Antenna module, communication device and communication system having the same

Abstract

The application relates to the technical field of antennas and discloses an antenna module, a communication device with the antenna module and a communication system, which realizes accurate antenna directional angle adjustment by acquiring the accurate position of a communication object through a space positioning technology. The antenna module comprises a space positioning antenna module, a space positioning algorithm module and a directional adjustment algorithm module. The space positioning antenna module comprises M positioning antennas and is used for receiving and transmitting positioning information sent by a communication object. The space positioning algorithm module is used for establishing a three-dimensional coordinate system with the center of the M positioning antennas as the origin, calculating distance information and phase information of the communication object relative to the antenna module according to the positioning information, and determining the three-dimensional coordinates of the communication object in the three-dimensional coordinate system according to the distance information and the phase information. The directional adjustment algorithm module is used for receiving the three-dimensional coordinates and converting the three-dimensional coordinates into corresponding target radiation directions. The directional antenna module comprises N directional antennas and is used for receiving the target radiation directions and performing directional adjustment on the N directional antennas according to the target radiation directions.

Description

Technical Field

[0001] This invention relates to the field of antenna technology, and in particular to an antenna module based on spatial positioning technology and a communication device and communication system having the antenna module. Background Technology

[0002] Thanks to the larger physical gain of directional antennas, wireless directional communication generally achieves better results than ordinary omnidirectional communication. At the same time, due to its directionality, it can also effectively avoid signal interference from other angles and directions.

[0003] Existing wireless directional communication typically uses multiple physical directional antennas for coverage. However, because their radiation field is fixed, their adaptability is limited. For clients whose positions change, they may not be within the maximum gain radiation azimuth angle of the multiple directional antennas. Some smart antennas adjust their radiation azimuth map by detecting signal strength, but due to the large real-time fluctuations in wireless signals, precise directional adjustment is difficult to achieve. Others employ antenna array designs, such as adaptive antenna arrays, which adjust their radiation azimuth map based on the relative position of the client. However, this requires additional complex antenna array design and is not decoupled from the antenna control system (communication equipment), resulting in high costs for both software and hardware implementation. Summary of the Invention

[0004] This invention provides an antenna module and a communication device and system having the antenna module. It obtains the precise location of the communication object through spatial positioning technology, realizes precise antenna orientation angle adjustment, and decouples it from the antenna control system, thereby reducing design costs.

[0005] To address the aforementioned technical problems, in a first aspect, embodiments of the present invention provide an antenna module, the antenna module comprising:

[0006] A spatial positioning antenna module includes M positioning antennas for receiving and transmitting positioning information sent by a communication object and transmitting the positioning information to a spatial positioning algorithm module;

[0007] The spatial positioning algorithm module is used to establish a three-dimensional coordinate system with the center of the M positioning antennas as the origin, calculate the distance information and phase information of the communication object relative to the antenna module according to the positioning information, determine the three-dimensional coordinates of the communication object in the three-dimensional coordinate system according to the distance information and the phase information, and transmit the three-dimensional coordinates to the orientation adjustment algorithm module.

[0008] The orientation adjustment algorithm module is used to receive the three-dimensional coordinates and convert them into the corresponding target radiation azimuth, and transmit the target radiation azimuth to the orientation antenna module;

[0009] A directional antenna module includes N directional antennas for receiving the radiation azimuth of the target and adjusting the orientation of the N directional antennas according to the radiation azimuth of the target.

[0010] As a preferred embodiment, the location information is a wireless data packet with a timestamp.

[0011] As a preferred embodiment, the spatial positioning algorithm module specifically determines the three-dimensional coordinates of the communication object in the three-dimensional coordinate system through the following steps:

[0012] The transmission time of the positioning information is calculated based on the timestamp in the positioning information received by each positioning antenna, and the distance information between each positioning antenna and the communication object is calculated based on the transmission speed of the positioning information.

[0013] The phase difference information between the two antennas receiving the positioning information is calculated based on the positional relationship between the two positioning antennas.

[0014] Based on the distance information between each positioning antenna and the communication object, and the phase difference information between the positioning information received by each pair of antennas, the three-dimensional coordinates of the communication object in the three-dimensional coordinate system are determined according to trigonometric function relationships.

