reference devices based on the plurality of signal phase change estimated values; and determining deflection angles between the target equipment and the two pieces of reference equipment based on the baseline length and the distance difference between the two pieces of reference equipment. The purpose of high-precision angle measurement can be achieved under the condition that other measurement sensors do not need to be added.

Description

Technical Field

[0001] The present invention relates to the field of terminal control, and in particular to an angle measurement method, an angle communication device and a computer-readable storage medium. Background Art

[0002] As the functions of terminal devices are continuously improved, the application scenarios involved in terminal devices are becoming more and more abundant. In related technologies, in order to meet the needs of terminal devices to measure environmental information, it is necessary to pre-install multiple dedicated sensors for environmental measurement in the terminal devices, thereby increasing the system cost of the terminal devices. Summary of the invention

[0003] To overcome the problems existing in the related art, an exemplary embodiment of the present disclosure provides an angle measurement method, which is applied to a first reference device, where the first reference device is one of two reference devices that are communicatively connected to a target device. The method includes: based on the communication connection between the target device and the second reference device, determining multiple phase measurement values ​​of the target device performing signal interaction with each reference device at multiple signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one, and the second reference device is the other of the two reference devices; based on the multiple phase measurement values, determining a signal phase change estimation value corresponding to each signal frequency, and obtaining multiple signal phase change estimation values; based on the multiple signal phase change estimation values, determining a distance difference between the target device and the two reference devices; based on the baseline length and the distance difference between the two reference devices, determining a deflection angle between the target device and the two reference devices, wherein the baseline is a line connecting the two reference devices, and the deflection angle is an angle between a line connecting the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

[0004] In a second aspect, the present disclosure further provides an angle measurement method, which is applied to a first reference device, where the first reference device is one of two reference devices that are communicatively connected to a target device. The method includes: receiving multiple first signals sent by the target device, and determining multiple first phase values ​​of the multiple first signals, where the multiple first signals correspond to multiple signal frequencies; sending the multiple first phase values ​​to a target measurement device, where the target measurement device is a target device, a second reference device, or a third device; sending multiple second signals to the target device so that the target device can determine multiple second phase values ​​of the received multiple second signals, and synchronizing them to the target measurement device so that the target measurement device can determine the multiple second phase values ​​of the received multiple second signals based on each first phase value and the two second phase values ​​corresponding to the same signal frequency. Determine phase measurement values ​​of signal interaction between the target device and each reference device at multiple signal frequencies, and multiple phase measurement values, respectively determine the signal phase change estimation value corresponding to each signal frequency, and obtain multiple signal phase change estimation values; determine the distance difference between the target device and the two reference devices based on the multiple signal phase change estimation values; and determine the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is a line between the two reference devices, the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, the target plane is a plane where the target device and the two reference devices are located, and the signal frequency of the second signal is the same as that of the first signal.

[0005] In a third aspect, the present disclosure also provides an angle measurement method, which is applied to a target device that is communicatively connected to two reference devices, the method comprising: determining multiple phase measurement values ​​for signal interaction with each reference device at multiple signal frequencies, the phase measurement values ​​corresponding to the signal frequencies one-to-one; based on the multiple phase measurement values, determining the signal phase change estimation value corresponding to each signal frequency, to obtain multiple signal phase change estimation values; based on the multiple signal phase change estimation values, determining the distance difference between the target device and the two reference devices; based on the baseline length and the distance difference between the two reference devices, determining the deflection angle between the target device and the two reference devices, wherein the baseline is a line connecting the two reference devices, the deflection angle is an angle between a line connecting the target device to the midpoint of the baseline and a normal of the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

[0006] In a fourth aspect, the present disclosure further provides an angle measurement method, which is applied to a target device that is communicatively connected to two reference devices, and the method includes: sending multiple first signals to the two reference devices so that the two reference devices can determine that they have received first phase values ​​corresponding to the multiple first signals, and synchronize to a target measurement device, the target measurement device being one of the two reference devices or a third device, and the multiple first signals corresponding to the multiple signal frequencies; receiving multiple second signals sent by two second communication devices, the second signals having the same signal frequency as the first signals; determining second phase values ​​of the multiple second signals, and sending the second phase values ​​of the multiple second signals to the target measurement device, so that the target measurement device determines that the first phase values ​​corresponding to the multiple first signals are received based on each first phase measurement value and the corresponding two second phase measurement values, determining the phase measurement values ​​of the target device performing signal interaction with each reference device respectively under multiple signal frequencies, and multiple phase measurement values, determining the signal phase change estimation value corresponding to each signal frequency respectively, to obtain multiple signal phase change estimation values; and determining the distance difference between the target device and the two reference devices based on the multiple signal phase change estimation values; determining the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0007] In a fifth aspect, the present disclosure further provides an angle measurement method, which is applied to a third device, the third device is respectively connected to a target device and two reference devices in communication, and the target device is connected to the two reference devices in communication, the method comprising: determining a plurality of phase measurement values ​​of a signal interaction between the target device and each reference device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one; based on the plurality of phase measurement values, respectively determining a signal phase change estimation value corresponding to each signal frequency, to obtain a plurality of signal phase change estimation values; based on the plurality of signal phase change estimation values, determining a distance difference between the target device and the two reference devices;

[0008] Based on the baseline length and distance difference between the two reference devices, the deflection angle between the target device and the two reference devices is determined, wherein the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0009] In a sixth aspect, the present disclosure further provides an angle measurement device, which is applied to a first reference device, where the first reference device is one of two reference devices that are communicatively connected to a target device, and the device includes: a first processing module, which is used to determine, based on the communication connection between the target device and the second reference device, a plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one-to-one, and the second reference device is the other of the two reference devices; a second processing module, which is used to determine, based on the plurality of phase measurement values, a signal phase change estimation value corresponding to each signal frequency, to obtain a plurality of signal phase change estimation values; a third processing module, which is used to determine, based on the plurality of signal phase change estimation values, a distance difference between the target device and the two reference devices; and a fourth processing module, which is used to determine, based on the baseline length and the distance difference between the two reference devices, a deflection angle between the target device and the two reference devices, wherein the baseline is a line connecting the two reference devices, and the deflection angle is an angle between a line connecting the target device to the midpoint of the baseline and a normal of the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

[0010] In the seventh aspect, the present disclosure also provides an angle measurement device, which is applied to a first reference device, where the first reference device is one of two reference devices communicatively connected to a target device, and the device includes: a first receiving module, which is used to receive multiple first signals sent by the target device and determine multiple first phase values ​​of the multiple first signals, where the multiple first signals correspond to multiple signal frequencies; a first sending module, which is used to send multiple second signals to the target device, so that the target device can determine multiple second phase values ​​of the received multiple second signals and synchronize them to the target measurement device, where the target measurement device is the target device, the second reference device or the third device, and the second signal has the same signal frequency as the first signal; and a second sending module, which is used to send the multiple first phase values ​​to the target measurement device, so that the target measurement device can determine the multiple second phase values ​​of the received multiple second signals and synchronize them to the target measurement device. For each first phase value and the two second phase values ​​corresponding to the same signal frequency, determine the phase measurement values ​​of the target device performing signal interaction with each reference device at multiple signal frequencies, and determine the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, so as to obtain multiple signal phase change estimation values; based on the multiple signal phase change estimation values, determine the distance difference between the target device and the two reference devices; and based on the baseline length and the distance difference between the two reference devices, determine the deflection angle between the target device and the two reference devices, wherein the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0011] In an eighth aspect, the present disclosure further provides an angle measurement device, which is applied to a target device that is communicatively connected to two reference devices, and the device includes: a fifth processing module, which is used to determine multiple phase measurement values ​​for signal interaction with each reference device at multiple signal frequencies, and the phase measurement values ​​correspond to the signal frequencies one by one; a sixth processing module, which is used to determine the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, and obtain multiple signal phase change estimation values; a seventh processing module, which is used to determine the distance difference between the target device and the two reference devices based on the multiple signal phase change estimation values; an eighth processing module, which is used to determine the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is the line between the two reference devices, and the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0012] In the ninth aspect, the present disclosure further provides an angle measurement device, which is applied to a target device that is communicatively connected to two reference devices, and the device includes: a third sending module, which is used to send multiple first signals to the two reference devices, so that the two reference devices can determine that they have received first phase values ​​corresponding to the multiple first signals, and synchronize to the target measurement device, the target measurement device is one of the two reference devices or a third device, and the multiple first signals correspond to the multiple signal frequencies; a second receiving module, which is used to receive multiple second signals sent by two second communication devices, and the second signals have the same signal frequency as the first signals; a ninth processing module, which is used to determine second phase values ​​of the multiple second signals, and send the second phase values ​​of the multiple second signals to the target measurement device, so that the target measurement device can determine the second phase values ​​of the multiple second signals based on each second signal. A first phase measurement value and two corresponding second phase measurement values ​​are used to determine the phase measurement values ​​of the target device performing signal interaction with each reference device at multiple signal frequencies, and multiple phase measurement values ​​are used to determine the signal phase change estimation value corresponding to each signal frequency, thereby obtaining multiple signal phase change estimation values; and based on the multiple signal phase change estimation values, the distance difference between the target device and the two reference devices is determined; based on the baseline length and the distance difference between the two reference devices, the deflection angle between the target device and the two reference devices is determined, wherein the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0013] In the tenth aspect, the present disclosure also provides an angle measurement device, which is applied to a third device, the third device is respectively communicatively connected with the target device and the two reference devices, and the target device is communicatively connected with the two reference devices, and the device includes: a first determination module, which is used to determine multiple phase measurement values ​​of the target device performing signal interaction with each reference device at multiple signal frequencies, and the phase measurement values ​​correspond to the signal frequencies one by one; a second determination module, which is used to determine the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, and obtain multiple signal phase change estimation values; a third determination module, which is used to determine the distance difference between the target device and the two reference devices based on the multiple signal phase change estimation values; a fourth determination module, which is used to determine the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is the line between the two reference devices, and the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0014] In an eleventh aspect, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the angle measurement method provided in any of the above aspects.

[0015] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure.