[0015] As a preferred embodiment, the directional adjustment algorithm module is specifically used for:

[0016] Receive the three-dimensional coordinates and convert them into the corresponding target radiation azimuth;

[0017] The target radiation azimuth is compared with the radiation azimuth pre-divided by the directional antenna module. Based on the pre-divided radiation azimuth, the target directional antenna that is closest to the target radiation azimuth is determined. The information of the target radiation azimuth and the target directional antenna is transmitted to the directional antenna module.

[0018] Therefore, the directional antenna module is specifically used for:

[0019] The system receives information about the target's radiation azimuth and the target's directional antenna, and adjusts the target's directional antenna according to the target's radiation azimuth.

[0020] As a preferred embodiment, receiving the three-dimensional coordinates and converting them into the corresponding target radiation azimuth specifically involves:

[0021] Receive the three-dimensional coordinates, wherein the three-dimensional coordinates are in point coordinate form in the three-dimensional coordinate system;

[0022] In the three-dimensional coordinate system, the three-dimensional coordinates in point coordinate form are converted into the target radiation azimuth in corresponding angular coordinate form.

[0023] As a preferred embodiment, the directional antenna module is further used for:

[0024] The three-dimensional coordinate system is pre-divided into several radial orientations in the form of angular coordinates.

[0025] As a preferred option, each radiation azimuth of the directional antenna is the direction of maximum gain of the directional antenna's main wave.

[0026] In order to solve the above-mentioned technical problems, in a second aspect, embodiments of the present invention provide a communication device, the communication device including an antenna module as described in any of the first aspects.

[0027] To address the aforementioned technical problems, in a third aspect, embodiments of the present invention provide a communication system, the communication system including a first communication device and a second communication device, both the first communication device and the second communication device including an antenna module as described in any of the first aspects.

[0028] To address the aforementioned technical problems, in a fourth aspect, embodiments of the present invention provide a communication method, the method comprising:

[0029] The first communication device establishes a three-dimensional coordinate system based on its own spatial positioning antenna module. The directional adjustment algorithm module maps the radiation azimuth of the directional antenna to the three-dimensional coordinate system. The spatial positioning antenna module receives the positioning information sent by the second communication device. The spatial positioning algorithm module locates the three-dimensional coordinates of the second communication device in the three-dimensional coordinate system. The directional adjustment algorithm module converts the three-dimensional coordinates into the target radiation azimuth. The directional antenna module points the radiation azimuth of the directional antenna to the second communication device.

[0030] The second communication device establishes a three-dimensional coordinate system based on its own spatial positioning antenna module. It maps the radiation azimuth of the directional antenna to the three-dimensional coordinate system through the orientation adjustment algorithm module. It receives the positioning information sent by the first communication device through the spatial positioning antenna module, obtains the three-dimensional coordinates of the first communication device in the three-dimensional coordinate system through the spatial positioning algorithm module, converts the three-dimensional coordinates into the target radiation azimuth through the orientation adjustment algorithm module, and points the radiation azimuth of the directional antenna toward the first communication device through the directional antenna module.

[0031] Compared with the prior art, the antenna module and communication device and communication system with the antenna module provided by the embodiments of the present invention have the following advantages: the location of the communication object is determined by wireless positioning technology, which can improve the positioning accuracy and realize precise and stable directional antenna adjustment; at the same time, the antenna module has a transceiver function, which can realize bidirectional positioning and thus bidirectional directional communication; in addition, the antenna module is independent of the communication system itself, decoupled from the communication system, and does not require the communication system to manage it, which reduces the design difficulty and design cost of the communication system. Attached Figure Description

[0032] To more clearly illustrate the technical features of the embodiments of the present invention, the drawings used in the embodiments of the present invention will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a schematic diagram of a preferred embodiment of an antenna module provided by the present invention;

[0034] Figure 2 This is a schematic diagram of a preferred embodiment for converting three-dimensional coordinates into the target radiation azimuth;

[0035] Figure 3 This is a schematic diagram of a preferred embodiment of a communication system provided by the present invention. Detailed Implementation

[0036] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, the specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following embodiments are for illustrative purposes only and are not intended to limit the scope of protection of the present invention. Other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort should all fall within the scope of protection of the present invention.

[0037] In the description of this invention, it should be understood that the numbering itself, such as "first", "second", etc., is only used to distinguish the described objects and has no sequential or technical meaning, and should not be construed as specifying or implying the importance of the described objects.

[0038] It should be understood that the terminology used in this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used in this invention, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0039] The terms “comprising” and “including” indicate the presence of the described feature, whole, step, operation, element and / or component, but do not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or collections thereof.