[0016] The technical solution provided by the embodiment of the present disclosure may include the following beneficial effects: According to the angle measurement method provided by the present disclosure, through the multiple phase measurement values ​​of the target device performing signal interaction with each reference device at multiple signal frequencies, the phase difference of the signal under the same signal frequency at different distances can be understood, and then the corresponding signal phase change estimation value can be obtained. Since the signal phase change estimation value can reflect the influence of the signal frequency on the phase change when the distance difference is constant, the distance difference between the target device and the two reference devices can be indirectly calculated based on the signal phase change estimation of multiple signal frequencies, without the need to pre-determine the path length between the target device and each reference device, thereby effectively reducing the demand for measurement accuracy and being easy to implement. The process of determining the angle information of the target device can be made more convenient and efficient. In addition, the angle measurement method provided by the present disclosure is determined based on the communication connection between the target device and the two reference devices, which enables the communication connection to not only transmit information through signal interaction, but also perform angle measurement, thereby enhancing the multiplexing function of signal interaction, thereby achieving the purpose of angle measurement without adding other angle measurement sensors, and effectively reducing the system performance cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The present invention may be better understood by describing exemplary embodiments of the present invention in conjunction with the accompanying drawings, in which:

[0018] Figure 1 is a schematic diagram of an angle measurement system according to an exemplary embodiment of the disclosure;

[0019] Figure 2 is a flowchart of an angle measurement method according to an exemplary embodiment of the disclosure;

[0020] Figure 3 is an angle schematic diagram according to an exemplary embodiment of the disclosure;

[0021] Figure 4 is a flowchart of another angle measurement method according to an exemplary embodiment of the disclosure;

[0022] Figure 5 is a flowchart of another angle measurement method according to an exemplary embodiment of the disclosure;

[0023] Figure 6 is a flow chart of another angle measurement method according to an exemplary embodiment of the disclosure;

[0024] Figure 7 is a schematic diagram of function distribution according to an exemplary embodiment of the disclosure;

[0025] Figure 8 is a schematic diagram of device interaction according to an exemplary embodiment of the disclosure;

[0026] Fig. 9 is a flowchart of an angle measurement method according to another exemplary embodiment of the present disclosure;

[0027] Fig.10 is a flow chart of another angle measurement method according to another exemplary embodiment of the present disclosure;

[0028] Fig.11 is another device interaction schematic diagram according to an exemplary embodiment of the disclosure;

[0029] Fig.12 is a flowchart of another angle measurement method according to another exemplary embodiment of the present disclosure;

[0030] Fig.13 is a schematic diagram of the architecture of yet another angle measurement system according to another exemplary embodiment of the present disclosure;

[0031] Fig.14is a result distribution diagram according to an exemplary embodiment of the disclosure;

[0032] Fig.15 is a flowchart of an angle measurement method according to another disclosed exemplary embodiment;

[0033] Fig.16 is another device interaction schematic diagram according to an exemplary embodiment of the disclosure;

[0034] Fig.17 is a structural schematic diagram of an angle measuring device according to an exemplary embodiment of the disclosure;

[0035] Fig.18 is a schematic structural diagram of another angle measuring device according to an exemplary embodiment of the disclosure;

[0036] Fig.19 is a structural schematic diagram of another angle measuring device according to an exemplary embodiment of the disclosure;

[0037] Fig. 20 is a structural schematic diagram of another angle measuring device according to an exemplary embodiment of the disclosure;

[0038] Fig.21 is a structural schematic diagram of an angle measuring device according to another exemplary embodiment of the present disclosure;

[0039] Fig. 22 The present invention is a schematic structural diagram of an electronic device according to an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0040] The specific embodiments of the present invention will be described below. It should be noted that in the specific description of these embodiments, in order to provide a concise description, it is impossible for this specification to provide a detailed description of all the features of the actual embodiments. It should be understood that in the actual implementation of any embodiment, just as in the process of any engineering project or design project, in order to achieve the specific goals of the developer and to meet system-related or business-related restrictions, various specific decisions are often made, and this will also change from one embodiment to another. In addition, it can also be understood that although the efforts made in this development process may be complex and lengthy, for ordinary technicians in the field related to the content disclosed by the present invention, some changes such as design, manufacturing or production based on the technical content disclosed in this disclosure are just conventional technical means, and should not be understood as insufficient content of this disclosure.

[0041] As the functions of terminal devices continue to improve, the application scenarios involved in terminal devices are becoming more and more abundant. In related technologies, in order to meet the needs of terminal devices to measure environmental information, it is necessary to pre-install multiple special sensors for environmental measurement in the terminal device for measurement. For example, environmental measurement can include distance measurement or angle measurement, and then distance measurement can be performed by radar, and angle measurement can be performed by multi-line radar or inertial measurement unit (Inertial Measurement Unit, IMU). However, by adding the above sensors for environmental measurement, the system cost of the terminal device will increase.

[0042] Among them, in order to measure the angle, the angle of the signal source relative to the receiver can be determined based on the angle of arrival (AoA) and direction of arrival (DoA) technology. However, both of the above technologies require an antenna array composed of multiple antenna elements to receive signals from all directions, and require the receiver to be able to process multi-path signals, that is, the signal of each antenna element is processed by the receiver. However, this method of angle measurement has high requirements on the hardware of angle measurement.

[0043] To solve the above problems, an exemplary embodiment of the present disclosure provides an angle measurement method applied to an angle measurement system. The angle measurement system may include at least three measuring devices that can support frequency hopping communication. In frequency hopping communication, the signal transmitter and the signal receiver use the same frequency hopping sequence to communicate synchronously at different frequencies. These measuring devices can be divided into two groups, which are fixed on the reference object and the measurement object respectively to achieve targeted measurement of the target device. The observation device deployed on the measurement object is the target device, and the observation device deployed on the reference object is the reference device. The number of reference objects can be at least one. If the number of reference objects is one, the number of measuring devices on the reference object is at least two to ensure the stability of the measurement system. If the number of reference objects is multiple, the number of measuring devices on each reference object can be at least one. That is, in the angle measurement system, the smallest measurement system unit can be as follows: Figure 1 As shown, a target device and two reference devices communicating with the target device are included, so as to achieve angle measurement based on the communication functions of the three devices themselves without adding additional dedicated sensors, thereby meeting the demand for obtaining environmental information.

[0044] Based on the above angle measurement system, the present disclosure provides an angle measurement method, which is applied to the first reference device in the above angle measurement system, and the first reference device is one of the two reference devices that are communicatively connected to the target device. The first reference device and the second reference device can be understood as reference devices for determining the deflection of the target device. The target device can be understood as a measurement object for which the angle deflection needs to be determined. The first reference device and the second reference device can realize signal exchange transmission with the target device based on the communication connection between the target device. Figure 2 As shown, the angle measurement method includes the following steps:

[0045] Step S210: Based on the communication connection with the target device and the second reference device, a plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at a plurality of signal frequencies are determined.

[0046] At different distances, using the same signal frequency for signal transmission will result in differences in the time it takes for the signal sent by the target device to reach the two reference devices, thereby generating a phase difference. Therefore, in order to determine the signal interaction between the target device and itself (the first reference device) at multiple signal frequencies, based on the communication connection with the target device, signal interaction is performed at multiple signal frequencies respectively, and the phase measurement value at each signal frequency is determined.

[0047] In order to understand the signal phase difference of the target device in signal interaction with the two reference devices respectively, based on the communication connection with the second reference device, the phase measurement values ​​of the target device and the second reference device in signal interaction at multiple signal frequencies are determined, so as to combine the phase measurement values ​​corresponding to the signal interaction with the target device at the same signal frequency, and clarify the phase difference of the target device in signal interaction with the two reference devices at the same signal frequency. Among them, the phase measurement value corresponds to the signal frequency one by one, and the second reference device is the other of the two reference devices.

[0048] Step S220: Based on the multiple phase measurement values, determine the signal phase change estimation value corresponding to each signal frequency respectively to obtain multiple signal phase change estimation values.

[0049] According to the two phase measurement values ​​φ1 and φ2 at the same signal frequency, the phase difference of the signal transmission under different path lengths can be clearly determined. Among them, φ1 refers to the phase measurement value between the target device and the first reference device for signal interaction at a certain signal frequency, and φ2 refers to the phase measurement value between the target device and the second reference device for signal interaction at a corresponding signal frequency. Since the size of the phase difference is related to the size of the distance difference between the target device and the two reference devices, by determining the signal phase change estimate at different signal frequencies, it can effectively reflect the phase change experienced by the signal during the propagation process, thereby providing a favorable basis for the subsequent determination of the distance difference between the target device and the two reference devices.

[0050] Step S230: determining a distance difference between the target device and two reference devices based on a plurality of signal phase change estimation values.

[0051] In the process of angle measurement, the position and posture of the target device, the first reference device and the second reference device in space are relatively fixed, and the size of the signal phase change estimate depends on the corresponding signal frequency and the distance difference between the target device and the two reference devices. Therefore, through multiple signal phase change estimates and the signal frequencies corresponding to each signal phase change estimate, using relevant algorithms or models, the distance difference between the target device and the two reference devices can be obtained, and even if the path length between the target device and the first reference device and the path length between the target device and the second reference device are not clear, the purpose of determining the distance difference can be achieved, thereby helping to reduce the need for calculations for measurement accuracy and the overall calculation difficulty, and improve calculation efficiency. Among them, the relevant algorithms or models may include but are not limited to: regression algorithms, machine learning models, which can be determined according to actual needs and are not limited here.

[0052] Step S240: determining a deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices.

[0053] Among them, Figure 3 As shown, the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located. Based on the known baseline length and distance difference between the two reference devices, the deflection angle between the target device and the two reference devices can be obtained through trigonometric functions, thereby determining the direction information of the target device on the target plane, so as to better meet the needs of angle measurement.

[0054] According to the angle measurement method provided by the present disclosure, through the multiple phase measurement values ​​of the target device performing signal interaction with each reference device at multiple signal frequencies, the phase difference of the signal under the same signal frequency at different distances can be understood, and then the corresponding signal phase change estimation value can be obtained. Since the signal phase change estimation value can reflect the influence of the signal frequency on the phase change when the distance difference is constant, the distance difference between the target device and the two reference devices can be indirectly calculated based on the signal phase change estimation of multiple signal frequencies, without the need to pre-determine the path length between the target device and each reference device, thereby effectively reducing the demand for measurement accuracy and being easy to implement. In the case of clarifying the baseline length and distance difference of the two reference devices, determining the deflection angle between the target device and the two reference devices can make the process of determining the angle information of the target device more convenient and efficient. In addition, the angle measurement method provided by the present disclosure is determined based on the communication connection between the target device and the two reference devices, which enables the communication connection to not only transmit information through signal interaction, but also perform angle measurement, thereby enhancing the multiplexing function of signal interaction, thereby achieving the purpose of angle measurement without adding other angle measurement sensors, and effectively reducing the system performance cost.

[0055] In some embodiments, Figure 4 As shown, the above step S210 includes: step S211, step 212 and step 213.

[0056] Step S211: determining a first phase measurement value of a signal interaction with the target device at a first signal frequency based on a communication connection with the target device.

[0057] To determine the signal phase of a signal interaction with a target device at a first signal frequency, based on the communication connection with the target device, a phase change during the signal interaction at the first signal frequency is determined, thereby obtaining a first phase measurement value. The first signal frequency is one of the multiple signal frequencies.

[0058] In some optional embodiments, the above step S211 includes:

[0059] Step a1, based on the communication connection with the target device, receiving a first signal sent by the target device according to a first signal frequency, and determining a first phase value of the received first signal;

[0060] Step a2, sending a second signal to the target device, the signal frequency of the second signal being the same as the frequency of the first signal;

[0061] Step a3, receiving a second phase value sent by the target device, where the second phase value is determined by the target device based on receiving the second signal;

[0062] Step a4: determining a first phase measurement value for signal interaction with the target device at the first signal frequency according to the first phase value and the second phase value.