[0040] Figure 1 The diagram shown is a structural schematic of a preferred embodiment of an antenna module provided by the present invention.

[0041] like Figure 1 As shown, the antenna module 1 includes:

[0042] The spatial positioning antenna module 11 includes M positioning antennas for receiving and transmitting positioning information sent by a communication object and transmitting the positioning information to the spatial positioning algorithm module 12; wherein, M≥3, the M positioning antennas are arranged on different spatial planes, and the distance between each pair of positioning antennas is within half a wavelength.

[0043] The spatial positioning algorithm module 12 is used to establish a three-dimensional coordinate system with the center of the M positioning antennas as the origin, calculate the distance information and phase information of the communication object relative to the antenna module 1 according to the positioning information, determine the three-dimensional coordinates of the communication object in the three-dimensional coordinate system according to the distance information and the phase information, and transmit the three-dimensional coordinates to the orientation adjustment algorithm module 13.

[0044] The orientation adjustment algorithm module 13 is used to receive the three-dimensional coordinates and convert them into the corresponding target radiation azimuth, and transmit the target radiation azimuth to the orientation antenna module 14.

[0045] The directional antenna module 14 includes N directional antennas for receiving the radiation azimuth of the target and adjusting the orientation of the N directional antennas according to the radiation azimuth of the target; wherein, N>0, and the radiation field of the N directional antennas covers the entire three-dimensional space.

[0046] In the antenna module 1, the spatial positioning antenna module 11 is connected to the spatial positioning algorithm module 12, the spatial positioning algorithm module 12 is connected to the directional adjustment algorithm module 13, and the directional adjustment algorithm module 13 is connected to the directional antenna module 14. The term "connection" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral part; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection or an indirect connection through an intermediate medium; it can be the internal connection of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above term according to the specific circumstances.

[0047] Specifically, the antenna module is installed on the communication equipment. After being powered on, a three-dimensional coordinate system is first established based on the spatial positioning antenna module as the origin. When locating the communication object, the positioning antenna in the spatial positioning antenna module first receives the positioning information broadcast by the communication object. The positioning information contains a timestamp and is then transmitted to the spatial positioning algorithm module.

[0048] The spatial positioning algorithm module calculates the distance and phase information of the communication object relative to each positioning antenna based on the received positioning information, and further determines the three-dimensional coordinates (x, y, z) of the communication object in the three-dimensional coordinate system, thus obtaining the positioning of the communication object. Then, the three-dimensional coordinates (x, y, z) are transmitted to the orientation adjustment algorithm module.

[0049] The directional antenna module divides the three-dimensional space into N radiation azimuths (α, β)_n, where N is the number of directional antennas. A larger value for N results in a more detailed division of the three-dimensional space and better directional communication. Upon receiving the three-dimensional coordinates (x, y, z), the directional adjustment algorithm module uniquely converts them into the corresponding target radiation azimuth (α, β)_0 based on the correspondence of the three-dimensional coordinate system, and then transmits the target radiation azimuth (α, β)_0 to the directional antenna module.

[0050] After receiving the target radiation azimuth (α,β)_0, the directional antenna module adjusts the orientation of the directional antenna to control it to work at the target radiation azimuth.

[0051] While locating the communication object, the antenna module can also broadcast location information to the outside world, allowing the communication object to locate it, thereby achieving two-way positioning.

[0052] It should be noted that the antenna module is an independent system that can be connected to any communication device that requires an antenna, such as a user terminal, communication base station, or access point (AP). When both communication devices are equipped with the antenna module of this invention, bidirectional positioning can be achieved.

[0053] The antenna module provided by this invention determines the location of the communication object through wireless positioning technology, which can improve the positioning accuracy and achieve precise and stable directional antenna adjustment. At the same time, the antenna module has transceiver functions, enabling bidirectional positioning and thus bidirectional directional communication. In addition, the antenna module is independent of the communication system itself, decoupled from the communication system, and does not require management by the communication system, thus reducing the design difficulty and cost of the communication system.

[0054] In a preferred embodiment, the location information is a wireless data packet with a timestamp.

[0055] It is understandable that the signal form and modulation method of the positioning information can be set according to the actual situation, as long as the signal form and modulation method of both parties in the communication are the same and can be mutually recognized.