[0063] Specifically, in order to determine the phase change of the signal during the transmission process when the signal is interacting with the target device, the first signal sent by the target device according to the first signal frequency is received based on the communication connection with the target device. Since the initial instantaneous phase of the first signal sent by the target device is not completely the same as the initial instantaneous phase of the local signal of the first reference device during the signal interaction, after the first reference device receives the first signal, it performs mixing processing on the first signal to achieve synchronization between the transmitting and receiving ends, ensuring that the first signal can be received and transmitted normally, and then determining the first phase value of the received first signal based on the obtained mixing result. In addition, the precision and accuracy of the phase measurement can also be improved by mixing the received first signal, so as to better meet the requirements of the communication system.

[0064] In order to verify whether the signal transmission in two directions can be transmitted normally during the signal interaction between the target device and the first reference device, a second signal having the same signal frequency as the first signal frequency is sent to the target device, so that the target device determines the second phase value of the second signal received. The determination process of the target device determining the second phase value can be the same as the determination process of the first reference device determining the first phase value. The second phase value sent by the target device is received to clarify the signal interaction between the first reference device and the target device according to the second phase value.

[0065] By determining a first phase measurement value of signal interaction between a first reference device and a target device at a first signal frequency based on the first phase value and the second phase value, interference in the signal interaction process can be eliminated or reduced, thereby helping to improve the accuracy of the first phase measurement value.

[0066] For example, when the phase measurement is performed at a first signal frequency f, θ1 represents the instantaneous phase of the local signal of the target device, and θ2 represents the instantaneous phase of the local signal of the first reference device. The expression of the first signal can be: The expression of the second signal can be: The signal expression obtained by the first reference device after mixing the received first signal is: The corresponding expression of the first phase value is: Where k1 is an unknown integer, c is the speed of light, and D is the path length between the first reference device and the target device. Similarly, the signal expression obtained by the target device after mixing the received second signal is: The corresponding expression of the second phase value is: Where k1 is an unknown integer, c is the speed of light, and D is the path length between the first reference device and the target device. Based on φ1(f,D) and φ2(f,D), the relationship between the first phase measurement value and the phase difference can be clearly determined when the path length between the target device and the first reference device is constant, which helps to ensure the accuracy and stability of the phase measurement.

[0067] Step S212: determining a second phase measurement value of a signal interaction between the target device and the second reference device at the first signal frequency based on the communication connection with the second reference device.

[0068] In order to determine the signal interaction between the target device and the second reference device at the first signal frequency, based on the communication connection with the second reference device, the change of the signal phase during the signal interaction at the first signal frequency is determined, thereby determining the second phase measurement value of the signal interaction between the target device and the second reference device at the first signal frequency.

[0069] In some examples, multiple phase measurement values ​​between the target device and the second reference device can be directly obtained based on the communication connection with the second reference device. That is, based on the signal interaction between the target device and the second reference device, the second reference device determines the phase measurement value of the signal interaction with the target device at different signal frequencies, and then the second reference device sends the determined multiple phase measurement values ​​to the first reference device, which helps to reduce the communication volume between the target device and the first reference device, thereby helping to reduce communication delays and bandwidth requirements. In addition, by obtaining the phase measurement value between the second reference device and the target device through the second reference device, distributed processing can be achieved, which helps to reduce the amount of calculation of the first reference device and facilitates improving overall performance and response speed.

[0070] In other examples, multiple phase measurement values ​​between the target device and the second reference device can be sent separately to the first reference device during the process of the target device interacting with the second reference device based on different signal frequencies, thereby enabling the first reference device to obtain the latest measurement results in a timely manner, thereby helping to improve the measurement accuracy and reliability of the system.

[0071] In some optional embodiments, the above step S212 includes:

[0072] Step b1, based on the communication connection with the second reference device, receiving a third phase value sent by the second reference device, where the third phase value is determined by the second reference device based on receiving a first signal sent by the target device;

[0073] Step b2, receiving a fourth phase value sent by the target device, where the fourth phase measurement value is determined by the target device based on a third signal sent by the second reference device, where the signal frequency of the third signal is the same as the frequency of the first signal;

[0074] Step b3: determining a second phase measurement value of a signal interaction between the target device and the second reference device at the first signal frequency according to the third phase value and the fourth phase value.

[0075] Specifically, when determining the phase measurement value of the signal interaction between the target device and the second reference device, according to the communication connection between the target device and the second reference device, the second reference device can perform mixing processing on the first signal received from the target device in combination with the instantaneous phase of the local signal, thereby obtaining a third phase value. The third phase value is sent to the first reference device, so that the first reference device can clearly understand the phase change when the target device and the second reference device perform signal transmission according to the first signal frequency.

[0076] After the second reference device determines the third phase value, it sends a third signal to the target device to verify whether the signal transmission in both directions can be transmitted normally during the communication between the second reference device and the target device. The signal frequency of the third signal is the same as the frequency of the first signal. The target device performs mixing processing based on the received third signal and the instantaneous phase of the local signal, determines the fourth phase value of the received third signal, and sends the fourth phase value to the first reference device, so that the first reference device can clearly understand the phase change when the second reference device and the target device transmit signals according to the first signal frequency.

[0077] Based on the third phase value sent by the second reference device and the fourth phase value sent by the target device, the first reference device can combine the phase changes in the two signal directions to estimate the phase changes of the signal interaction between the target device and the second reference device at the same signal frequency, eliminate or reduce interference in the signal interaction process, and thus help improve the accuracy of the second phase measurement value.

[0078] In some optional examples, the first phase value, the second phase value, the third phase value, and the fourth phase value may be determined in the same manner, thereby helping to simplify the difficulty of determining the phase measurement value and improve the efficiency of determination.

[0079] Step S213: obtaining, according to the first phase measurement value and the second phase measurement value, a plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at the first signal frequency.

[0080] The first phase measurement value characterizes the phase change when the target device interacts with the first reference device at the first signal frequency. The second phase measurement value characterizes the phase change when the target device interacts with the second reference device at the first signal frequency. Therefore, based on the first phase measurement value and the second phase measurement value, the difference in phase change when the target device interacts with the two reference devices at the first signal frequency can be clearly determined, thereby obtaining multiple phase measurement values ​​that can characterize the target device interacting with each reference device at the first signal frequency, so as to provide reliable data for subsequent angle measurement.

[0081] Determining multiple phase measurement values ​​in the above manner and determining corresponding phase measurement values ​​according to the signal interaction between the target device and each reference device at multiple signal frequencies helps to more comprehensively understand the signal interaction characteristics between the target device and the reference device. In addition, obtaining multiple phase measurement values ​​according to the first phase measurement value and the second phase measurement value helps to reduce measurement errors and uncertainties, improve the accuracy and reliability of phase measurement, and thus provide reliable data when performing subsequent angle measurement processing.

[0082] In some embodiments, the first signal is synchronously sent by the target device in the form of broadcast; or the first signal is sent by the target device to the first reference device and the second reference device in the form of asynchronous transmission. That is, in the process of signal interaction between the target device and the first reference device and the second reference device, in order to ensure the consistency of signal transmission, the first signal is sent in the form of broadcast so that the first reference device and the second reference device can receive the same first signal.

[0083] Alternatively, during the process of the target device interacting with the first reference device and the second reference device, the first signal is sent by the target device to the first reference device and the second reference device in an asynchronous manner. In one example, the target device may first send the first signal to the first reference device, and then after receiving the second signal sent by the first reference signal and determining the corresponding second phase value, send the first signal to the second reference device to interact with the second reference device, so that the process of determining multiple phase measurement values ​​can be carried out in an orderly manner, saving system waiting time and reducing the occurrence of erroneous transmission. In another example, the target device may, based on the communication connection between it and the first reference device, sequentially send the first signal at multiple signal frequencies to the first reference device to determine multiple first phase measurement values ​​of the target device interacting with the first reference device at multiple signal frequencies. In response to the completion of the determination of the first phase measurement value corresponding to the first signal at the last signal frequency, the target device then sends the first signal at multiple signal frequencies to the second reference device based on the communication connection between it and the second reference device, so as to determine multiple second phase measurement values ​​of the target device interacting with the second reference device at multiple signal frequencies based on the signal interaction between the target device and the second reference device, so as to reduce the occurrence of missed transmission. It should be noted that in the above two examples, the first reference device is used as the priority object for signal transmission by the target device. The order in which the first reference device and the second reference device obtain the first signal can be determined based on actual needs and is not limited here.

[0084] In some embodiments, Figure 5 As shown, the above step S220 includes: step S221 and step S222.

[0085] Step S221, performing a first fusion process on the two phase measurement values ​​at each signal frequency in turn to determine a corresponding signal phase change estimation value.

[0086] The first fusion processing is performed on the two phase measurement values ​​at the same signal frequency to fuse the phase information in the different phase measurement values ​​at the same signal frequency, reduce the error and uncertainty of the single phase measurement value, thereby helping to improve the accuracy of the signal phase change estimation, reduce the impact of noise and interference on the measurement results, and improve the reliability and stability of the estimation. The method used in the first fusion processing may include but is not limited to the addition and summation method, the average method or the Kalman filtering method, etc., which can be determined according to the needs.

[0087] For example, taking the first signal frequency as f as an example, the first phase measurement value determined by the signal interaction between the target device and the first reference device may include: φ1(f, D1) and φ2(f, D1); the second phase measurement value determined by the signal interaction between the target device and the second reference device may include: φ1(f, D2) and φ2(f, D2). Among them, D1 is used to represent the path length between the target device and the first reference device, and D2 is used to represent the path length between the target device and the second reference device. Taking the addition and summation method used in the first fusion processing as an example, the expression of the signal phase change estimation value ψ(f, ΔD) at the same signal frequency is: ψ(f, ΔD) = -φ1(f, D2)-φ2(f, D2)+φ1(f, D1)+φ2(f, D1).

[0088] Step S222, in response to the signal phase change estimation values ​​corresponding to all signal frequencies being determined to be completed, a plurality of signal phase change estimation values ​​are obtained.

[0089] In response to the signal phase change estimation value corresponding to each signal frequency being determined, the phase difference characterizing the signal interaction at each signal frequency is determined, thereby obtaining multiple signal phase change estimation values ​​that can characterize the signal phase change of each signal frequency.

[0090] By determining multiple signal phase change estimation values ​​in the above manner, multiple phase measurement values ​​can be used to estimate the signal phase change at each signal frequency, thereby helping to improve the accuracy and reliability of phase measurement estimation and reducing the impact of measurement errors.

[0091] In some embodiments, Figure 6 As shown, the above step S230 includes: step S231 and step S232.

[0092] Step S231: if the number of signal frequencies is equal to two, then based on the frequency difference between any two signal frequencies and the phase change difference between the corresponding signal phase change estimation values, determine the distance difference between the target device and the two reference devices.

[0093] During the angle measurement process, the positions of the first reference device, the second reference device, and the target device are relatively fixed, and thus when determining the estimated value of the signal phase change corresponding to each signal frequency, it is determined based on the same distance difference, which is the difference between the path length between the target device and the first reference device and the path length between the target device and the second reference device.

[0094] When the distance difference is constant, the magnitude of the signal frequency affects the magnitude of the signal phase change estimate. Therefore, the relationship between the distance difference, the signal frequency value, and the phase change difference is determined based on the function corresponding to the phase change estimate. In order to improve the accuracy of determining the distance difference and reduce the interference of unknown data, the distance difference between the target device and the two reference devices is determined based on the frequency difference between any two signal frequencies and the phase change difference between the corresponding signal phase change estimates, which helps to improve the accuracy of determining the distance difference.

[0095] For example, taking the first signal frequency as f as an example, according to the above-mentioned phase value expression, the first phase measurement value determined by the signal interaction between the target device and the first reference device may include: φ1(f, D1) and φ2(f, D1); the second phase measurement value determined by the signal interaction between the target device and the second reference device may include: φ1(f, D2) and φ2(f, D2), and then combined with the expression of the phase measurement value shown above, the expression of the signal phase change estimate ψ(f, ΔD) is as follows:

[0096] k=-2k2, k is an unknown integer.

[0097] By taking the partial derivative of the signal frequency f in the signal phase change estimate ψ(f,ΔD), we can get the following expression: It can be seen that the change in the distance difference ΔD is proportional to the change in the signal phase change estimate ψ(f, ΔD), and this proportional relationship is related to the rate of change of the signal frequency f.

[0098] Since the value corresponding to the distance difference is fixed, in order to determine the distance difference, it can be determined based on the estimated value of the signal phase change of any two signal frequencies. At this time, the relevant formula for determining the distance difference can be as follows:

[0099] f1 and f2 represent two different signal frequencies, ψ(f1, ΔD) is the estimated value of the signal phase change corresponding to f1, and ψ(f2, ΔD) is the estimated value of the signal phase change corresponding to f2. When f1 and f2 are certain, and ψ(f1, ΔD) and ψ(f2, ΔD) are also clear, the above formula can be used to achieve the purpose of distance measurement without directly contacting the target device, thereby obtaining the corresponding distance difference and improving the determination efficiency.

[0100] Step S232, if the number of the signal frequencies is greater than two, linear regression processing is performed on all signal frequencies and corresponding signal phase change estimation values ​​to obtain a target regression function; and based on the slope value of the target regression function, the distance difference between the target device and the two reference devices is determined.

[0101] Since the signal phase change estimate may contain noise and estimation bias in the process of determining the signal phase change estimate, in order to improve the reliability of the distance difference determination, linear regression processing is performed on all signal frequencies and the signal phase change estimate corresponding to each signal frequency to eliminate errors or outliers, establish a linear regression relationship between the two data types, and thus obtain the target regression function. Among them, linear regression is a common data analysis technique used to establish a linear relationship model between two or more variables.

[0102] When the target regression function is clear, the slope value of the target regression function can be directly determined as the distance difference between the target device and the two reference devices, so that the obtained distance difference can integrate the information provided by multiple signal frequencies, reduce measurement errors and uncertainties, and reduce noise interference, thereby making the obtained distance difference more accurate and reliable.

[0103] Determining the distance difference in the above manner can greatly reduce the requirements for measurement accuracy, that is, the quality of the observation quantity, and thus the purpose of distance measurement can be achieved even when the distance between the target device and each reference device is unknown, thereby making the distance measurement method more flexible and easier to implement.

[0104] In some embodiments, the length of the line connecting the target device to the midpoint of the baseline can be determined, and based on the line length, the baseline length and the distance difference, the deflection angle between the target device and the two reference devices can be determined through a first objective function. The length of the line connecting the target device to the midpoint of the baseline can characterize the distance between the measured target device and the midpoint of the baseline, so that the relative position of the target device in space can be clarified through the length of the line, which helps to improve the efficiency of determining the angle measurement. In some examples, the length of the line can be a predetermined specified length. In other examples, the length of the line can be obtained based on real-time measurement of the distance measurement device in the target device and the two reference devices.

[0105] The first objective function is used to characterize the data correspondence between the deflection angle and the connection length, the baseline length, and the distance difference. The distance difference refers to the difference between the path length between the target device and the first reference device and the path length between the target device and the second reference device. The first objective function is expressed as follows:

[0106]

[0107] Among them, ΔD represents the distance difference, D1 represents the path length between the target device and the first reference device, D2 represents the path length between the target device and the second reference device, d represents the length of the connection line, r represents half of the baseline length, and θ represents the deflection angle between the target device and the two reference devices. Through the above first objective function, when the distance difference is determined, combined with the length of the connection line and the baseline length, the deflection angle between the target device and the two reference devices can be quickly determined, thereby making the angle measurement method more convenient, efficient and accurate.

[0108] In some optional implementation scenarios, the distribution diagram of the first objective function can be as follows: Figure 7 As shown in the figure, the horizontal axis is the deflection angle between the target device and the two reference devices, and the vertical axis is the distance difference between the target device and the two reference devices. Figure 7 It can be seen that when the length of the connection is known, the distance difference will change with the change of the deflection angle.

[0109] In other embodiments, the deflection angle between the target device and the two reference devices can be determined by a second objective function based on the baseline length and the distance difference. The second objective function is used to characterize the data correspondence between the deflection angle and the baseline length and the distance difference. The expression of the second objective function can be as follows: ΔD≈2rsin(θ), where ΔD represents the distance difference and 2r represents the baseline length. In the case of a clear distance difference, regardless of whether the length of the line connecting the target device to the midpoint of the baseline is known, the deflection angle between the target device and the two reference devices can be quickly determined based on the preset baseline length, thereby making the angle measurement method more convenient and efficient. In some examples, the second objective function is applicable to scenarios where the line length is much larger than the baseline length. At this time, the relationship between the distance difference and the deflection angle does not change with the change of the line length, so that the reliability of the determination of the deflection angle can be guaranteed even when the specific length of the line is unclear.

[0110] In some optional application scenarios, the signal type for the target device to interact with the two reference devices is a single-tone signal. For example, the single-tone signal may include a Bluetooth signal or a ZigBee signal. When using a single-tone signal for signal interaction, the required traffic is small, and narrowband transceiver capabilities can be used without the need for broadband signal transceiver, and the requirements for device hardware capabilities are low. In addition, using a single-tone signal for signal interaction can eliminate the variable of the initial carrier phase that cannot be measured during the execution of the first fusion processing, thereby effectively reducing the difficulty of data acquisition and making the angle measurement process more reliable and easy to implement.

[0111] In some other optional application scenarios, the interactive process of determining the deflection angle between the target device and the two reference devices by the first reference device can be as follows: Figure 8 As shown, including:

[0112] The target device sends a first signal at a first signal frequency to a first reference device.

[0113] The first reference device receives a first signal sent by the target device at a first signal frequency, and determines a first phase value of the received first signal. The first reference device sends a second signal with the same signal frequency as the first signal to the target device.

[0114] The target device receives the second signal and determines a second phase value of the received second signal. The target device sends the second phase value to the first reference device. The first reference device determines a first phase measurement value of a signal interaction between the target device and the target device at the first signal frequency based on the received first phase value and the second phase value.

[0115] The second reference device receives the first signal sent by the target device at the first signal frequency, and determines the third phase value of the received first signal. The second reference device sends the third phase value to the first reference device. The second reference device sends a third signal with the same signal frequency as the first signal to the target device.

[0116] The target device receives the third signal and determines a fourth phase value of the received third signal. The target device sends the fourth phase value to the first reference device. The first reference device determines a second phase measurement value of the signal interaction between the target device and the second reference device at the first signal frequency based on the received third phase value and the fourth phase value.

[0117] The first reference device obtains a plurality of phase measurement values ​​of signal interaction between the target device and each reference device at the first signal frequency according to the first phase measurement value and the second phase measurement value.

[0118] By analogy, the first reference device sends the first signal at multiple signal frequencies to the first reference device and the second reference device respectively based on the target device using broadcasting, and determines multiple phase measurement values ​​of the target device performing signal interaction with each reference device at the multiple signal frequencies.

[0119] The first reference device determines the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, and obtains multiple signal phase change estimation values.

[0120] The first reference device determines a distance difference between the target device and two reference devices based on the plurality of signal phase change estimation values.

[0121] The first reference device determines a deflection angle between the target device and the two reference devices based on a baseline length and a distance difference between the two reference devices.

[0122] The angle measurement method provided by the present disclosure is determined based on the communication connection between the target device and the two reference devices, which enables the communication connection to not only transmit information through signal interaction, but also perform angle measurement, thereby enhancing the multiplexing function of signal interaction, thereby achieving the purpose of angle measurement without adding other angle measurement sensors, and effectively reducing the system performance cost. In addition, the deflection angle between the target device and the two reference devices is determined based on the distance difference between the target device and the two reference devices, thereby greatly reducing the requirements for measurement accuracy and making it easier to achieve angle measurement.

[0123] Based on the same inventive concept, the present disclosure also provides another angle measurement method applied to the first reference device. Fig. 9 As shown, the angle measurement method includes:

[0124] Step 310: Receive a plurality of first signals sent by a target device, and determine a plurality of first phase values ​​of the plurality of first signals.

[0125] The plurality of first signals correspond to the plurality of signal frequencies. The first signal may be synchronously sent by the target device in the form of broadcasting; or the first signal may be asynchronously sent by the target device to the first reference device and the second reference device.

[0126] Step 320: Send a plurality of first phase values ​​to a target measurement device.

[0127] The target measurement device may be a target device, a second reference device or a third device. The target measurement device is a device for performing angle measurement.

[0128] By sending the determined multiple first phase values ​​to the target measurement device, the target measurement device can clearly understand the signal phase change during the signal interaction between the first reference device and the target device, so as to perform targeted analysis later.

[0129] Step 330, sending multiple second signals to the target device so that the target device can determine multiple second phase values ​​of the received multiple second signals, and synchronize them to the target measuring device so that the target measuring device can determine the phase measurement values ​​of the signal interaction between the target device and each reference device at multiple signal frequencies based on each first phase value and the two second phase values ​​corresponding to the same signal frequency, and determine the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values ​​to obtain multiple signal phase change estimation values; determine the distance difference between the target device and the two reference devices based on the multiple signal phase change estimation values; and determine the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices.

[0130] Among them, the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, the target plane is the plane where the target device and the two reference devices are located, and the signal frequency of the second signal is the same as that of the first signal.