[0056] In a preferred embodiment, the spatial positioning algorithm module 12 specifically determines the three-dimensional coordinates of the communication object in the three-dimensional coordinate system through the following steps:

[0057] The transmission time of the positioning information is calculated based on the timestamp in the positioning information received by each positioning antenna, and the distance information between each positioning antenna and the communication object is calculated based on the transmission speed of the positioning information.

[0058] The phase difference information between the two antennas receiving the positioning information is calculated based on the positional relationship between the two positioning antennas.

[0059] Based on the distance information between each positioning antenna and the communication object, and the phase difference information between the positioning information received by each pair of antennas, the three-dimensional coordinates of the communication object in the three-dimensional coordinate system are determined according to trigonometric function relationships.

[0060] Specifically, when the communication object broadcasts location information, a timestamp is added to the location information. The antenna module receives the location information through the location antennas, and then calculates the time of flight (TOF) of the location information in the air based on the timestamp in the location information. By multiplying the time of flight by the speed of flight t of the location information in the air, the distance between each location antenna and the communication object can be calculated.

[0061] Meanwhile, since the positioning antennas are spaced apart, and the positioning information of the communication object at the same location is constant, the phase of the positioning information reaching different positioning antennas will differ (wherein, the positioning information has a direct path, a diffraction path, and a refraction path during propagation, and here we are referring to the direct path). Therefore, the arrival phase difference of the positioning information received by each pair of antennas can be calculated, i.e., PDOA.

[0062] After obtaining the distance and phase information, the three-dimensional coordinates of the communication object can be calculated in the established three-dimensional coordinate system based on trigonometric relationships.

[0063] In a preferred embodiment, the directional adjustment algorithm module 13 is specifically used for:

[0064] Receive the three-dimensional coordinates and convert them into the corresponding target radiation azimuth;

[0065] The target radiation azimuth is compared with the radiation azimuth pre-divided by the directional antenna module. Based on the pre-divided radiation azimuth, the target directional antenna that is closest to the target radiation azimuth is determined. The information of the target radiation azimuth and the target directional antenna is transmitted to the directional antenna module.

[0066] Therefore, the directional antenna module 14 is specifically used for:

[0067] The system receives information about the target's radiation azimuth and the target's directional antenna, and adjusts the target's directional antenna according to the target's radiation azimuth.

[0068] In a preferred embodiment, receiving the three-dimensional coordinates and converting them into the corresponding target radiation azimuth specifically involves:

[0069] Receive the three-dimensional coordinates, wherein the three-dimensional coordinates are in point coordinate form in the three-dimensional coordinate system;

[0070] In the three-dimensional coordinate system, the three-dimensional coordinates in point coordinate form are converted into the target radiation azimuth in corresponding angular coordinate form.

[0071] In a preferred embodiment, the directional antenna module 14 is further configured to:

[0072] The three-dimensional coordinate system is pre-divided into several radial orientations in the form of angular coordinates.

[0073] Specifically, the three-dimensional coordinates (x, y, z) are obtained by the space positioning antenna module. In the three-dimensional coordinate system, the entire three-dimensional space is divided into N radiation azimuths in the form of angular coordinates (horizontal angle, elevation angle). The specific implementation method is not limited. For example, multiple directional antennas can be used to divide the space into N small-angle sectors, or other smart antennas, adaptive antenna arrays, etc. can be used. Each radiation azimuth of the directional antenna is represented as (α, β)_n in the three-dimensional coordinate system, thus obtaining an array of radiation azimuths.

[0074] Based on the correspondence of three-dimensional coordinates, such as Figure 2 As shown, the three-dimensional coordinates (x, y, z) can be converted into the corresponding accurate target radiation azimuth (α, β).

[0075] The target radiation azimuth (α,β) is compared with (α,β)_n to obtain a value that is closest to the target radiation azimuth (α,β), and the target directional antenna corresponding to the closest value is determined. The target radiation azimuth (α,β) and the target directional antenna are then transmitted to the directional antenna module.

[0076] After receiving the target radiation azimuth (α, β) and the target directional antenna, the directional antenna module adjusts the orientation of the target directional antenna to control it to operate in the target radiation azimuth, thereby enabling multi-directional directional communication.

[0077] In a preferred embodiment, each radiation azimuth of the directional antenna is the direction of maximum gain of the directional antenna's main wave.

[0078] The direction of maximum gain of the main wave in the radiation field of a directional antenna is uniquely identified by the radiation azimuth, which can quickly and conveniently determine the radiation azimuth of the directional antenna.