[0131] Based on the communication connection between the first reference device and the target terminal device, the phase difference of the signal interaction with the target device can be synchronized to the target terminal device, so that the target device can clearly understand the phase change of the signal interaction between the target device and the first reference device at multiple signal frequencies, and then combine the multiple phase measurement values ​​between the target device and the second reference device to determine the signal phase change estimation value corresponding to each signal frequency, and obtain multiple signal phase change estimation values. Based on the signal phase change estimation of multiple signal frequencies, the distance difference between the target device and the two reference devices can be indirectly calculated, without the need to pre-determine the path length between the target device and each reference device, thereby effectively reducing the demand for measurement accuracy and being easy to implement. Under the condition of clarifying the baseline length and distance difference of the two reference devices, determining the deflection angle between the target device and the two reference devices can make the process of determining the angle information of the target device more convenient and efficient. In addition, by performing angle measurement through the target measurement terminal, the calculation amount of the first reference device can be reduced, and the performance requirements of the first reference device can be reduced. The process in which the target measurement device determines the deflection angle between the target device and the two reference devices based on the multiple phase measurement values ​​is the same as the implementation principle in the aforementioned steps S220 to S240, and will not be described in detail here.

[0132] The angle measurement method provided by the present disclosure, combined with the phase measurement value between the target device and the two reference devices, can effectively reduce the demand for measurement accuracy and is easy to implement. At the same time, by performing angle measurement through the target measurement terminal, the amount of calculation of the first reference device can be reduced, thereby helping to improve the scalability and adaptability of the system.

[0133] Based on the same inventive concept, the present disclosure also provides an angle measurement method, which is applied to a target device in the aforementioned angle measurement system. Fig.10 As shown, the angle measurement method includes:

[0134] Step S410: determining a plurality of phase measurement values ​​of signal interaction with each reference device at a plurality of signal frequencies.

[0135] Based on the communication connection with each reference device, multiple phase measurement values ​​of signal interaction with each reference device at multiple signal frequencies can be determined respectively, so that the phase difference of signal interaction between the target device and two reference devices at the same signal frequency can be analyzed later.

[0136] The phase measurement value corresponds to the signal frequency one by one. The target device and each reference device have the same process for determining multiple phase measurement values.

[0137] Step S420: Based on the multiple phase measurement values, determine the signal phase change estimation value corresponding to each signal frequency respectively to obtain multiple signal phase change estimation values.

[0138] Step S430: determining a distance difference between the target device and two reference devices based on a plurality of signal phase change estimation values.

[0139] Step S440: determining a deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices.

[0140] The baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0141] According to the angle measurement method provided by the present disclosure, through the multiple phase measurement values ​​of the target device performing signal interaction with each reference device at multiple signal frequencies, the phase difference of the signal under the same signal frequency at different distances can be understood, and then the corresponding signal phase change estimation value can be obtained. Since the signal phase change estimation value can reflect the influence of the signal frequency on the phase change when the distance difference is constant, the distance difference between the target device and the two reference devices can be indirectly calculated based on the signal phase change estimation of multiple signal frequencies, without the need to pre-determine the path length between the target device and each reference device, thereby effectively reducing the demand for measurement accuracy and being easy to implement. In the case of clarifying the baseline length and distance difference of the two reference devices, determining the deflection angle between the target device and the two reference devices can make the process of determining the angle information of the target device more convenient and efficient. In addition, the angle measurement method provided by the present disclosure is determined based on the communication connection between the target device and the two reference devices, which enables the communication connection to not only transmit information through signal interaction, but also perform angle measurement, thereby enhancing the multiplexing function of signal interaction, thereby achieving the purpose of angle measurement without adding other angle measurement sensors, and effectively reducing the system performance cost.

[0142] In some embodiments, the above-mentioned step S410 includes: sending a first signal to a reference device at a first signal frequency, where the first signal frequency is any one of a plurality of signal frequencies; receiving a first phase measurement value sent by the reference device, where the first phase value is determined by the reference device based on the received first signal; receiving a second signal sent by the reference device at the first signal frequency, and determining a second phase measurement value of the received second signal; and determining a phase measurement value for signal interaction with the reference device at the first signal frequency based on the first phase measurement value and the second phase measurement value.

[0143] In some optional examples, the target device may send the first signal in a broadcasting form at a first signal frequency so that both reference devices can receive the first signal; or send the first signal to each reference device in turn at the first signal frequency.

[0144] In some optional application scenarios, the interactive process of determining the deflection angle between the target device and the two reference devices through the target device can be as follows: Fig.11 As shown, including:

[0145] The target device sends a first signal at a first signal frequency to a first reference device.

[0146] The first reference device receives a first signal sent by the target device at a first signal frequency, and determines a first phase value of the received first signal. The first reference device sends the first phase value to the target device. The first reference device sends a second signal with the same signal frequency as the first signal to the target device.

[0147] The target device receives the second signal and determines a second phase value of the received second signal. The target device determines a first phase measurement value of a signal interaction between the target device and the first reference device at the first signal frequency according to the received first phase value and the second phase value.

[0148] The second reference device receives the first signal sent by the target device at the first signal frequency, and determines the third phase value of the received first signal. The second reference device sends the third phase value to the target device. The second reference device sends the third signal with the same signal frequency as the first signal to the target device.

[0149] The target device receives the third signal and determines a fourth phase value of the received third signal. The target device determines a second phase measurement value of the signal interaction between the target device and the second reference device at the first signal frequency according to the received third phase value and fourth phase value.

[0150] The target device obtains a plurality of phase measurement values ​​of signal interaction between the target device and each reference device at the first signal frequency according to the first phase measurement value and the second phase measurement value.

[0151] By analogy, the target device sends a first signal at multiple signal frequencies to the first reference device and the second reference device respectively in a broadcast manner, and determines multiple phase measurement values ​​of the target device performing signal interaction with each reference device respectively at the multiple signal frequencies.

[0152] The target device determines the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, and obtains multiple signal phase change estimation values.

[0153] The target device determines a distance difference between the target device and two reference devices based on the plurality of signal phase change estimates.

[0154] The target device determines a deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices.

[0155] The angle measurement method provided by the present disclosure is determined based on the communication connection between the target device and the two reference devices, which enables the communication connection to not only transmit information through signal interaction, but also perform angle measurement, thereby enhancing the multiplexing function of signal interaction, thereby achieving the purpose of angle measurement without adding other angle measurement sensors, and effectively reducing the system performance cost. In addition, the deflection angle between the target device and the two reference devices is determined based on the distance difference between the target device and the two reference devices, thereby greatly reducing the requirements for measurement accuracy and making it easier to achieve angle measurement.

[0156] Based on the same inventive concept, the present disclosure also provides another angle measurement method applied to a target device. Fig.12 As shown, the angle measurement method includes:

[0157] Step S510: sending a plurality of first signals to two reference devices, so that the two reference devices can determine that they have received first phase values ​​corresponding to the plurality of first signals, and synchronize with the target measurement device.

[0158] The target measurement device is one of the two reference devices or a third device, and the multiple first signals correspond to the multiple signal frequencies.

[0159] Step S520: receiving a plurality of second signals sent by two second communication devices.

[0160] The second signal has the same signal frequency as the first signal.

[0161] Step S530, determine the second phase values ​​of the multiple second signals, and send the second phase values ​​of the multiple second signals to the target measuring device, so that the target measuring device determines the phase measurement values ​​of the signal interaction between the target device and each reference device at multiple signal frequencies based on each first phase measurement value and the corresponding two second phase measurement values, and determines the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values ​​to obtain multiple signal phase change estimation values; and determines the distance difference between the target device and the two reference devices based on the multiple signal phase change estimation values; determines the deflection angle between the target device and the two reference devices based on the baseline length between the two reference devices and the distance difference.

[0162] The baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0163] By sending the determined multiple second phase measurement values ​​to the target measurement device, the target measurement device can clearly understand the signal phase change during the signal interaction between the target device and each reference device, so as to perform targeted analysis later.

[0164] The process of the target measurement device determining the deflection angle between the target device and the two reference devices based on the multiple phase measurement values ​​is the same as the implementation principle in the aforementioned steps S220 to S240, and will not be described in detail here.

[0165] According to the angle measurement method provided by the present disclosure, combined with the phase measurement value between the target device and the two reference devices, the demand for measurement accuracy can be effectively reduced and easy to implement. At the same time, by performing angle measurement through the target measurement terminal, the calculation amount of the target device can be reduced, thereby helping to improve the scalability and adaptability of the system.

[0166] In some optional implementation scenarios, the angle measurement system can be composed of a Bluetooth headset and a mobile device that communicates with the Bluetooth headset via Bluetooth. The Bluetooth headset includes a left headset and a right headset, and the mobile device can be a mobile phone, a tablet, an iPad, etc. Fig.13 As shown, in the angle measurement system, the left earphone and the right earphone can be used as two reference devices respectively, and the mobile phone can be used as the target device. When the mobile phone sends the audio source to the left earphone and the right earphone for playback, the target measurement device in the angle measurement system can determine the deflection angle of the mobile phone according to any angle measurement method provided in the present disclosure, and adjust the relative volume of the left and right earphones, so that the left earphone and the right earphone can always feel the audio source direction from the mobile phone when the user's head rotates.

[0167] In some optional implementation scenarios, when the baseline length between the left earphone and the right earphone is 20 cm and the line length between the mobile phone and the midpoint of the baseline is 2 m, the phase measurement process is performed at 36 different signal frequencies through the Bluetooth frequency hopping mechanism, and the deflection angle of the mobile phone is determined according to the first objective function provided by the present disclosure, which can provide the following: Fig.14 The error shown is less than 5 degrees of angle measurement capability. The horizontal axis is the deflection angle determined by the angle measurement method provided by the present disclosure, and the vertical axis is the root mean square error (RMSE) of the difference between the determined deflection angle and the actual deflection angle. The smaller the RMSE value, the smaller the difference between the determined deflection angle and the actual deflection angle, and the higher the accuracy of the angle measurement method provided by the present disclosure.

[0168] Based on the same inventive concept, the present disclosure provides an angle measurement method applied to a third device. The third device is an independent device capable of communicating and interacting with the above-mentioned angle measurement system. That is, the third device can communicate and connect with the target device and two reference devices respectively, and the target device is also communicated and connected with the two reference devices. Fig.15 As shown, the angle measurement method includes:

[0169] Step S610: determining a plurality of phase measurement values ​​of a target device performing signal interaction with each reference device at a plurality of signal frequencies.

[0170] Among them, the phase measurement value corresponds to the signal frequency one by one. In order to enable the target device to clearly understand the phase change of the target device when performing signal interaction with two reference devices at multiple signal frequencies, multiple phase measurement values ​​are sent to the third device during the signal interaction. Among them, the multiple phase measurement values ​​include multiple first phase measurement values ​​of the target device and the first reference device performing signal interaction at multiple signal frequencies, and multiple second phase measurement values ​​of the target device and the second reference device performing signal interaction at multiple signal frequencies. Taking the first phase measurement value at the first signal frequency as an example, the first phase measurement value is determined according to the first phase value and the second phase value at the corresponding signal frequency, and the first signal frequency is one of the multiple signal frequencies. The first phase value can be a phase value determined by the first reference device according to the first signal sent by the target device at the first signal frequency. The second phase value can be a phase value determined by the target device according to the second signal sent by the first reference device. The signal frequency of the second signal is the same as the first signal frequency. Taking the second phase measurement value at the first signal frequency as an example, the second phase measurement value is determined according to the third phase value and the fourth phase value at the corresponding signal frequency, and the first signal frequency is one of the multiple signal frequencies. The third phase value may be a phase value determined by the second reference device according to the first signal sent by the target device at the first signal frequency. The fourth phase value may be a phase value determined by the target device according to the third signal sent by the second reference device. The signal frequency of the third signal is the same as the first signal frequency.

[0171] In some examples, the multiple phase measurement values ​​are determined by multiple first phase values ​​sent by the first reference device, multiple third phase values ​​sent by the second reference device, and multiple second phase measurement values ​​and multiple fourth phase measurement values ​​sent by the target device after the target device completes signal interaction with the two reference devices.

[0172] In other examples, multiple phase measurement values ​​are determined by the target device during the process of signal interaction with two reference devices, based on multiple first phase values ​​sent by the first reference device, multiple third phase values ​​sent by the second reference device, and multiple second phase measurement values ​​and multiple fourth phase measurement values ​​sent by the target device. In this process, the first phase value to the fourth phase value can be sent to the third device in real time after determination; or multiple first phase values ​​and multiple second phase values ​​can be sent to the third device first, and multiple third phase values ​​and multiple fourth phase values ​​can be sent to the third device later; or multiple first phase values ​​and multiple second phase values ​​can be sent to the third device first, and multiple third phase values ​​and multiple fourth phase values ​​can be sent to the third device later. The timing of sending the first phase value to the fourth phase value can be determined according to actual needs and is not limited here.

[0173] Step S620: Based on the multiple phase measurement values, determine the signal phase change estimation value corresponding to each signal frequency respectively to obtain multiple signal phase change estimation values.

[0174] Step S630: determining a distance difference between the target device and two reference devices based on a plurality of signal phase change estimation values.

[0175] Step S640: determining a deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices.

[0176] The baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0177] According to the angle measurement method provided by the present invention, combined with the phase measurement value between the target device and the two reference devices, the demand for measurement accuracy can be effectively reduced and it is easy to implement. At the same time, by performing angle measurement through the target measurement terminal, the calculation amount of the target device and the two reference devices can be reduced, thereby helping to improve the scalability and adaptability of the system.

[0178] In some optional implementation scenarios, the interactive process of determining the deflection angle between the target device and the two reference devices by the third device can be as follows: Fig.16 As shown, including:

[0179] The target device sends a first signal at a first signal frequency to the first reference device and the second reference device respectively in a broadcasting manner.

[0180] The first reference device receives a first signal sent by the target device at a first signal frequency, and determines a first phase value of the received first signal. The first reference device sends the first phase value to the third device. The first reference device sends a second signal with the same signal frequency as the first signal to the target device.

[0181] The target device receives the second signal and determines a second phase value of the received second signal. The target device sends the second phase value to the third device.

[0182] The third device determines a first phase measurement value of signal interaction between the target and the first reference device at the first signal frequency according to the received first phase value and the second phase value.

[0183] The second reference device receives the first signal sent by the target device at the first signal frequency, and determines the third phase value of the received first signal. The second reference device sends the third phase value to the third device. The second reference device sends a third signal with the same signal frequency as the first signal to the target device.

[0184] The target device receives the third signal and determines a fourth phase value of the received third signal. The target device sends the fourth phase value to the third device.

[0185] The third device determines a second phase measurement value of a signal interaction between the target device and the second reference device at the first signal frequency according to the received third phase value and the fourth phase value.

[0186] The third device obtains, according to the first phase measurement value and the second phase measurement value, a plurality of phase measurement values ​​of signal interaction between the target device and each reference device at the first signal frequency.

[0187] By analogy, the third device sends the first signal at multiple signal frequencies to the first reference device and the second reference device respectively based on the target device using broadcasting, and determines multiple phase measurement values ​​of the target device performing signal interaction with each reference device respectively at the multiple signal frequencies.

[0188] The third device determines the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, and obtains multiple signal phase change estimation values.

[0189] The third device determines a distance difference between the target device and two reference devices based on the plurality of signal phase change estimates.

[0190] The third device determines a deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices.

[0191] The angle measurement method provided by the present disclosure is determined based on the communication connection between the target device and the two reference devices, which enables the communication connection to not only transmit information through signal interaction, but also perform angle measurement, thereby enhancing the multiplexing function of signal interaction, thereby achieving the purpose of angle measurement without adding other angle measurement sensors, and effectively reducing the system performance cost. In addition, the deflection angle between the target device and the two reference devices is determined based on the distance difference between the target device and the two reference devices, thereby greatly reducing the requirements for measurement accuracy and making it easier to achieve angle measurement.

[0192] In some optional implementation scenarios, if the number of target devices is one, but the number of reference devices is greater than two, an angle measurement system can be formed based on the target device and any two reference devices, thereby obtaining multiple angle measurement systems. For example, when the number of reference devices is three, namely reference device 1, reference device 2, and reference device 3, when the target device is clear, the three angle measurement systems formed are: target device + reference device 1 and reference device 2, target device + reference device 2 and reference device 3, and target device + reference device 1 and reference device 3.

[0193] For each angle measurement system, the deflection angle between the target device and the corresponding two reference devices can be determined according to the angle measurement method provided by the present disclosure. According to the deflection angle between the target device and the corresponding two reference devices in all angle measurement systems, the deflection angle of the target device relative to different orientations can be clarified, and then through the transformation of the three-dimensional spatial angle, the spatial angle relationship of the target device relative to multiple reference devices can be obtained, which helps to clarify the spatial position of the target device.

[0194] Among them, for each angle measurement system, the execution subject for angle measurement can be the same or different, and can be determined according to the needs. In some examples, in order to reduce the measurement difficulty and improve the measurement efficiency, the execution subject for determining the deflection angle in each angle measurement system can be a target device, so that the target device can clearly understand the spatial angle relationship between it and each reference device, which helps to quickly locate its own spatial position later. In another example, the execution subject for determining the deflection angle in each angle measurement system can be a third device, which can effectively save the calculation amount of the target device and each reference device, thereby helping to improve the scalability and adaptability of the system.

[0195] Based on the same inventive concept, Fig.17 As shown, the present disclosure further provides an angle measurement device 700, which is applied to a first reference device, where the first reference device is one of two reference devices that are communicatively connected to a target device. The device 700 includes:

[0196] A first processing module 710 is used to determine, based on the communication connection between the target device and the second reference device, a plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one, and the second reference device is the other of the two reference devices;

[0197] A second processing module 720, configured to determine a signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, to obtain multiple signal phase change estimation values;

[0198] A third processing module 730, configured to determine a distance difference between the target device and two reference devices based on the multiple signal phase change estimation values;

[0199] The fourth processing module 740 is used to determine the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0200] In some embodiments, the first processing module 710 includes:

[0201] A first processing unit, configured to determine, based on a communication connection with a target device, a first phase measurement value of a signal interaction with the target device at a first signal frequency, where the first signal frequency is one of a plurality of signal frequencies;

[0202] A second processing unit, configured to determine a second phase measurement value of a signal interaction between the target device and the second reference device at the first signal frequency based on a communication connection with the second reference device;

[0203] The third processing unit is used to obtain, according to the first phase measurement value and the second phase measurement value, a plurality of phase measurement values ​​of signal interaction between the target device and each reference device at the first signal frequency.

[0204] In some embodiments, the first processing unit includes:

[0205] A first receiving unit, configured to receive a first signal sent by the target device at a first signal frequency based on a communication connection with the target device, and determine a first phase value of the received first signal;

[0206] A first sending unit, used for sending a second signal to a target device, wherein a signal frequency of the second signal is the same as a frequency of the first signal;

[0207] A second receiving unit, configured to receive a second phase value sent by the target device, where the second phase value is determined by the target device based on receiving a second signal;

[0208] The first determining unit is configured to determine a first phase measurement value for signal interaction with a target device at a first signal frequency according to the first phase value and the second phase value.

[0209] In some embodiments, the second processing unit includes:

[0210] A third receiving unit, configured to receive a third phase value sent by the second reference device based on a communication connection with the second reference device, wherein the third phase value is determined by the second reference device based on receiving a first signal sent by the target device;

[0211] a fourth receiving unit, configured to receive a fourth phase value sent by a target device, wherein the fourth phase measurement value is determined by the target device based on a third signal sent by a second reference device, wherein a signal frequency of the third signal is the same as a frequency of the first signal;

[0212] The second determining unit is configured to determine, according to the third phase value and the fourth phase value, a second phase measurement value of a signal interaction between the target device and the second reference device at the first signal frequency.

[0213] In some embodiments, the first signal is sent synchronously by the target device in the form of a broadcast; or

[0214] The first signal is transmitted by the target device to the first reference device and the second reference device in the form of asynchronous transmission.

[0215] In some embodiments, the second processing module 720 includes:

[0216] A fusion unit, used to perform a first fusion process on two phase measurement values ​​at each signal frequency in turn to determine a corresponding signal phase change estimation value;

[0217] The first execution unit is configured to obtain a plurality of signal phase change estimation values ​​in response to the signal phase change estimation values ​​corresponding to all signal frequencies being determined to be completed.

[0218] In some embodiments, the third processing module 730 includes:

[0219] a fourth processing unit, configured to determine a distance difference between the target device and two reference devices based on a frequency difference between any two signal frequencies and a phase change difference between corresponding signal phase change estimation values ​​if the number of signal frequencies is equal to two;

[0220] The fifth processing unit is used to perform linear regression processing on all signal frequencies and corresponding signal phase change estimation values ​​to obtain a target regression function if the number of signal frequencies is greater than two; and determine the distance difference between the target device and the two reference devices based on the slope value of the target regression function.

[0221] In some embodiments, the fourth processing module 740 includes:

[0222] a sixth processing unit, configured to determine the length of a line connecting the target device to the midpoint of the baseline; and based on the line length, the baseline length, and the distance difference, determine the deflection angle between the target device and the two reference devices through a first objective function, wherein the first objective function is used to characterize the data correspondence between the deflection angle and the line length, the baseline length, and the distance difference; or,

[0223] The seventh processing unit is used to determine the deflection angle between the target device and the two reference devices through a second objective function based on the baseline length and the distance difference, and the second objective function is used to characterize the data correspondence between the deflection angle and the baseline length and the distance difference.

[0224] In some embodiments, the signal type used for signal interaction between the target device and the two reference devices is a single-tone signal.