[0079] The specific workflow of the antenna module provided by this invention is as follows:

[0080] S10, send location information to the outside world and / or receive location information from the outside world;

[0081] S20, determine the location information of the communication object based on external positioning information;

[0082] S30 controls the azimuth of the directional antenna to point towards the target communication object.

[0083] It should be understood that the specific workflow of the antenna module described above can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium. When executed by a processor, the computer program can implement the specific workflow of the antenna module. The computer program includes computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. The computer-readable medium can include any entity or device capable of carrying the computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content of the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, the computer-readable medium does not include electrical carrier signals and telecommunication signals.

[0084] Accordingly, the present invention also provides a communication device, the communication device including an antenna module as described in any of the above embodiments.

[0085] Specifically, the communication equipment may be a user terminal device, a communication base station, an access point (AP), or other equipment that requires the use of an antenna.

[0086] Correspondingly, such as Figure 3 As shown, the present invention also provides a communication system, the communication system including a first communication device 21 and a second communication device 22, both the first communication device 21 and the second communication device 22 including an antenna module as described in any of the above embodiments.

[0087] Specifically, the first communication device may be a communication base station, and the second communication device may be a client.

[0088] At this point, the workflow of the entire communication system is as follows:

[0089] 1. First, based on the "spatial positioning antenna module", the communication base station establishes a three-dimensional coordinate system. "STA_Position" is the azimuth point in this coordinate system: client (x, y, z);

[0090] In the aforementioned three-dimensional coordinate system, a directional antenna radiation azimuth map, namely "ANT_Position", is simultaneously established. Since it is azimuth information under the same coordinate system, a one-to-one correspondence can be established with "STA_Position".

[0091] 2. The communication base station obtains the client's location information: The "spatial positioning algorithm module" uses its own spatial positioning algorithm and spatial positioning antenna to locate the "azimuth point" information of the associated client and write it into the "STA_Position" azimuth point information table;

[0092] The “STA_Position” information is synchronized to the directional adjustment algorithm module. The directional adjustment algorithm module refreshes the ANT_Position information according to the one-to-one correspondence of the three-dimensional coordinate system, and then performs directional adjustment through the “directional antenna module” to achieve precise directional transmission from the base station to the client.

[0093] 3. Client obtains the azimuth information of the communication base station: Since there is this antenna module on both sides, the client can also obtain the azimuth information of the communication base station, realizing precise directional transmission from the client to the base station.

[0094] The client can be multiple clients.

[0095] Therefore, the antenna module is installed on the base station and the client respectively. The two antenna modules are the same and can be interchanged. The operation of the client is exactly the same as that of the communication base station, which completes the directional antenna adjustment on the client. In this way, bidirectional antenna directional adjustment can be achieved.

[0096] 4. Changes in the location of communication base stations and clients:

[0097] If the location of the communication base station or the client changes, the obtained client STA_Position changes, and the information is rewritten into the azimuth information table. Then, the bidirectional directional communication mechanism is established again.

[0098] Alternatively, the first communication device can be the main router AP1, and the second communication device can be the sub-router AP2, thereby forming a MESH network.

[0099] At this point, the workflow of the entire communication system is as follows:

[0100] 1. After AP1 and AP2 are installed, their positions are fixed; AP1 and AP2 are connected wirelessly to form a mesh.

[0101] 2. Based on the "space positioning antenna module" on AP1, establish a three-dimensional coordinate system;

[0102] 3. AP1 maps the information of each point in its radiation field onto the above three-dimensional coordinate system, and denots it as "Position_ant";

[0103] 4. AP1 uses the "spatial positioning algorithm module" to locate the position of AP2 in this coordinate system, which is denoted as "Position_son1"; since the coordinate system is the same, "Position_son1" and "Position_ant" have a corresponding relationship;

[0104] 5. After the above steps, AP1 obtains the precise location of sub-AP2; AP1 adjusts its radiation orientation to point towards sub-AP2 through the "directional antenna module".

[0105] 6. For AP2, after performing the same steps (2) to (5) above, the antenna radiation direction can be pointed to AP1.

[0106] After that, the MESH system (AP1 and AP2) can achieve accurate bidirectional directional backhaul communication.

[0107] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. It should be noted that, for those skilled in the art, several equivalent obvious modifications and / or equivalent substitutions can be made without departing from the technical principles of the present invention, and these obvious modifications and / or equivalent substitutions should also be considered within the scope of protection of the present invention.