[0225] Regarding the angle measuring device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0226] Based on the same inventive concept, Fig.18 As shown, the present disclosure further provides an angle measurement device 800, which is applied to a first reference device, where the first reference device is one of two reference devices that are communicatively connected to a target device. The device 800 includes:

[0227] A first receiving module 810 is used to receive a plurality of first signals sent by a target device and determine a plurality of first phase values ​​of the plurality of first signals, wherein the plurality of first signals correspond to a plurality of signal frequencies;

[0228] A first sending module 820, configured to send a plurality of first phase values ​​to a target measurement device, where the target measurement device is a target device, a second reference device, or a third device;

[0229] The second sending module 830 is used to send multiple second signals to the target device so that the target device can determine multiple second phase values ​​of the received multiple second signals, and synchronize them to the target measuring device, so that the target measuring device determines the phase measurement values ​​of the signal interaction between the target device and each reference device at multiple signal frequencies based on each first phase value and the two second phase values ​​corresponding to the same signal frequency, and determines the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values ​​to obtain multiple signal phase change estimation values; determines the distance difference between the target device and the two reference devices based on the multiple signal phase change estimation values; and determines the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, the target plane is the plane where the target device and the two reference devices are located, and the signal frequency of the second signal is the same as that of the first signal.

[0230] Regarding the angle measuring device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0231] Based on the same inventive concept, Fig.19 As shown, the present disclosure further provides an angle measurement device 900, which is applied to a target device that is communicatively connected to two reference devices, and the device 900 includes:

[0232] A fifth processing module 910 is used to determine a plurality of phase measurement values ​​for signal interaction with each reference device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one;

[0233] A sixth processing module 920, configured to determine, based on the multiple phase measurement values, a signal phase change estimation value corresponding to each signal frequency, to obtain multiple signal phase change estimation values;

[0234] A seventh processing module 930, configured to determine a distance difference between the target device and two reference devices based on the multiple signal phase change estimation values;

[0235] The eighth processing module 940 is used to determine the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0236] In some embodiments, the fifth processing module 910 includes:

[0237] A second sending unit, configured to send a first signal to a reference device at a first signal frequency, where the first signal frequency is any one of a plurality of signal frequencies;

[0238] a fifth receiving unit, configured to receive a first phase measurement value sent by a reference device, wherein the first phase value is determined by the reference device based on a received first signal;

[0239] a sixth receiving unit, configured to receive a second signal sent by the reference device at the first signal frequency, and determine a second phase measurement value of the received second signal;

[0240] An eighth processing unit is configured to determine a phase measurement value of a signal interaction with a reference device at a first signal frequency according to the first phase measurement value and the second phase measurement value.

[0241] In some embodiments, the second sending unit includes:

[0242] A second execution unit is configured to send the first signal in a broadcasting form according to the first signal frequency, so that both reference devices can receive the first signal; or

[0243] The third execution unit is used to send the first signal to each reference device in sequence according to the first signal frequency.

[0244] Regarding the angle measuring device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0245] Based on the same inventive concept, Fig. 20 As shown, the present disclosure further provides an angle measurement device 1000, which is applied to a target device that is communicatively connected to two reference devices, and the device 1000 includes:

[0246] The third sending module 1010 is used to send a plurality of first signals to two reference devices, so that the two reference devices can determine that they have received first phase values ​​corresponding to the plurality of first signals, and synchronize to a target measurement device, where the target measurement device is one of the two reference devices or a third device, and the plurality of first signals correspond to a plurality of signal frequencies;

[0247] The second receiving module 1020 is used to receive a plurality of second signals sent by two second communication devices, where the second signals have the same signal frequency as the first signals;

[0248] The ninth processing module 1030 is used to determine the second phase values ​​of the plurality of second signals, and send the second phase values ​​of the plurality of second signals to the target measuring device, so that the target measuring device determines the phase measurement values ​​of the signal interaction between the target device and each reference device respectively under the plurality of signal frequencies based on each first phase measurement value and the corresponding two second phase measurement values, and determines the signal phase change estimation value corresponding to each signal frequency respectively based on the plurality of phase measurement values, to obtain a plurality of signal phase change estimation values; and determines the distance difference between the target device and the two reference devices based on the plurality of signal phase change estimation values; determines the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is the line between the two reference devices, and the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0249] Regarding the angle measuring device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0250] Based on the same inventive concept, Fig.21 As shown, the present disclosure further provides an angle measurement device 1100, which is applied to a third device, the third device is respectively connected to a target device and two reference devices for communication, and the target device is connected to the two reference devices for communication, and the device 1100 includes:

[0251] A first determination module 1110 is used to determine a plurality of phase measurement values ​​of a target device performing signal interaction with each reference device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one;

[0252] A second determination module 1120 is used to determine the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, so as to obtain multiple signal phase change estimation values;

[0253] A third determination module 1130, configured to determine a distance difference between the target device and two reference devices based on a plurality of signal phase change estimation values;

[0254] The fourth determination module 1140 is used to determine the deflection angle between the target device and the two reference devices based on the baseline length and the distance difference between the two reference devices, wherein the baseline is the line between the two reference devices, the deflection angle is the angle between the line from the target device to the midpoint of the baseline and the normal of the midpoint of the baseline in the target plane, and the target plane is the plane where the target device and the two reference devices are located.

[0255] Regarding the angle measuring device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0256] Based on the same inventive concept, the present disclosure further provides a computer-readable storage medium, which stores the following program, and the program is used to execute the image segmentation method of any of the aforementioned embodiments.

[0257] like Fig. 22 As shown, an embodiment of the present disclosure provides an electronic device 1200. The electronic device 1200 includes a memory 1210, a processor 1220, and an input / output (I / O) interface 1230. The memory 1210 is used to store instructions. The processor 1220 is used to call the instructions stored in the memory 1210 to execute the image segmentation method of the embodiment of the present disclosure. The processor 1220 is connected to the memory 1210 and the I / O interface 1230 respectively, for example, through a bus system and / or other forms of connection mechanisms (not shown). The memory 1210 can be used to store programs and data, including the program of the image segmentation method involved in the embodiment of the present disclosure. The processor 1220 executes various functional applications and data processing of the electronic device 1200 by running the program stored in the memory 1210.

[0258] In the embodiment of the present disclosure, the processor 1220 can be implemented in at least one hardware form of a digital signal processor (DSP), a field programmable gate array (FPGA), and a programmable logic array (PLA). The processor 1220 can be a central processing unit (CPU) or one or a combination of other forms of processing units with data processing capabilities and / or instruction execution capabilities.

[0259] The memory 1210 in the embodiment of the present disclosure may include one or more computer program products, and the computer program product may include various forms of computer-readable storage media, such as volatile memory and / or non-volatile memory. Volatile memory may include, for example, random access memory (RAM) and / or cache memory (cache), etc. Non-volatile memory may include, for example, read-only memory (ROM), flash memory, hard disk drive (HDD), or solid-state drive (SSD), etc.

[0260] In the embodiment of the present disclosure, the I / O interface 1230 may be used to receive input instructions (such as digital or character information, and key signal input related to user settings and function control of the electronic device 1200, etc.), and may also output various information to the outside (such as images or sounds, etc.). In the embodiment of the present disclosure, the I / O interface 1230 may include one or more of a physical keyboard, a function key (such as a volume control key, a switch key, etc.), a mouse, a joystick, a trackball, a microphone, a speaker, and a touch panel, etc.

[0261] The present application uses specific words to describe the embodiments of the present application. For example, "one embodiment", "an embodiment", and / or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of the present application. Therefore, it should be emphasized and noted that "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or multiple times in different positions in this specification does not necessarily refer to the same embodiment. In addition, some features, structures or characteristics in one or more embodiments of the present application can be appropriately combined.

[0262] In the context of this application, unless the context clearly indicates an exception, the words "a", "an", "a kind" and / or "the" do not refer to the singular, but may also include the plural. Generally speaking, the terms "include" and "comprise" only indicate the inclusion of the steps and elements that have been clearly identified, and these steps and elements do not constitute an exclusive list, and the method or device may also include other steps or elements.

[0263] Similarly, it should be noted that in order to simplify the description of the disclosure of this application and thus help understand one or more application embodiments, in the above description of the embodiments of this application, multiple features are sometimes merged into one embodiment, figure or description thereof. However, this disclosure method does not mean that the features required by the object of this application are more than the features mentioned in the claims. In fact, the features of the embodiments are less than all the features of the single embodiment disclosed above.

[0264] The basic concepts have been described above. Obviously, for those skilled in the art, the above disclosure is only for example and does not constitute a limitation of the present application. Although not explicitly stated herein, those skilled in the art may make various modifications, improvements and amendments to the present application. Such modifications, improvements and amendments are suggested in the present application, so such modifications, improvements and amendments still belong to the spirit and scope of the embodiments of the present application.

Claims

1. An angle measurement method, applied to a first reference device, wherein the first reference device is one of two reference devices that are communicatively connected to a target device, the method comprising: Determine, based on the communication connection between the target device and a second reference device, a plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at a plurality of signal frequencies, the phase measurement values ​​corresponding to the signal frequencies one by one, the second reference device being the other of the two reference devices; Based on the multiple phase measurement values, respectively determine the signal phase change estimation value corresponding to each signal frequency to obtain the multiple signal phase change estimation values; Determining a distance difference between the target device and two reference devices based on a plurality of the signal phase change estimation values; Based on the baseline length between the two reference devices and the distance difference, the deflection angle between the target device and the two reference devices is determined, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

2. The angle measurement method according to claim 1, wherein: The step of determining a plurality of phase measurement values ​​of signal interaction between the target device and each reference device at a plurality of signal frequencies based on the communication connection between the target device and the second reference device comprises: Determining, based on the communication connection with the target device, a first phase measurement value of a signal interaction with the target device at a first signal frequency, wherein the first signal frequency is one of the plurality of signal frequencies; Determining, based on the communication connection with the second reference device, a second phase measurement value of a signal interaction between the target device and the second reference device at the first signal frequency; A plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at the first signal frequency are obtained according to the first phase measurement value and the second phase measurement value.

3. The angle measurement method according to claim 2, wherein: The determining, based on the communication connection with the target device, a first phase measurement value of a signal interaction with the target device at a first signal frequency comprises: Based on the communication connection with the target device, receiving a first signal sent by the target device at a first signal frequency, and determining a first phase value of the received first signal; Sending a second signal to the target device, wherein a signal frequency of the second signal is the same as a frequency of the first signal; receiving a second phase value sent by the target device, where the second phase value is determined by the target device based on receiving the second signal; The first phase measurement value of signal interaction with the target device at the first signal frequency is determined according to the first phase value and the second phase value.

4. The angle measurement method according to claim 3, wherein: The determining, based on the communication connection with the second reference device, a second phase measurement value of a signal interaction between the target device and the second reference device at the first signal frequency comprises: Based on the communication connection with the second reference device, receiving a third phase value sent by the second reference device, wherein the third phase value is determined by the second reference device based on receiving the first signal sent by the target device; receiving a fourth phase value sent by the target device, wherein the fourth phase measurement value is determined by the target device based on a third signal received from the second reference device, wherein a signal frequency of the third signal is the same as a frequency of the first signal; The second phase measurement value of the signal interaction between the target device and the second reference device at the first signal frequency is determined according to the third phase value and the fourth phase value.

5. The angle measurement method according to claim 4, wherein: The first signal is sent synchronously by the target device in the form of broadcast; or The first signal is transmitted by the target device to the first reference device and the second reference device in the form of asynchronous transmission.

6. The angle measurement method according to claim 1, wherein: The method of determining the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values ​​to obtain the multiple signal phase change estimation values ​​comprises: performing a first fusion process on the two phase measurement values ​​at each signal frequency in turn to determine a corresponding signal phase change estimation value; In response to the signal phase change estimation values ​​corresponding to all signal frequencies being determined to be completed, a plurality of signal phase change estimation values ​​are obtained.

7. The angle measurement method according to claim 1, wherein: The determining, based on the plurality of signal phase change estimation values, a distance difference between the target device and the two reference devices, comprises: If the number of the signal frequencies is equal to two, determining the distance difference between the target device and the two reference devices based on the frequency difference between any two signal frequencies and the phase change difference between the corresponding signal phase change estimation values; If the number of the signal frequencies is greater than two, linear regression processing is performed on all the signal frequencies and the corresponding signal phase change estimates to obtain a target regression function; and based on the slope value of the target regression function, the distance difference between the target device and the two reference devices is determined.

8. The angle measurement method according to claim 1, wherein: The step of determining the deflection angle between the target device and the two reference devices based on the baseline length between the two reference devices and the distance difference comprises: Determine the length of the line from the target device to the midpoint of the baseline; and determine the deflection angle between the target device and the two reference devices through a first objective function based on the line length, the baseline length and the distance difference, wherein the first objective function is used to characterize the data correspondence between the deflection angle and the line length, the baseline length and the distance difference; or, Based on the baseline length and the distance difference, the deflection angle between the target device and the two reference devices is determined by a second objective function, and the second objective function is used to characterize the data correspondence between the deflection angle and the baseline length and the distance difference.

9. The angle measurement method according to claim 1, wherein: The signal type for signal interaction between the target device and the two reference devices is a single-tone signal.

10. An angle measurement method, applied to a first reference device, wherein the first reference device is one of two reference devices that are communicatively connected to a target device, the method comprising: receiving a plurality of first signals sent by the target device and determining a plurality of first phase measurement values ​​of the plurality of first signals, the plurality of first signals corresponding to a plurality of signal frequencies; Sending the plurality of first phase values ​​to a target measurement device, where the target measurement device is the target device, a second reference device, or a third device; Sending a plurality of second signals to the target device so that the target device can determine a plurality of second phase values ​​of the received plurality of second signals, and synchronizing to the target measuring device so that the target measuring device can determine, based on each of the first phase values ​​and two of the second phase values ​​corresponding to the same signal frequency, phase measurement values ​​of the signal interaction between the target device and each of the reference devices at the plurality of signal frequencies, and respectively determine a signal phase change estimation value corresponding to each signal frequency based on the plurality of phase measurement values, to obtain a plurality of signal phase change estimation values; determining a distance difference between the target device and the two reference devices based on the plurality of signal phase change estimation values; And based on the baseline length between the two reference devices and the distance difference, determine the deflection angle between the target device and the two reference devices, wherein the baseline is a line between the two reference devices, the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal of the midpoint of the baseline in a target plane, the target plane is a plane where the target device and the two reference devices are located, and the second signal has the same signal frequency as the first signal.

11. An angle measurement method, applied to a target device that is communicatively connected to two reference devices, the method comprising: Determine a plurality of phase measurement values ​​for signal interaction with each of the reference devices at a plurality of signal frequencies, the phase measurement values ​​corresponding one to one with the signal frequencies; Based on the multiple phase measurement values, respectively determine the signal phase change estimation value corresponding to each signal frequency to obtain the multiple signal phase change estimation values; Determining a distance difference between the target device and two reference devices based on a plurality of the signal phase change estimation values; Based on the baseline length between the two reference devices and the distance difference, the deflection angle between the target device and the two reference devices is determined, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal of the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

12. The angle measurement method according to claim 11, wherein: The determining of a plurality of phase measurement values ​​of signal interaction with each of the reference devices at a plurality of signal frequencies comprises: Sending a first signal to the reference device at a first signal frequency, where the first signal frequency is any one of the multiple signal frequencies; receiving the first phase measurement value sent by the reference device, wherein the first phase value is determined by the reference device based on the received first signal; receiving a second signal sent by the reference device at the first signal frequency, and determining a second phase measurement value of the received second signal; A phase measurement of a signal interaction with the reference device at the first signal frequency is determined based on the first phase measurement and the second phase measurement.

13. The angle measurement method according to claim 12, wherein: The sending the first signal to the reference device according to the first signal frequency includes: Sending the first signal in a broadcasting form at the first signal frequency so that both of the two reference devices can receive the first signal; or The first signal is sent to each of the reference devices in sequence according to the first signal frequency.

14. An angle measurement method, applied to a target device in communication connection with two reference devices, the method comprising: Sending a plurality of first signals to the two reference devices so that the two reference devices can determine that first phase values ​​corresponding to the plurality of first signals are received and synchronized to a target measurement device, the target measurement device being one of the two reference devices or a third device, the plurality of first signals corresponding to a plurality of signal frequencies; receiving a plurality of second signals sent by the two second communication devices, wherein the second signals have the same signal frequency as the first signals; Determine second phase values ​​of the plurality of second signals, and send the second phase values ​​of the plurality of second signals to the target measurement device, so that the target measurement device determines, based on each of the first phase measurement values ​​and the corresponding two second phase measurement values, phase measurement values ​​of the target device performing signal interaction with each of the reference devices at a plurality of signal frequencies, and determines a signal phase change estimation value corresponding to each signal frequency based on the plurality of phase measurement values, to obtain a plurality of signal phase change estimation values; and determining a distance difference between the target device and two reference devices based on a plurality of the signal phase change estimation values; Based on the baseline length between the two reference devices and the distance difference, the deflection angle between the target device and the two reference devices is determined, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

15. An angle measurement method, applied to a third device, the third device is respectively connected to a target device and two reference devices for communication, and the target device is connected to the two reference devices for communication, the method comprising: Determine a plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one; Based on the multiple phase measurement values, respectively determine the signal phase change estimation value corresponding to each signal frequency to obtain the multiple signal phase change estimation values; Determining a distance difference between the target device and the two reference devices based on a plurality of the signal phase change estimation values; Based on the baseline length between the two reference devices and the distance difference, the deflection angle between the target device and the two reference devices is determined, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

16. An angle measurement device, applied to a first reference device, the first reference device being one of two reference devices in communication connection with a target device, the device comprising: A first processing module, configured to determine, based on a communication connection with the target device and a second reference device, a plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies in a one-to-one manner, and the second reference device is the other of the two reference devices; A second processing module, configured to determine, based on the plurality of phase measurement values, a signal phase change estimation value corresponding to each signal frequency, to obtain a plurality of signal phase change estimation values; A third processing module, configured to determine a distance difference between the target device and the two reference devices based on the plurality of signal phase change estimation values; The fourth processing module is used to determine the deflection angle between the target device and the two reference devices based on the baseline length between the two reference devices and the distance difference, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

17. An angle measurement device, applied to a first reference device, the first reference device being one of two reference devices in communication connection with a target device, the device comprising: A first receiving module, configured to receive a plurality of first signals sent by the target device and determine a plurality of first phase measurement values ​​of the plurality of first signals, wherein the plurality of first signals correspond to a plurality of signal frequencies; a first sending module, configured to send a plurality of second signals to the target device, so that the target device can determine a plurality of second phase values ​​of the received plurality of second signals and synchronize them to a target measuring device, wherein the target measuring device is the target device, a second reference device or a third device, and the second signal has the same signal frequency as the first signal; A second sending module is used to send the multiple first phase values ​​to the target measurement device, so that the target measurement device determines the phase measurement values ​​of the signal interaction between the target device and each of the reference devices at the multiple signal frequencies based on each of the first phase values ​​and the two second phase values ​​corresponding to the same signal frequency, and determines the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values ​​to obtain the multiple signal phase change estimation values; based on the multiple signal phase change estimation values, determines the distance difference between the target device and the two reference devices; And based on the baseline length between the two reference devices and the distance difference, determine the deflection angle between the target device and the two reference devices, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

18. An angle measurement device, applied to a target device that is communicatively connected to two reference devices, the device comprising: a fifth processing module, configured to determine a plurality of phase measurement values ​​for respectively performing signal interaction with each of the reference devices at a plurality of signal frequencies, wherein the phase measurement values ​​correspond one to one with the signal frequencies; A sixth processing module, configured to determine, based on the plurality of phase measurement values, a signal phase change estimation value corresponding to each signal frequency, to obtain a plurality of signal phase change estimation values; a seventh processing module, configured to determine a distance difference between the target device and the two reference devices based on the plurality of signal phase change estimation values; an eighth processing module, for determining a deflection angle between the target device and the two reference devices based on a baseline length between the two reference devices and the distance difference, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to a midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

19. An angle measurement device, applied to a target device that is communicatively connected to two reference devices, the device comprising: A third sending module is used to send a plurality of first signals to the two reference devices, so that the two reference devices can determine that they have received first phase values ​​corresponding to the plurality of first signals, and synchronize to a target measurement device, the target measurement device being one of the two reference devices or a third device, and the plurality of first signals corresponding to a plurality of signal frequencies; A second receiving module, configured to receive a plurality of second signals sent by the two second communication devices, wherein the second signals have the same signal frequency as the first signals; a ninth processing module, configured to determine second phase values ​​of the plurality of second signals, and send the second phase values ​​of the plurality of second signals to the target measurement device, so that the target measurement device determines, based on each of the first phase measurement values ​​and the corresponding two second phase measurement values, phase measurement values ​​of the target device performing signal interaction with each of the reference devices at a plurality of signal frequencies, and determines a signal phase change estimation value corresponding to each signal frequency based on the plurality of phase measurement values, to obtain a plurality of signal phase change estimation values; and determining a distance difference between the target device and two reference devices based on a plurality of the signal phase change estimation values; Based on the baseline length between the two reference devices and the distance difference, the deflection angle between the target device and the two reference devices is determined, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

20. An angle measurement device, applied to a third device, the third device is respectively connected to a target device and two reference devices for communication, and the target device is connected to the two reference devices for communication, the device comprising: A first determination module is used to determine a plurality of phase measurement values ​​of the target device performing signal interaction with each reference device at a plurality of signal frequencies, wherein the phase measurement values ​​correspond to the signal frequencies one by one; A second determination module is used to determine the signal phase change estimation value corresponding to each signal frequency based on the multiple phase measurement values, so as to obtain the multiple signal phase change estimation values; A third determination module, configured to determine a distance difference between the target device and the two reference devices based on the plurality of signal phase change estimation values; The fourth determination module is used to determine the deflection angle between the target device and the two reference devices based on the baseline length between the two reference devices and the distance difference, wherein the baseline is a line between the two reference devices, and the deflection angle is an angle between a line from the target device to the midpoint of the baseline and a normal to the midpoint of the baseline in a target plane, and the target plane is a plane where the target device and the two reference devices are located.

21. A computer-readable storage medium storing the following program, wherein the program is used to execute the angle measurement method according to any one of claims 1 to 15.

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