Claims

1. An antenna module, characterized in that, The antenna module includes: A spatial positioning antenna module includes M positioning antennas for receiving and transmitting positioning information sent by a communication object and transmitting the positioning information to a spatial positioning algorithm module; The spatial positioning algorithm module is used to establish a three-dimensional coordinate system with the center of the M positioning antennas as the origin, calculate the distance information and phase information of the communication object relative to the antenna module according to the positioning information, determine the three-dimensional coordinates of the communication object in the three-dimensional coordinate system according to the distance information and the phase information, and transmit the three-dimensional coordinates to the orientation adjustment algorithm module. The orientation adjustment algorithm module is used to receive the three-dimensional coordinates and convert them into the corresponding target radiation azimuth, and transmit the target radiation azimuth to the orientation antenna module; A directional antenna module includes N directional antennas for receiving the radiation azimuth of the target and adjusting the orientation of the N directional antennas according to the radiation azimuth of the target; the positioning information is a wireless data packet with a timestamp; the spatial positioning algorithm module specifically determines the three-dimensional coordinates of the communication object in the three-dimensional coordinate system through the following steps: The transmission time of the positioning information is calculated based on the timestamp in the positioning information received by each positioning antenna, and the distance information between each positioning antenna and the communication object is calculated based on the transmission speed of the positioning information. The phase difference information between the two antennas receiving the positioning information is calculated based on the positional relationship between the two positioning antennas. Based on the distance information between each positioning antenna and the communication object, and the phase difference information between the positioning information received by each pair of antennas, the three-dimensional coordinates of the communication object in the three-dimensional coordinate system are determined according to trigonometric function relationships; the orientation adjustment algorithm module is specifically used for: Receive the three-dimensional coordinates and convert them into the corresponding target radiation azimuth; The target radiation azimuth is compared with the radiation azimuth pre-divided by the directional antenna module. Based on the pre-divided radiation azimuth, the target directional antenna that is closest to the target radiation azimuth is determined. The information of the target radiation azimuth and the target directional antenna is transmitted to the directional antenna module. Therefore, the directional antenna module is specifically used for: The system receives information about the target's radiation azimuth and the target's directional antenna, and adjusts the target's directional antenna according to the target's radiation azimuth.

2. The antenna module according to claim 1, characterized in that, The process of receiving the three-dimensional coordinates and converting them into the corresponding target radiation azimuth is specifically as follows: Receive the three-dimensional coordinates, wherein the three-dimensional coordinates are in point coordinate form in the three-dimensional coordinate system; In the three-dimensional coordinate system, the three-dimensional coordinates in point coordinate form are converted into the target radiation azimuth in corresponding angular coordinate form.

3. The antenna module according to claim 1, characterized in that, The directional antenna module is also used for: The three-dimensional coordinate system is pre-divided into several radial orientations in the form of angular coordinates.

4. The antenna module according to claim 1, characterized in that, Each radiation direction of a directional antenna is the direction in which the main wave of the directional antenna has the maximum gain.

5. A communication device, characterized in that, The communication device includes the antenna module as described in any one of claims 1 to 4.

6. A communication system, characterized in that, The communication system includes a first communication device and a second communication device, both of which include an antenna module as described in any one of claims 1 to 4.

7. A communication method for the communication system as described in claim 6, characterized in that, The method includes: The first communication device establishes a three-dimensional coordinate system based on its own spatial positioning antenna module. The directional adjustment algorithm module maps the radiation azimuth of the directional antenna to the three-dimensional coordinate system. The spatial positioning antenna module receives the positioning information sent by the second communication device. The spatial positioning algorithm module locates the three-dimensional coordinates of the second communication device in the three-dimensional coordinate system. The directional adjustment algorithm module converts the three-dimensional coordinates into the target radiation azimuth. The directional antenna module points the radiation azimuth of the directional antenna to the second communication device. The second communication device establishes a three-dimensional coordinate system based on its own spatial positioning antenna module. It maps the radiation azimuth of the directional antenna to the three-dimensional coordinate system through the orientation adjustment algorithm module. It receives the positioning information sent by the first communication device through the spatial positioning antenna module, obtains the three-dimensional coordinates of the first communication device in the three-dimensional coordinate system through the spatial positioning algorithm module, converts the three-dimensional coordinates into the target radiation azimuth through the orientation adjustment algorithm module, and points the radiation azimuth of the directional antenna toward the first communication device through the directional antenna module.

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